diff --git a/gap_reports/gap_2d7c4b3a-9642-4a7d-b296-857115f93e53.md b/gap_reports/gap_2d7c4b3a-9642-4a7d-b296-857115f93e53.md
new file mode 100644
index 0000000000000000000000000000000000000000..f46808b4a48542f444aba3f698de7da69af04f05
--- /dev/null
+++ b/gap_reports/gap_2d7c4b3a-9642-4a7d-b296-857115f93e53.md
@@ -0,0 +1,75 @@
+# 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.
diff --git a/gap_reports/gap_2d920f93-b398-4bfe-932e-a072c174e759.md b/gap_reports/gap_2d920f93-b398-4bfe-932e-a072c174e759.md
new file mode 100644
index 0000000000000000000000000000000000000000..2932eff054d6297781df51e52360519107eef077
--- /dev/null
+++ b/gap_reports/gap_2d920f93-b398-4bfe-932e-a072c174e759.md
@@ -0,0 +1,59 @@
+# 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.
diff --git a/gap_reports/gap_2d9c70cf-0cd9-4074-a797-a4666c5a3a5c.md b/gap_reports/gap_2d9c70cf-0cd9-4074-a797-a4666c5a3a5c.md
new file mode 100644
index 0000000000000000000000000000000000000000..dfad4a1081380f0e4c3a55573dc39990dbd8551a
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2d9d0c2e-63c2-4710-a450-cc3a7cfd56e4.md b/gap_reports/gap_2d9d0c2e-63c2-4710-a450-cc3a7cfd56e4.md
new file mode 100644
index 0000000000000000000000000000000000000000..6ad5a5e140c3f0d720f5949d1568c6cc7b8730c3
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2db23e33-0d96-4b78-b78b-011d978e2371.md b/gap_reports/gap_2db23e33-0d96-4b78-b78b-011d978e2371.md
new file mode 100644
index 0000000000000000000000000000000000000000..463006f5a4e4aef751ace06a6876012b3d26158a
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2dd37629-0309-435a-be67-6036e48efa32.md b/gap_reports/gap_2dd37629-0309-435a-be67-6036e48efa32.md
new file mode 100644
index 0000000000000000000000000000000000000000..630885497117c37694fed9d13d41971b90b48c7f
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2df7d28e-6b27-45a5-9584-0caf773e0988.md b/gap_reports/gap_2df7d28e-6b27-45a5-9584-0caf773e0988.md
new file mode 100644
index 0000000000000000000000000000000000000000..3c68833f449fbaf117cf2220bd3d6982d991192e
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2e27c5e8-a86c-4604-b38f-a8c889f0e981.md b/gap_reports/gap_2e27c5e8-a86c-4604-b38f-a8c889f0e981.md
new file mode 100644
index 0000000000000000000000000000000000000000..91bd0c2d03928deee6f882041bc2f656e070a6b6
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2e2d9c8b-e585-47e9-adfc-d574f3426b64.md b/gap_reports/gap_2e2d9c8b-e585-47e9-adfc-d574f3426b64.md
new file mode 100644
index 0000000000000000000000000000000000000000..198db86acfdefb3ec86d37654a37c5dfc2ac5801
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2e88c884-1be1-418f-8c81-a73bed05475c.md b/gap_reports/gap_2e88c884-1be1-418f-8c81-a73bed05475c.md
new file mode 100644
index 0000000000000000000000000000000000000000..0d4772530b2adf8a4cbfe2d9eb02dc97bbe344d6
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2e8976c2-5f1e-416f-a336-70deceb68f5b.md b/gap_reports/gap_2e8976c2-5f1e-416f-a336-70deceb68f5b.md
new file mode 100644
index 0000000000000000000000000000000000000000..f3634dee1786829451abd8be301ee8e971ad2b23
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2e8bc401-5101-4153-9ffb-beb875332655.md b/gap_reports/gap_2e8bc401-5101-4153-9ffb-beb875332655.md
new file mode 100644
index 0000000000000000000000000000000000000000..9dc619c83593d7092198b25540ea16e5392fedd4
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2e8f8774-fd5e-41d7-997f-4689b5e6380e.md b/gap_reports/gap_2e8f8774-fd5e-41d7-997f-4689b5e6380e.md
new file mode 100644
index 0000000000000000000000000000000000000000..0b96dcd66a23ac4ede599d2f4f41bd6b83e29ce1
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2eb5b0f4-ec1c-4d61-a685-e4c1abd75926.md b/gap_reports/gap_2eb5b0f4-ec1c-4d61-a685-e4c1abd75926.md
new file mode 100644
index 0000000000000000000000000000000000000000..206a711319a7ace49865c930b59ee950545b8859
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2eb953ec-e908-4cd1-afdf-4750ad99e4ed.md b/gap_reports/gap_2eb953ec-e908-4cd1-afdf-4750ad99e4ed.md
new file mode 100644
index 0000000000000000000000000000000000000000..027d416838c1eeb8cb03d305eeaa6115da0b1b3e
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2efbd038-5ed7-4f69-8f6b-d4ffa1646b04.md b/gap_reports/gap_2efbd038-5ed7-4f69-8f6b-d4ffa1646b04.md
new file mode 100644
index 0000000000000000000000000000000000000000..efaca90f3b5d3c5a2b62c58b0e68635ff3b39959
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2f0ca01a-f78a-4961-a755-8b8ca058e1fe.md b/gap_reports/gap_2f0ca01a-f78a-4961-a755-8b8ca058e1fe.md
new file mode 100644
index 0000000000000000000000000000000000000000..5f2852fccc08e2369701eba392a3de7d395a4877
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2f1b63b1-7e9a-4188-a439-9dd3f75f5533.md b/gap_reports/gap_2f1b63b1-7e9a-4188-a439-9dd3f75f5533.md
new file mode 100644
index 0000000000000000000000000000000000000000..db7a78292b11bc31c4fabb93d72d19bbb151bb27
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2f1deea3-06a7-4142-b067-dbe938d4c04f.md b/gap_reports/gap_2f1deea3-06a7-4142-b067-dbe938d4c04f.md
new file mode 100644
index 0000000000000000000000000000000000000000..43c522a2d3d56950f5189714e28e2f980c3ab18b
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2f3f6799-ada6-4551-89d7-a163725c9b79.md b/gap_reports/gap_2f3f6799-ada6-4551-89d7-a163725c9b79.md
new file mode 100644
index 0000000000000000000000000000000000000000..d8f86a374fbb3a93bb791838b267427a24fa0cad
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2f4e8417-1ce8-4fb9-8c01-d50adb114aef.md b/gap_reports/gap_2f4e8417-1ce8-4fb9-8c01-d50adb114aef.md
new file mode 100644
index 0000000000000000000000000000000000000000..4c542364205e1516728fb3d26b944b23099db5c9
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2f6921fd-e8ed-4b49-9700-2e824e19c1e7.md b/gap_reports/gap_2f6921fd-e8ed-4b49-9700-2e824e19c1e7.md
new file mode 100644
index 0000000000000000000000000000000000000000..36800a8de4f92698cca0d4ed5f0e1b2fc0455c41
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2f746f77-45c9-4919-85e2-190dfd212260.md b/gap_reports/gap_2f746f77-45c9-4919-85e2-190dfd212260.md
new file mode 100644
index 0000000000000000000000000000000000000000..bf8a31ecd613d72c40190e25d498f7eb3524008c
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2f7df488-f11f-4a68-8d1e-09304e7e4b84.md b/gap_reports/gap_2f7df488-f11f-4a68-8d1e-09304e7e4b84.md
new file mode 100644
index 0000000000000000000000000000000000000000..f377c37dd5de16b9fe783c607b3e219ba893466a
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2f84641b-9f77-46bc-a502-c5d285e1d135.md b/gap_reports/gap_2f84641b-9f77-46bc-a502-c5d285e1d135.md
new file mode 100644
index 0000000000000000000000000000000000000000..64a0fb73b09cb82b1fd3ec5c9669019f567354a9
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2fb88ec0-6fa4-4a13-b4ad-a5e1a64c41ec.md b/gap_reports/gap_2fb88ec0-6fa4-4a13-b4ad-a5e1a64c41ec.md
new file mode 100644
index 0000000000000000000000000000000000000000..e8b074c522c05bcf414e89812d72bee1da7bc3cf
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2fc338e1-36df-4ebd-ab89-e4728b425c1e.md b/gap_reports/gap_2fc338e1-36df-4ebd-ab89-e4728b425c1e.md
new file mode 100644
index 0000000000000000000000000000000000000000..7732a2221894a0607dac52ba935931277a7ca5f7
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2fe1d568-e39e-469b-97d7-022d62517e84.md b/gap_reports/gap_2fe1d568-e39e-469b-97d7-022d62517e84.md
new file mode 100644
index 0000000000000000000000000000000000000000..3d57a4fab3edc67f4b689297cf301d670fdab8ac
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_3006da44-fd84-4b06-97ca-d2757256eff3.md b/gap_reports/gap_3006da44-fd84-4b06-97ca-d2757256eff3.md
new file mode 100644
index 0000000000000000000000000000000000000000..c9599059c91a7479cc0cc9b7ba8fe82adae4be1a
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_3008793d-f0ee-4641-a005-057636765a79.md b/gap_reports/gap_3008793d-f0ee-4641-a005-057636765a79.md
new file mode 100644
index 0000000000000000000000000000000000000000..94a909357acec69ff99f303c1d6479f8eaff7a5a
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_300adad7-fd20-4108-b78f-789adc205dc9.md b/gap_reports/gap_300adad7-fd20-4108-b78f-789adc205dc9.md
new file mode 100644
index 0000000000000000000000000000000000000000..f4c45516da73c91bc04a211608dae1c7d607e04e
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_3057d399-114c-4358-a3b0-b3b6c69867cb.md b/gap_reports/gap_3057d399-114c-4358-a3b0-b3b6c69867cb.md
new file mode 100644
index 0000000000000000000000000000000000000000..ae30b3d33d3da89908f178006ef24b3ed7bd57b8
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_3065a4a9-4495-429b-ba73-3e3531e68231.md b/gap_reports/gap_3065a4a9-4495-429b-ba73-3e3531e68231.md
new file mode 100644
index 0000000000000000000000000000000000000000..ec22992d467c9107b9b2d070c1ca70ee3a3c3044
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_306b5013-7cbb-4ef4-b013-b83952f6a140.md b/gap_reports/gap_306b5013-7cbb-4ef4-b013-b83952f6a140.md
new file mode 100644
index 0000000000000000000000000000000000000000..40414681ad4aaa91cf0cde8f14dc3f5ef9695403
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_30a510ec-385d-4265-aa9f-c358f78ebd9b.md b/gap_reports/gap_30a510ec-385d-4265-aa9f-c358f78ebd9b.md
new file mode 100644
index 0000000000000000000000000000000000000000..da673a80170e145989c82c4e3a2dc2689c01fb92
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_30d134aa-3b36-4039-9cb7-6205af8e394f.md b/gap_reports/gap_30d134aa-3b36-4039-9cb7-6205af8e394f.md
new file mode 100644
index 0000000000000000000000000000000000000000..91128c8651801d4474edbc6c2aaaa635a952507a
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_30e0865e-2d6b-4445-a543-57060e36c4f4.md b/gap_reports/gap_30e0865e-2d6b-4445-a543-57060e36c4f4.md
new file mode 100644
index 0000000000000000000000000000000000000000..d2ba7ec8aba0010c0bb95f8673e676a296e2013a
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_30e3780a-8102-495c-8b96-3ae366713401.md b/gap_reports/gap_30e3780a-8102-495c-8b96-3ae366713401.md
new file mode 100644
index 0000000000000000000000000000000000000000..3ddf1ca979d02de236e38b91fbd5ad0b7a3e5fa3
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_30e9dd17-a71f-437b-9e8a-30422ec171fc.md b/gap_reports/gap_30e9dd17-a71f-437b-9e8a-30422ec171fc.md
new file mode 100644
index 0000000000000000000000000000000000000000..f26a957f1ed1eb2b771ce2953c4db1bd3a29b8ef
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_30f021ff-0da0-4367-8693-b10bd5263e78.md b/gap_reports/gap_30f021ff-0da0-4367-8693-b10bd5263e78.md
new file mode 100644
index 0000000000000000000000000000000000000000..9a43d65984d0af6c4a52dc33297b2a2129c39415
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_30fdd392-4404-4ac6-9e9a-c0646d4c6170.md b/gap_reports/gap_30fdd392-4404-4ac6-9e9a-c0646d4c6170.md
new file mode 100644
index 0000000000000000000000000000000000000000..6d9c01bf9f0a6516a2f7ef203da053754f24d4c5
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_311e95dd-41f5-4a27-bc3a-083ed6979f85.md b/gap_reports/gap_311e95dd-41f5-4a27-bc3a-083ed6979f85.md
new file mode 100644
index 0000000000000000000000000000000000000000..dfdc6f8d12b8ddd51e7d37ad713021637f962159
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_31313aae-b867-4e18-82d4-5cac57916c73.md b/gap_reports/gap_31313aae-b867-4e18-82d4-5cac57916c73.md
new file mode 100644
index 0000000000000000000000000000000000000000..fea5da4aad252f1de7ea79ac55933efb51f3eb87
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_31370004-432f-4bc6-b6dd-f9340fe2b721.md b/gap_reports/gap_31370004-432f-4bc6-b6dd-f9340fe2b721.md
new file mode 100644
index 0000000000000000000000000000000000000000..4c4f4df740d5e18114229169f96b0083f570df05
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_314e1915-bdff-4100-9d38-9414e011f555.md b/gap_reports/gap_314e1915-bdff-4100-9d38-9414e011f555.md
new file mode 100644
index 0000000000000000000000000000000000000000..f42c186a2aaf7c34d0fb694ca4a297ebc0739608
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_3170faaf-72c2-416b-b1bf-e41c737f89ad.md b/gap_reports/gap_3170faaf-72c2-416b-b1bf-e41c737f89ad.md
new file mode 100644
index 0000000000000000000000000000000000000000..3b0a88daa99b965f240822145aebaf29be1a802d
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_3185437e-1b4a-45e4-b699-c065ce77ebf4.md b/gap_reports/gap_3185437e-1b4a-45e4-b699-c065ce77ebf4.md
new file mode 100644
index 0000000000000000000000000000000000000000..fd8abf884decd959175ea782644f1d1b12b0cc50
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_31855a30-7e68-433a-ad91-bd05bcba137b.md b/gap_reports/gap_31855a30-7e68-433a-ad91-bd05bcba137b.md
new file mode 100644
index 0000000000000000000000000000000000000000..11b52f28f576a797022b7402cb5a3c3756f27b0a
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_31b7dd29-afd8-460e-a8f4-f777add365a4.md b/gap_reports/gap_31b7dd29-afd8-460e-a8f4-f777add365a4.md
new file mode 100644
index 0000000000000000000000000000000000000000..e0ff1490936ab2351042603fde481a27a3a8c591
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_31bae6e7-9d95-4dc2-abb1-79c8c63c1cf8.md b/gap_reports/gap_31bae6e7-9d95-4dc2-abb1-79c8c63c1cf8.md
new file mode 100644
index 0000000000000000000000000000000000000000..b3cd78fc40a9c95a46f95d9ba5f5e7d18d4375ae
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_31f4f02f-1b22-46f7-9a51-0719f60e2b86.md b/gap_reports/gap_31f4f02f-1b22-46f7-9a51-0719f60e2b86.md
new file mode 100644
index 0000000000000000000000000000000000000000..ffdab142b3fd404985e7b70fe99f4955ef5a4dd4
--- /dev/null
+++ b/gap_reports/gap_31f4f02f-1b22-46f7-9a51-0719f60e2b86.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/31f4f02f-1b22-46f7-9a51-0719f60e2b86.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/31f4f02f-1b22-46f7-9a51-0719f60e2b86.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2968 |
+| Sim rows | 262 |
+| Real episode_id | `31f4f02f-1b22-46f7-9a51-0719f60e2b86` |
+| Sim episode_id | `31f4f02f-1b22-46f7-9a51-0719f60e2b86` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 250 | 22 | 3.683 | 13.62 | 23.59 | 2025.33 | 0.5865 |
+| 1 | descend | 391 | 34 | 1.266 | 7.61 | 13.18 | 3626.08 | 0.6211 |
+| 2 | settle | 387 | 34 | 0.021 | 0.68 | 1.17 | 3625.96 | 0.6432 |
+| 3 | close | 176 | 16 | 1.090 | 6.26 | 10.85 | 1077.20 | 0.9504 |
+| 4 | lift | 367 | 32 | 3.800 | 15.63 | 27.06 | 1998.95 | 1.0892 |
+| 5 | move_xy | 449 | 39 | 8.667 | 37.58 | 65.09 | 2037.87 | 0.8562 |
+| 6 | lower | 402 | 35 | 0.086 | 1.27 | 2.21 | 1901.93 | 0.9050 |
+| 7 | open | 178 | 16 | 1.135 | 6.38 | 11.05 | 3626.10 | 0.6595 |
+| 8 | retract | 368 | 32 | 3.879 | 15.98 | 27.67 | 2493.24 | 0.7134 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.686 |
+| TCP position RMSE (mm, per-axis) | 15.77 |
+| EE position RMS L2 (mm) | 30.19 |
+| TCP rotvec (mrad) | 2639.22 |
+| W1 effort mean (A) | 0.7668 |
+| W1 effort per joint (A) | j0=0.2250, j1=1.1803, j2=1.4990, j3=0.7657, j4=0.3206, 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 | 0.00062 | -0.00016 | -0.00044 | 0.00078 | 0.026 |
+| 1 | 0.00074 | -0.00055 | -0.00077 | 0.00120 | 0.037 |
+| 2 | 0.00069 | -0.00055 | -0.00078 | 0.00118 | 0.040 |
+| 3 | 0.00152 | -0.00018 | -0.00077 | 0.00171 | 0.152 |
+| 4 | 0.00004 | -0.00042 | -0.00041 | 0.00059 | 0.103 |
+| 5 | 0.00129 | -0.00073 | -0.00173 | 0.00228 | 0.156 |
+| 6 | 0.00150 | -0.00076 | -0.00109 | 0.00200 | 0.118 |
+| 7 | 0.00051 | -0.00024 | -0.00052 | 0.00077 | 0.045 |
+| 8 | -0.00010 | -0.00014 | -0.00016 | 0.00023 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_32247398-7535-4e9c-a138-aabd28c0f7a0.md b/gap_reports/gap_32247398-7535-4e9c-a138-aabd28c0f7a0.md
new file mode 100644
index 0000000000000000000000000000000000000000..e7686890041ff3a635c3d041b2586c06bf9616e8
--- /dev/null
+++ b/gap_reports/gap_32247398-7535-4e9c-a138-aabd28c0f7a0.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/32247398-7535-4e9c-a138-aabd28c0f7a0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/32247398-7535-4e9c-a138-aabd28c0f7a0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1732 |
+| Sim rows | 176 |
+| Real episode_id | `32247398-7535-4e9c-a138-aabd28c0f7a0` |
+| Sim episode_id | `32247398-7535-4e9c-a138-aabd28c0f7a0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.207 | 10.16 | 17.60 | 1014.55 | 0.7365 |
+| 1 | descend | 80 | 9 | 0.808 | 3.91 | 6.77 | 3.99 | 0.5239 |
+| 2 | settle | 36 | 4 | 0.019 | 2.57 | 4.46 | 4.51 | 0.4898 |
+| 3 | close | 376 | 37 | 0.094 | 3.14 | 5.44 | 7.03 | 0.9479 |
+| 4 | lift | 82 | 9 | 0.780 | 3.92 | 6.78 | 6.55 | 1.0797 |
+| 5 | move_xy | 202 | 20 | 9.548 | 10.40 | 18.00 | 323.97 | 1.0158 |
+| 6 | lower | 81 | 9 | 18.948 | 3.93 | 6.81 | 730.94 | 1.1020 |
+| 7 | open | 367 | 36 | 18.928 | 2.62 | 4.54 | 732.08 | 0.7743 |
+| 8 | retract | 82 | 9 | 18.948 | 3.97 | 6.87 | 731.53 | 0.7801 |
+| 9 | return | 288 | 29 | 9.981 | 8.13 | 14.09 | 1226.24 | 0.7819 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 11.308 |
+| TCP position RMSE (mm, per-axis) | 6.02 |
+| EE position RMS L2 (mm) | 10.74 |
+| TCP rotvec (mrad) | 651.42 |
+| W1 effort mean (A) | 0.8355 |
+| W1 effort per joint (A) | j0=0.1829, j1=1.1717, j2=1.5687, j3=0.7427, j4=0.3792, j5=0.9677 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00179 | -0.00358 | -0.00042 | 0.00403 | 0.050 |
+| 1 | 0.00211 | -0.00395 | -0.00029 | 0.00448 | 0.053 |
+| 2 | 0.00206 | -0.00391 | -0.00042 | 0.00444 | 0.026 |
+| 3 | 0.00291 | -0.00442 | -0.00106 | 0.00540 | 0.128 |
+| 4 | 0.00224 | -0.00411 | -0.00126 | 0.00484 | 0.130 |
+| 5 | 0.00093 | -0.00421 | -0.00018 | 0.00431 | 46.368 |
+| 6 | 0.00198 | -0.00379 | -0.00070 | 0.00434 | 46.368 |
+| 7 | 0.00191 | -0.00411 | -0.00007 | 0.00453 | 46.364 |
+| 8 | 0.00136 | -0.00407 | -0.00029 | 0.00430 | 46.376 |
+| 9 | -0.00003 | -0.00006 | -0.00019 | 0.00020 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3235158b-4757-41da-bb73-99c91ad9c41f.md b/gap_reports/gap_3235158b-4757-41da-bb73-99c91ad9c41f.md
new file mode 100644
index 0000000000000000000000000000000000000000..b7fc5e581ec54cb364347258224557f03acbc51d
--- /dev/null
+++ b/gap_reports/gap_3235158b-4757-41da-bb73-99c91ad9c41f.md
@@ -0,0 +1,69 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3235158b-4757-41da-bb73-99c91ad9c41f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3235158b-4757-41da-bb73-99c91ad9c41f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2047 |
+| Sim rows | 208 |
+| Real episode_id | `3235158b-4757-41da-bb73-99c91ad9c41f` |
+| Sim episode_id | `3235158b-4757-41da-bb73-99c91ad9c41f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 256 | 25 | 4.145 | 20.35 | 35.24 | 1881.88 | 0.6311 |
+| 1 | descend | 289 | 29 | 1.276 | 9.03 | 15.64 | 3624.74 | 0.8121 |
+| 2 | settle | 318 | 31 | 0.027 | 1.01 | 1.76 | 3624.59 | 0.7204 |
+| 3 | close | 133 | 14 | 0.775 | 5.35 | 9.27 | 3625.16 | 1.0346 |
+| 4 | lift | 349 | 34 | 3.290 | 17.19 | 29.77 | 2469.94 | 1.1386 |
+| 5 | move_xy | 459 | 45 | 8.264 | 45.27 | 78.40 | 2831.09 | 0.9430 |
+| 6 | lower | 243 | 24 | 0.096 | 1.80 | 3.12 | 3625.08 | 1.0290 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.752 |
+| TCP position RMSE (mm, per-axis) | 20.26 |
+| EE position RMS L2 (mm) | 41.55 |
+| TCP rotvec (mrad) | 3167.16 |
+| W1 effort mean (A) | 0.8753 |
+| W1 effort per joint (A) | j0=0.2222, j1=1.5393, j2=1.5921, j3=0.8672, j4=0.3229, j5=0.7083 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00108 | -0.00020 | -0.00082 | 0.00137 | 0.031 |
+| 1 | 0.00117 | -0.00063 | -0.00124 | 0.00182 | 0.060 |
+| 2 | 0.00114 | -0.00065 | -0.00118 | 0.00177 | 0.057 |
+| 3 | 0.00190 | -0.00023 | -0.00230 | 0.00300 | 0.220 |
+| 4 | 0.00022 | -0.00017 | -0.00020 | 0.00034 | 0.100 |
+| 5 | 0.00270 | -0.00096 | -0.00181 | 0.00339 | 0.212 |
+| 6 | 0.00254 | -0.00086 | -0.00238 | 0.00359 | 0.180 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3246210d-e068-4c3b-91ad-60bc0775621a.md b/gap_reports/gap_3246210d-e068-4c3b-91ad-60bc0775621a.md
new file mode 100644
index 0000000000000000000000000000000000000000..75f38778841c866e8542ab704409f8a147f4f602
--- /dev/null
+++ b/gap_reports/gap_3246210d-e068-4c3b-91ad-60bc0775621a.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3246210d-e068-4c3b-91ad-60bc0775621a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3246210d-e068-4c3b-91ad-60bc0775621a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1118 |
+| Sim rows | 117 |
+| Real episode_id | `3246210d-e068-4c3b-91ad-60bc0775621a` |
+| Sim episode_id | `3246210d-e068-4c3b-91ad-60bc0775621a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 161 | 16 | 3.187 | 18.33 | 31.76 | 1504.42 | 0.7754 |
+| 1 | descend | 69 | 8 | 0.715 | 4.65 | 8.06 | 5.73 | 0.6593 |
+| 2 | settle | 30 | 4 | 0.021 | 3.14 | 5.43 | 6.14 | 0.7003 |
+| 3 | close | 54 | 6 | 0.131 | 3.67 | 6.36 | 3621.35 | 1.1763 |
+| 4 | lift | 92 | 10 | 1.084 | 6.36 | 11.01 | 3345.28 | 1.1820 |
+| 5 | move_xy | 196 | 20 | 10.483 | 22.59 | 39.13 | 2555.42 | 1.0306 |
+| 6 | lower | 72 | 8 | 20.710 | 3.26 | 5.64 | 2893.73 | 1.0571 |
+| 7 | open | 94 | 10 | 20.705 | 2.62 | 4.54 | 799.59 | 0.7319 |
+| 8 | retract | 72 | 8 | 20.716 | 3.45 | 5.98 | 799.03 | 0.7711 |
+| 9 | return | 278 | 27 | 11.875 | 11.96 | 20.71 | 1470.81 | 0.6956 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 12.448 |
+| TCP position RMSE (mm, per-axis) | 10.51 |
+| EE position RMS L2 (mm) | 23.30 |
+| TCP rotvec (mrad) | 2119.28 |
+| W1 effort mean (A) | 0.8371 |
+| W1 effort per joint (A) | j0=0.2661, j1=1.1408, j2=1.5994, j3=0.7871, j4=0.3664, j5=0.8626 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00167 | -0.00467 | -0.00126 | 0.00512 | 0.055 |
+| 1 | 0.00183 | -0.00493 | -0.00120 | 0.00540 | 0.044 |
+| 2 | 0.00185 | -0.00492 | -0.00146 | 0.00545 | 0.050 |
+| 3 | 0.00263 | -0.00483 | -0.00363 | 0.00659 | 0.232 |
+| 4 | 0.00192 | -0.00417 | -0.00354 | 0.00580 | 0.234 |
+| 5 | 0.00176 | -0.00365 | -0.00108 | 0.00419 | 50.665 |
+| 6 | 0.00239 | -0.00360 | -0.00091 | 0.00441 | 50.717 |
+| 7 | 0.00181 | -0.00414 | 0.00007 | 0.00452 | 50.716 |
+| 8 | 0.00136 | -0.00408 | -0.00006 | 0.00430 | 50.707 |
+| 9 | -0.00011 | -0.00012 | -0.00030 | 0.00034 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_324a1c77-3c01-4e0d-a7c6-5e98f51949ad.md b/gap_reports/gap_324a1c77-3c01-4e0d-a7c6-5e98f51949ad.md
new file mode 100644
index 0000000000000000000000000000000000000000..57cf52fa2b9f1ff905d356d1db99e37f1006fae5
--- /dev/null
+++ b/gap_reports/gap_324a1c77-3c01-4e0d-a7c6-5e98f51949ad.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/324a1c77-3c01-4e0d-a7c6-5e98f51949ad.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/324a1c77-3c01-4e0d-a7c6-5e98f51949ad.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1740 |
+| Sim rows | 177 |
+| Real episode_id | `324a1c77-3c01-4e0d-a7c6-5e98f51949ad` |
+| Sim episode_id | `324a1c77-3c01-4e0d-a7c6-5e98f51949ad` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.441 | 13.71 | 23.75 | 1212.10 | 0.7796 |
+| 1 | descend | 90 | 10 | 0.832 | 4.49 | 7.78 | 4.52 | 0.6480 |
+| 2 | settle | 24 | 3 | 0.022 | 2.73 | 4.74 | 5.17 | 0.6864 |
+| 3 | close | 392 | 39 | 0.107 | 3.24 | 5.62 | 9.90 | 1.2542 |
+| 4 | lift | 93 | 10 | 0.983 | 5.27 | 9.13 | 8.76 | 1.3641 |
+| 5 | move_xy | 205 | 20 | 5.952 | 27.71 | 47.99 | 16.74 | 1.1569 |
+| 6 | lower | 89 | 10 | 0.921 | 4.17 | 7.23 | 6.66 | 1.1443 |
+| 7 | open | 364 | 36 | 0.022 | 2.21 | 3.83 | 4.48 | 0.6714 |
+| 8 | retract | 93 | 10 | 0.868 | 3.94 | 6.83 | 3.71 | 0.6701 |
+| 9 | return | 225 | 22 | 2.938 | 15.19 | 26.32 | 1249.43 | 0.7454 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.432 |
+| TCP position RMSE (mm, per-axis) | 11.36 |
+| EE position RMS L2 (mm) | 20.92 |
+| TCP rotvec (mrad) | 550.53 |
+| W1 effort mean (A) | 0.9168 |
+| W1 effort per joint (A) | j0=0.1810, j1=1.4628, j2=1.6088, j3=0.9552, j4=0.6528, j5=0.6399 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00161 | -0.00382 | -0.00096 | 0.00425 | 0.035 |
+| 1 | 0.00200 | -0.00420 | -0.00096 | 0.00475 | 0.040 |
+| 2 | 0.00200 | -0.00418 | -0.00105 | 0.00475 | 0.042 |
+| 3 | 0.00217 | -0.00456 | -0.00132 | 0.00522 | 0.166 |
+| 4 | 0.00156 | -0.00433 | -0.00148 | 0.00484 | 0.146 |
+| 5 | 0.00158 | -0.00348 | 0.00004 | 0.00382 | 0.169 |
+| 6 | 0.00236 | -0.00287 | -0.00019 | 0.00372 | 0.145 |
+| 7 | 0.00208 | -0.00319 | 0.00006 | 0.00380 | 0.032 |
+| 8 | 0.00155 | -0.00338 | -0.00008 | 0.00372 | 0.062 |
+| 9 | 0.00002 | -0.00009 | -0.00019 | 0.00021 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_32568b3f-6a9b-4846-beed-e21691b6d982.md b/gap_reports/gap_32568b3f-6a9b-4846-beed-e21691b6d982.md
new file mode 100644
index 0000000000000000000000000000000000000000..f5b2c634f6b76b0d0b7f9f74b77f15727db4cd6c
--- /dev/null
+++ b/gap_reports/gap_32568b3f-6a9b-4846-beed-e21691b6d982.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/32568b3f-6a9b-4846-beed-e21691b6d982.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/32568b3f-6a9b-4846-beed-e21691b6d982.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2718 |
+| Sim rows | 242 |
+| Real episode_id | `32568b3f-6a9b-4846-beed-e21691b6d982` |
+| Sim episode_id | `32568b3f-6a9b-4846-beed-e21691b6d982` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 173 | 16 | 2.125 | 8.30 | 14.37 | 2025.81 | 0.5734 |
+| 1 | descend | 466 | 41 | 0.552 | 3.26 | 5.65 | 3626.02 | 0.7669 |
+| 2 | settle | 367 | 32 | 0.024 | 0.58 | 1.01 | 3625.96 | 0.6703 |
+| 3 | close | 145 | 13 | 1.051 | 6.15 | 10.65 | 1066.22 | 0.9064 |
+| 4 | lift | 355 | 31 | 2.739 | 11.23 | 19.45 | 1639.69 | 1.0793 |
+| 5 | move_xy | 329 | 29 | 4.667 | 21.82 | 37.80 | 2019.73 | 0.8849 |
+| 6 | lower | 385 | 34 | 0.084 | 1.07 | 1.86 | 1461.93 | 1.0075 |
+| 7 | open | 144 | 13 | 1.024 | 5.87 | 10.16 | 3626.14 | 0.6216 |
+| 8 | retract | 354 | 31 | 2.605 | 10.74 | 18.60 | 2272.09 | 0.6933 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.187 |
+| TCP position RMSE (mm, per-axis) | 9.84 |
+| EE position RMS L2 (mm) | 17.27 |
+| TCP rotvec (mrad) | 2555.01 |
+| W1 effort mean (A) | 0.7945 |
+| W1 effort per joint (A) | j0=0.2621, j1=1.1622, j2=1.6372, j3=0.7058, j4=0.4353, j5=0.5648 |
+
+## Phase-end anchor (sim - 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 | -0.00035 | -0.00046 | 0.00059 | 0.027 |
+| 1 | 0.00013 | -0.00059 | -0.00074 | 0.00095 | 0.038 |
+| 2 | 0.00018 | -0.00058 | -0.00079 | 0.00099 | 0.036 |
+| 3 | 0.00048 | -0.00049 | -0.00080 | 0.00105 | 0.068 |
+| 4 | 0.00018 | -0.00022 | -0.00030 | 0.00041 | 0.098 |
+| 5 | 0.00066 | -0.00090 | -0.00169 | 0.00203 | 0.128 |
+| 6 | 0.00084 | -0.00072 | -0.00099 | 0.00148 | 0.099 |
+| 7 | -0.00004 | -0.00037 | -0.00052 | 0.00064 | 0.036 |
+| 8 | -0.00008 | -0.00009 | -0.00013 | 0.00018 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3274d4ed-3afe-452f-97a7-f6143b22ce28.md b/gap_reports/gap_3274d4ed-3afe-452f-97a7-f6143b22ce28.md
new file mode 100644
index 0000000000000000000000000000000000000000..f7bf4bd6a6c03ab1c0c6eac8a13d10a7fad8c2dc
--- /dev/null
+++ b/gap_reports/gap_3274d4ed-3afe-452f-97a7-f6143b22ce28.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3274d4ed-3afe-452f-97a7-f6143b22ce28.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3274d4ed-3afe-452f-97a7-f6143b22ce28.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2409 |
+| Sim rows | 216 |
+| Real episode_id | `3274d4ed-3afe-452f-97a7-f6143b22ce28` |
+| Sim episode_id | `3274d4ed-3afe-452f-97a7-f6143b22ce28` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 175 | 16 | 2.380 | 8.95 | 15.50 | 1918.72 | 0.5842 |
+| 1 | descend | 321 | 29 | 1.090 | 6.47 | 11.20 | 3626.05 | 0.6742 |
+| 2 | settle | 358 | 31 | 0.020 | 0.60 | 1.04 | 3625.90 | 0.6400 |
+| 3 | close | 118 | 11 | 0.758 | 4.62 | 8.00 | 931.44 | 0.9214 |
+| 4 | lift | 294 | 26 | 3.123 | 12.94 | 22.42 | 1800.94 | 1.0965 |
+| 5 | move_xy | 329 | 29 | 7.441 | 33.58 | 58.17 | 1919.88 | 0.8548 |
+| 6 | lower | 404 | 35 | 0.081 | 1.12 | 1.95 | 1681.65 | 0.9354 |
+| 7 | open | 116 | 11 | 0.763 | 4.49 | 7.77 | 3626.03 | 0.6563 |
+| 8 | retract | 294 | 26 | 3.218 | 13.32 | 23.06 | 2297.05 | 0.7011 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.046 |
+| TCP position RMSE (mm, per-axis) | 13.49 |
+| EE position RMS L2 (mm) | 25.09 |
+| TCP rotvec (mrad) | 2560.95 |
+| W1 effort mean (A) | 0.7785 |
+| W1 effort per joint (A) | j0=0.2224, j1=1.1795, j2=1.5837, j3=0.8385, j4=0.2739, j5=0.5727 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00040 | -0.00030 | -0.00043 | 0.00066 | 0.034 |
+| 1 | 0.00049 | -0.00059 | -0.00078 | 0.00109 | 0.035 |
+| 2 | 0.00043 | -0.00057 | -0.00078 | 0.00105 | 0.035 |
+| 3 | 0.00061 | -0.00044 | -0.00030 | 0.00081 | 0.099 |
+| 4 | 0.00025 | -0.00009 | -0.00019 | 0.00033 | 0.087 |
+| 5 | 0.00171 | -0.00087 | -0.00175 | 0.00260 | 0.193 |
+| 6 | 0.00100 | -0.00086 | -0.00074 | 0.00151 | 0.123 |
+| 7 | 0.00017 | -0.00029 | -0.00058 | 0.00067 | 0.041 |
+| 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.
diff --git a/gap_reports/gap_3276d4e8-fadf-4456-a411-574616b54b38.md b/gap_reports/gap_3276d4e8-fadf-4456-a411-574616b54b38.md
new file mode 100644
index 0000000000000000000000000000000000000000..b8920344967fd785dbced4277bb786af79a0c8fc
--- /dev/null
+++ b/gap_reports/gap_3276d4e8-fadf-4456-a411-574616b54b38.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3276d4e8-fadf-4456-a411-574616b54b38.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3276d4e8-fadf-4456-a411-574616b54b38.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2507 |
+| Sim rows | 221 |
+| Real episode_id | `3276d4e8-fadf-4456-a411-574616b54b38` |
+| Sim episode_id | `3276d4e8-fadf-4456-a411-574616b54b38` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.590 | 13.84 | 23.96 | 1917.36 | 0.5812 |
+| 1 | descend | 318 | 28 | 0.909 | 5.42 | 9.39 | 3626.06 | 0.6386 |
+| 2 | settle | 379 | 33 | 0.019 | 0.62 | 1.08 | 3626.07 | 0.7382 |
+| 3 | close | 98 | 9 | 0.500 | 3.12 | 5.40 | 1041.04 | 0.9213 |
+| 4 | lift | 336 | 29 | 3.764 | 15.50 | 26.85 | 2052.05 | 1.0873 |
+| 5 | move_xy | 335 | 29 | 6.974 | 29.65 | 51.35 | 1900.43 | 0.8239 |
+| 6 | lower | 395 | 34 | 0.079 | 1.15 | 1.99 | 1787.66 | 0.9988 |
+| 7 | open | 98 | 9 | 0.444 | 2.67 | 4.62 | 3626.14 | 0.6335 |
+| 8 | retract | 337 | 29 | 3.934 | 16.29 | 28.22 | 2345.26 | 0.7034 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.205 |
+| TCP position RMSE (mm, per-axis) | 13.43 |
+| EE position RMS L2 (mm) | 24.87 |
+| TCP rotvec (mrad) | 2597.52 |
+| W1 effort mean (A) | 0.7903 |
+| W1 effort per joint (A) | j0=0.2338, j1=1.2013, j2=1.5739, j3=0.7949, j4=0.3122, j5=0.6255 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00071 | -0.00026 | -0.00046 | 0.00089 | 0.042 |
+| 1 | 0.00066 | -0.00050 | -0.00067 | 0.00106 | 0.033 |
+| 2 | 0.00067 | -0.00051 | -0.00068 | 0.00108 | 0.036 |
+| 3 | 0.00110 | -0.00034 | -0.00095 | 0.00149 | 0.086 |
+| 4 | 0.00010 | -0.00037 | -0.00033 | 0.00050 | 0.115 |
+| 5 | 0.00162 | -0.00053 | -0.00165 | 0.00237 | 0.127 |
+| 6 | 0.00145 | -0.00054 | -0.00064 | 0.00167 | 0.114 |
+| 7 | 0.00048 | -0.00027 | -0.00056 | 0.00079 | 0.040 |
+| 8 | -0.00011 | -0.00016 | -0.00018 | 0.00026 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3287bcbb-8eef-4ff5-8057-fc0a592bcb5e.md b/gap_reports/gap_3287bcbb-8eef-4ff5-8057-fc0a592bcb5e.md
new file mode 100644
index 0000000000000000000000000000000000000000..1a75621fbecc2f835c53eae4ea0a2898af88f078
--- /dev/null
+++ b/gap_reports/gap_3287bcbb-8eef-4ff5-8057-fc0a592bcb5e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3287bcbb-8eef-4ff5-8057-fc0a592bcb5e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3287bcbb-8eef-4ff5-8057-fc0a592bcb5e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3137 |
+| Sim rows | 275 |
+| Real episode_id | `3287bcbb-8eef-4ff5-8057-fc0a592bcb5e` |
+| Sim episode_id | `3287bcbb-8eef-4ff5-8057-fc0a592bcb5e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 210 | 19 | 3.212 | 13.70 | 23.73 | 3.27 | 0.6004 |
+| 1 | descend | 504 | 43 | 0.803 | 5.29 | 9.16 | 5.16 | 0.7082 |
+| 2 | settle | 379 | 33 | 0.025 | 1.00 | 1.74 | 5.34 | 0.6285 |
+| 3 | close | 132 | 12 | 1.078 | 6.79 | 11.75 | 6.98 | 0.8968 |
+| 4 | lift | 499 | 43 | 3.486 | 16.14 | 27.96 | 4.92 | 1.1085 |
+| 5 | move_xy | 368 | 32 | 7.700 | 38.14 | 66.06 | 5.53 | 0.8723 |
+| 6 | lower | 412 | 36 | 0.099 | 1.78 | 3.09 | 8.10 | 0.9299 |
+| 7 | open | 133 | 12 | 0.996 | 6.34 | 10.98 | 5.51 | 0.6011 |
+| 8 | retract | 500 | 43 | 3.479 | 16.22 | 28.10 | 3.57 | 0.7218 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.277 |
+| TCP position RMSE (mm, per-axis) | 15.93 |
+| EE position RMS L2 (mm) | 28.74 |
+| TCP rotvec (mrad) | 5.56 |
+| W1 effort mean (A) | 0.7774 |
+| W1 effort per joint (A) | j0=0.2901, j1=1.3109, j2=1.4385, j3=0.6040, j4=0.4324, j5=0.5885 |
+
+## Phase-end anchor (sim - 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 | -0.00046 | -0.00059 | 0.00133 | 0.033 |
+| 1 | 0.00112 | -0.00084 | -0.00098 | 0.00171 | 0.046 |
+| 2 | 0.00111 | -0.00088 | -0.00093 | 0.00170 | 0.046 |
+| 3 | 0.00143 | -0.00066 | -0.00065 | 0.00170 | 0.116 |
+| 4 | 0.00054 | 0.00003 | -0.00015 | 0.00056 | 0.142 |
+| 5 | 0.00257 | -0.00103 | -0.00153 | 0.00317 | 0.192 |
+| 6 | 0.00279 | -0.00101 | -0.00255 | 0.00391 | 0.221 |
+| 7 | 0.00090 | -0.00053 | -0.00074 | 0.00128 | 0.046 |
+| 8 | -0.00005 | -0.00007 | -0.00010 | 0.00013 | 0.017 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3296dd38-05b8-46ed-87d1-a55157005df5.md b/gap_reports/gap_3296dd38-05b8-46ed-87d1-a55157005df5.md
new file mode 100644
index 0000000000000000000000000000000000000000..07787e6bab29d7ed3c052ef25c0b8694bf94e735
--- /dev/null
+++ b/gap_reports/gap_3296dd38-05b8-46ed-87d1-a55157005df5.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3296dd38-05b8-46ed-87d1-a55157005df5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3296dd38-05b8-46ed-87d1-a55157005df5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1439 |
+| Sim rows | 147 |
+| Real episode_id | `3296dd38-05b8-46ed-87d1-a55157005df5` |
+| Sim episode_id | `3296dd38-05b8-46ed-87d1-a55157005df5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 173 | 17 | 4.179 | 12.92 | 22.38 | 1361.69 | 0.7862 |
+| 1 | descend | 77 | 8 | 0.730 | 4.41 | 7.64 | 5.14 | 0.7185 |
+| 2 | settle | 32 | 4 | 0.025 | 2.66 | 4.60 | 5.71 | 0.7765 |
+| 3 | close | 311 | 31 | 0.139 | 1.96 | 3.39 | 7.63 | 1.3350 |
+| 4 | lift | 95 | 10 | 0.931 | 4.88 | 8.45 | 7.30 | 1.4452 |
+| 5 | move_xy | 236 | 23 | 9.390 | 14.06 | 24.35 | 307.48 | 1.0795 |
+| 6 | lower | 79 | 9 | 17.663 | 3.66 | 6.34 | 684.95 | 1.0807 |
+| 7 | open | 68 | 7 | 17.643 | 2.59 | 4.48 | 683.04 | 0.7311 |
+| 8 | retract | 82 | 9 | 17.664 | 3.97 | 6.87 | 682.48 | 0.7724 |
+| 9 | return | 286 | 29 | 10.045 | 11.87 | 20.55 | 1385.11 | 0.7896 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 10.692 |
+| TCP position RMSE (mm, per-axis) | 7.72 |
+| EE position RMS L2 (mm) | 16.06 |
+| TCP rotvec (mrad) | 725.87 |
+| W1 effort mean (A) | 0.9867 |
+| W1 effort per joint (A) | j0=0.1952, j1=1.6605, j2=1.6492, j3=1.0010, j4=0.5262, j5=0.8878 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00168 | -0.00377 | -0.00082 | 0.00421 | 0.044 |
+| 1 | 0.00212 | -0.00398 | -0.00097 | 0.00461 | 0.064 |
+| 2 | 0.00211 | -0.00397 | -0.00110 | 0.00463 | 0.052 |
+| 3 | 0.00045 | -0.00322 | -0.00075 | 0.00334 | 0.192 |
+| 4 | 0.00011 | -0.00308 | -0.00140 | 0.00338 | 0.233 |
+| 5 | 0.00247 | -0.00329 | -0.00059 | 0.00415 | 43.230 |
+| 6 | 0.00312 | -0.00306 | -0.00081 | 0.00445 | 43.219 |
+| 7 | 0.00195 | -0.00401 | -0.00006 | 0.00446 | 43.217 |
+| 8 | 0.00145 | -0.00406 | -0.00018 | 0.00432 | 43.233 |
+| 9 | -0.00004 | -0.00007 | -0.00019 | 0.00021 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_32a84a10-27ed-4704-9603-32cc71c47a64.md b/gap_reports/gap_32a84a10-27ed-4704-9603-32cc71c47a64.md
new file mode 100644
index 0000000000000000000000000000000000000000..9f57dcdc20a473b027c9e53f0c3ca22db84b67b0
--- /dev/null
+++ b/gap_reports/gap_32a84a10-27ed-4704-9603-32cc71c47a64.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/32a84a10-27ed-4704-9603-32cc71c47a64.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/32a84a10-27ed-4704-9603-32cc71c47a64.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2999 |
+| Sim rows | 267 |
+| Real episode_id | `32a84a10-27ed-4704-9603-32cc71c47a64` |
+| Sim episode_id | `32a84a10-27ed-4704-9603-32cc71c47a64` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 257 | 23 | 3.396 | 15.55 | 26.93 | 1984.35 | 0.5805 |
+| 1 | descend | 473 | 41 | 0.488 | 3.25 | 5.63 | 3625.35 | 0.7151 |
+| 2 | settle | 383 | 34 | 0.023 | 0.76 | 1.32 | 3625.25 | 0.7255 |
+| 3 | close | 146 | 13 | 0.516 | 3.53 | 6.11 | 3200.36 | 1.0237 |
+| 4 | lift | 384 | 34 | 3.001 | 14.22 | 24.63 | 2154.05 | 1.1294 |
+| 5 | move_xy | 430 | 38 | 6.597 | 34.03 | 58.94 | 2683.19 | 0.8905 |
+| 6 | lower | 396 | 35 | 0.085 | 1.37 | 2.37 | 3625.80 | 0.9879 |
+| 7 | open | 145 | 13 | 0.681 | 4.53 | 7.85 | 3625.49 | 0.6460 |
+| 8 | retract | 385 | 34 | 3.057 | 14.75 | 25.56 | 2277.87 | 0.7185 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.875 |
+| TCP position RMSE (mm, per-axis) | 14.40 |
+| EE position RMS L2 (mm) | 27.06 |
+| TCP rotvec (mrad) | 3051.12 |
+| W1 effort mean (A) | 0.8017 |
+| W1 effort per joint (A) | j0=0.2215, j1=1.3264, j2=1.6497, j3=0.7369, j4=0.3073, j5=0.5686 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00067 | -0.00038 | -0.00078 | 0.00110 | 0.039 |
+| 1 | 0.00062 | -0.00063 | -0.00098 | 0.00132 | 0.045 |
+| 2 | 0.00064 | -0.00065 | -0.00097 | 0.00133 | 0.045 |
+| 3 | 0.00104 | -0.00055 | -0.00114 | 0.00164 | 0.112 |
+| 4 | 0.00025 | -0.00008 | -0.00014 | 0.00030 | 0.091 |
+| 5 | 0.00156 | -0.00089 | -0.00179 | 0.00254 | 0.128 |
+| 6 | 0.00186 | -0.00092 | -0.00163 | 0.00264 | 0.170 |
+| 7 | 0.00049 | -0.00040 | -0.00077 | 0.00099 | 0.042 |
+| 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.
diff --git a/gap_reports/gap_32a855d9-8547-4f75-82a3-07103465e2db.md b/gap_reports/gap_32a855d9-8547-4f75-82a3-07103465e2db.md
new file mode 100644
index 0000000000000000000000000000000000000000..651752cabe6d304fb8d1c60e5d8722ee87efc549
--- /dev/null
+++ b/gap_reports/gap_32a855d9-8547-4f75-82a3-07103465e2db.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/32a855d9-8547-4f75-82a3-07103465e2db.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/32a855d9-8547-4f75-82a3-07103465e2db.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2772 |
+| Sim rows | 247 |
+| Real episode_id | `32a855d9-8547-4f75-82a3-07103465e2db` |
+| Sim episode_id | `32a855d9-8547-4f75-82a3-07103465e2db` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 247 | 22 | 2.691 | 14.96 | 25.90 | 1984.05 | 0.6119 |
+| 1 | descend | 300 | 27 | 1.165 | 8.00 | 13.85 | 3624.66 | 0.8062 |
+| 2 | settle | 389 | 34 | 0.028 | 0.97 | 1.68 | 3624.53 | 0.7919 |
+| 3 | close | 165 | 15 | 0.749 | 5.30 | 9.17 | 3625.25 | 1.0090 |
+| 4 | lift | 327 | 29 | 2.407 | 13.89 | 24.05 | 2320.71 | 1.1170 |
+| 5 | move_xy | 462 | 40 | 5.476 | 33.31 | 57.69 | 2867.02 | 0.9352 |
+| 6 | lower | 389 | 34 | 0.097 | 1.70 | 2.94 | 3551.20 | 1.0898 |
+| 7 | open | 167 | 15 | 0.946 | 6.45 | 11.16 | 3624.76 | 0.7461 |
+| 8 | retract | 326 | 29 | 2.410 | 13.99 | 24.22 | 2409.14 | 0.7435 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.396 |
+| TCP position RMSE (mm, per-axis) | 14.37 |
+| EE position RMS L2 (mm) | 28.05 |
+| TCP rotvec (mrad) | 3136.06 |
+| W1 effort mean (A) | 0.8604 |
+| W1 effort per joint (A) | j0=0.2354, j1=1.5758, j2=1.6892, j3=0.7802, j4=0.2931, j5=0.5888 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00079 | -0.00051 | -0.00077 | 0.00121 | 0.025 |
+| 1 | 0.00075 | -0.00085 | -0.00126 | 0.00170 | 0.060 |
+| 2 | 0.00077 | -0.00087 | -0.00125 | 0.00170 | 0.060 |
+| 3 | 0.00164 | -0.00055 | -0.00125 | 0.00213 | 0.130 |
+| 4 | 0.00003 | -0.00048 | -0.00043 | 0.00064 | 0.106 |
+| 5 | 0.00168 | -0.00112 | -0.00128 | 0.00239 | 0.115 |
+| 6 | 0.00220 | -0.00110 | -0.00095 | 0.00263 | 0.165 |
+| 7 | 0.00063 | -0.00051 | -0.00102 | 0.00130 | 0.049 |
+| 8 | -0.00013 | -0.00018 | -0.00018 | 0.00028 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_32b9b9c1-e1f0-41c6-ae8f-b385b0b5f4ce.md b/gap_reports/gap_32b9b9c1-e1f0-41c6-ae8f-b385b0b5f4ce.md
new file mode 100644
index 0000000000000000000000000000000000000000..105ad7c0a5bdc41db3883ba0ebf365ab417ff026
--- /dev/null
+++ b/gap_reports/gap_32b9b9c1-e1f0-41c6-ae8f-b385b0b5f4ce.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/32b9b9c1-e1f0-41c6-ae8f-b385b0b5f4ce.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/32b9b9c1-e1f0-41c6-ae8f-b385b0b5f4ce.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3230 |
+| Sim rows | 283 |
+| Real episode_id | `32b9b9c1-e1f0-41c6-ae8f-b385b0b5f4ce` |
+| Sim episode_id | `32b9b9c1-e1f0-41c6-ae8f-b385b0b5f4ce` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 303 | 27 | 3.495 | 16.71 | 28.94 | 3.58 | 0.6337 |
+| 1 | descend | 411 | 36 | 0.966 | 7.04 | 12.19 | 5.54 | 0.7767 |
+| 2 | settle | 380 | 33 | 0.028 | 1.19 | 2.06 | 5.70 | 0.6416 |
+| 3 | close | 181 | 16 | 0.688 | 5.09 | 8.81 | 7.48 | 0.9960 |
+| 4 | lift | 429 | 37 | 3.458 | 18.09 | 31.34 | 5.10 | 1.1389 |
+| 5 | move_xy | 511 | 44 | 7.503 | 41.21 | 71.39 | 5.83 | 0.9526 |
+| 6 | lower | 405 | 35 | 0.099 | 2.02 | 3.49 | 7.89 | 0.9537 |
+| 7 | open | 182 | 16 | 0.760 | 5.24 | 9.08 | 5.57 | 0.6609 |
+| 8 | retract | 428 | 37 | 3.462 | 18.19 | 31.51 | 3.70 | 0.7468 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.239 |
+| TCP position RMSE (mm, per-axis) | 17.46 |
+| EE position RMS L2 (mm) | 34.30 |
+| TCP rotvec (mrad) | 5.76 |
+| W1 effort mean (A) | 0.8196 |
+| W1 effort per joint (A) | j0=0.2766, j1=1.4512, j2=1.4953, j3=0.6643, j4=0.4380, 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 | 0.00138 | -0.00054 | -0.00077 | 0.00167 | 0.032 |
+| 1 | 0.00144 | -0.00091 | -0.00116 | 0.00206 | 0.048 |
+| 2 | 0.00136 | -0.00094 | -0.00114 | 0.00201 | 0.055 |
+| 3 | 0.00243 | -0.00046 | -0.00166 | 0.00298 | 0.157 |
+| 4 | 0.00008 | -0.00033 | -0.00026 | 0.00043 | 0.109 |
+| 5 | 0.00283 | -0.00120 | -0.00119 | 0.00330 | 0.185 |
+| 6 | 0.00243 | -0.00122 | -0.00184 | 0.00328 | 0.125 |
+| 7 | 0.00126 | -0.00056 | -0.00095 | 0.00167 | 0.044 |
+| 8 | -0.00011 | -0.00014 | -0.00016 | 0.00024 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_32be4b07-d365-4c75-adf3-a9f80df5bed8.md b/gap_reports/gap_32be4b07-d365-4c75-adf3-a9f80df5bed8.md
new file mode 100644
index 0000000000000000000000000000000000000000..5f9da3042b7ea5b32ded052adc53f5146ade1a34
--- /dev/null
+++ b/gap_reports/gap_32be4b07-d365-4c75-adf3-a9f80df5bed8.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/32be4b07-d365-4c75-adf3-a9f80df5bed8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/32be4b07-d365-4c75-adf3-a9f80df5bed8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2659 |
+| Sim rows | 238 |
+| Real episode_id | `32be4b07-d365-4c75-adf3-a9f80df5bed8` |
+| Sim episode_id | `32be4b07-d365-4c75-adf3-a9f80df5bed8` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.349 | 12.26 | 21.24 | 1974.55 | 0.6230 |
+| 1 | descend | 391 | 34 | 1.204 | 8.24 | 14.27 | 3624.64 | 0.8245 |
+| 2 | settle | 370 | 33 | 0.029 | 0.98 | 1.70 | 3624.56 | 0.8251 |
+| 3 | close | 143 | 13 | 0.696 | 4.86 | 8.41 | 3625.15 | 1.0787 |
+| 4 | lift | 345 | 31 | 2.388 | 13.92 | 24.11 | 2317.43 | 1.1601 |
+| 5 | move_xy | 350 | 31 | 5.573 | 33.96 | 58.82 | 2887.13 | 0.9493 |
+| 6 | lower | 385 | 34 | 0.100 | 1.77 | 3.06 | 3624.83 | 1.1461 |
+| 7 | open | 147 | 13 | 0.845 | 5.80 | 10.04 | 3624.70 | 0.7410 |
+| 8 | retract | 346 | 31 | 2.193 | 12.90 | 22.34 | 2330.36 | 0.7444 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.351 |
+| TCP position RMSE (mm, per-axis) | 14.11 |
+| EE position RMS L2 (mm) | 25.84 |
+| TCP rotvec (mrad) | 3139.89 |
+| W1 effort mean (A) | 0.8926 |
+| W1 effort per joint (A) | j0=0.2947, j1=1.6136, j2=1.7052, j3=0.7307, j4=0.3904, j5=0.6208 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00077 | -0.00044 | -0.00075 | 0.00116 | 0.038 |
+| 1 | 0.00078 | -0.00087 | -0.00122 | 0.00169 | 0.055 |
+| 2 | 0.00076 | -0.00086 | -0.00124 | 0.00169 | 0.058 |
+| 3 | 0.00162 | -0.00048 | -0.00087 | 0.00190 | 0.123 |
+| 4 | 0.00008 | -0.00054 | -0.00069 | 0.00088 | 0.101 |
+| 5 | 0.00171 | -0.00123 | -0.00187 | 0.00282 | 0.121 |
+| 6 | 0.00172 | -0.00114 | -0.00170 | 0.00267 | 0.117 |
+| 7 | 0.00062 | -0.00054 | -0.00100 | 0.00129 | 0.044 |
+| 8 | -0.00013 | -0.00020 | -0.00019 | 0.00031 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_32bec366-f1cf-4a5c-81eb-f0245407636c.md b/gap_reports/gap_32bec366-f1cf-4a5c-81eb-f0245407636c.md
new file mode 100644
index 0000000000000000000000000000000000000000..c238e3ba33a65fc31ce54e3805ec7ce5ffbe56e4
--- /dev/null
+++ b/gap_reports/gap_32bec366-f1cf-4a5c-81eb-f0245407636c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/32bec366-f1cf-4a5c-81eb-f0245407636c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/32bec366-f1cf-4a5c-81eb-f0245407636c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2420 |
+| Sim rows | 215 |
+| Real episode_id | `32bec366-f1cf-4a5c-81eb-f0245407636c` |
+| Sim episode_id | `32bec366-f1cf-4a5c-81eb-f0245407636c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 15 | 2.177 | 8.39 | 14.53 | 1996.03 | 0.5736 |
+| 1 | descend | 342 | 30 | 1.549 | 9.11 | 15.78 | 3626.02 | 0.7117 |
+| 2 | settle | 354 | 31 | 0.021 | 0.58 | 1.01 | 3625.87 | 0.6363 |
+| 3 | close | 141 | 13 | 1.013 | 5.90 | 10.21 | 1380.95 | 0.9257 |
+| 4 | lift | 276 | 24 | 2.617 | 10.76 | 18.63 | 1965.88 | 1.0905 |
+| 5 | move_xy | 322 | 28 | 5.368 | 25.55 | 44.26 | 2305.57 | 0.9153 |
+| 6 | lower | 405 | 35 | 0.081 | 1.04 | 1.81 | 1562.59 | 0.9726 |
+| 7 | open | 139 | 13 | 1.113 | 6.55 | 11.34 | 3626.02 | 0.6527 |
+| 8 | retract | 276 | 24 | 2.459 | 10.16 | 17.60 | 2320.08 | 0.6976 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.383 |
+| TCP position RMSE (mm, per-axis) | 11.08 |
+| EE position RMS L2 (mm) | 19.98 |
+| TCP rotvec (mrad) | 2631.83 |
+| W1 effort mean (A) | 0.7919 |
+| W1 effort per joint (A) | j0=0.2274, j1=1.1758, j2=1.6708, j3=0.7981, j4=0.3273, j5=0.5521 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00013 | -0.00034 | -0.00050 | 0.00062 | 0.029 |
+| 1 | 0.00017 | -0.00060 | -0.00080 | 0.00101 | 0.037 |
+| 2 | 0.00019 | -0.00058 | -0.00080 | 0.00101 | 0.035 |
+| 3 | 0.00066 | -0.00034 | -0.00064 | 0.00098 | 0.094 |
+| 4 | -0.00004 | -0.00046 | -0.00040 | 0.00061 | 0.077 |
+| 5 | 0.00082 | -0.00086 | -0.00128 | 0.00175 | 0.101 |
+| 6 | 0.00082 | -0.00082 | -0.00134 | 0.00178 | 0.096 |
+| 7 | -0.00010 | -0.00038 | -0.00056 | 0.00068 | 0.038 |
+| 8 | -0.00008 | -0.00011 | -0.00016 | 0.00021 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_32ec7d33-1c92-4f63-b7c3-5f90fc5675d2.md b/gap_reports/gap_32ec7d33-1c92-4f63-b7c3-5f90fc5675d2.md
new file mode 100644
index 0000000000000000000000000000000000000000..4ff94aede2c85323c014e1032a68fc21ea7f6932
--- /dev/null
+++ b/gap_reports/gap_32ec7d33-1c92-4f63-b7c3-5f90fc5675d2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/32ec7d33-1c92-4f63-b7c3-5f90fc5675d2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/32ec7d33-1c92-4f63-b7c3-5f90fc5675d2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2666 |
+| Sim rows | 234 |
+| Real episode_id | `32ec7d33-1c92-4f63-b7c3-5f90fc5675d2` |
+| Sim episode_id | `32ec7d33-1c92-4f63-b7c3-5f90fc5675d2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 235 | 21 | 3.032 | 13.93 | 24.14 | 1950.12 | 0.5810 |
+| 1 | descend | 232 | 20 | 0.840 | 5.63 | 9.75 | 3625.36 | 0.6798 |
+| 2 | settle | 377 | 33 | 0.022 | 0.71 | 1.23 | 3625.36 | 0.7246 |
+| 3 | close | 107 | 10 | 0.385 | 2.71 | 4.69 | 3191.90 | 0.9827 |
+| 4 | lift | 418 | 36 | 3.017 | 14.38 | 24.91 | 2218.94 | 1.1061 |
+| 5 | move_xy | 380 | 33 | 6.587 | 33.78 | 58.50 | 2660.20 | 0.8756 |
+| 6 | lower | 386 | 33 | 0.085 | 1.30 | 2.26 | 3392.29 | 0.9384 |
+| 7 | open | 112 | 10 | 0.326 | 2.20 | 3.82 | 3625.43 | 0.6760 |
+| 8 | retract | 419 | 36 | 3.008 | 14.30 | 24.76 | 2281.80 | 0.7193 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.823 |
+| TCP position RMSE (mm, per-axis) | 14.11 |
+| EE position RMS L2 (mm) | 27.27 |
+| TCP rotvec (mrad) | 3020.96 |
+| W1 effort mean (A) | 0.8065 |
+| W1 effort per joint (A) | j0=0.2054, j1=1.3428, j2=1.5927, j3=0.7930, j4=0.3070, j5=0.5983 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00066 | -0.00038 | -0.00076 | 0.00108 | 0.040 |
+| 1 | 0.00060 | -0.00057 | -0.00092 | 0.00124 | 0.043 |
+| 2 | 0.00062 | -0.00056 | -0.00091 | 0.00124 | 0.041 |
+| 3 | 0.00100 | -0.00052 | -0.00087 | 0.00142 | 0.111 |
+| 4 | 0.00006 | -0.00027 | -0.00052 | 0.00059 | 0.080 |
+| 5 | 0.00119 | -0.00089 | -0.00056 | 0.00159 | 0.113 |
+| 6 | 0.00141 | -0.00081 | -0.00104 | 0.00193 | 0.110 |
+| 7 | 0.00055 | -0.00042 | -0.00080 | 0.00105 | 0.040 |
+| 8 | -0.00009 | -0.00009 | -0.00012 | 0.00018 | 0.020 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_32eee12b-8480-4141-8530-afb1365cf065.md b/gap_reports/gap_32eee12b-8480-4141-8530-afb1365cf065.md
new file mode 100644
index 0000000000000000000000000000000000000000..eb07e51c8be880dd5530db77f3e8f0f899c1d745
--- /dev/null
+++ b/gap_reports/gap_32eee12b-8480-4141-8530-afb1365cf065.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/32eee12b-8480-4141-8530-afb1365cf065.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/32eee12b-8480-4141-8530-afb1365cf065.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2898 |
+| Sim rows | 260 |
+| Real episode_id | `32eee12b-8480-4141-8530-afb1365cf065` |
+| Sim episode_id | `32eee12b-8480-4141-8530-afb1365cf065` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.722 | 13.74 | 23.80 | 2011.31 | 0.5775 |
+| 1 | descend | 293 | 26 | 1.425 | 8.55 | 14.82 | 3626.05 | 0.6402 |
+| 2 | settle | 359 | 32 | 0.021 | 0.67 | 1.16 | 3625.97 | 0.6444 |
+| 3 | close | 149 | 14 | 1.234 | 6.85 | 11.87 | 1544.90 | 0.9088 |
+| 4 | lift | 454 | 40 | 4.034 | 16.34 | 28.30 | 1986.69 | 1.0700 |
+| 5 | move_xy | 419 | 37 | 7.747 | 33.76 | 58.48 | 2155.73 | 0.8724 |
+| 6 | lower | 386 | 34 | 0.078 | 1.17 | 2.03 | 1586.26 | 0.8852 |
+| 7 | open | 150 | 14 | 0.928 | 5.29 | 9.16 | 3626.20 | 0.5903 |
+| 8 | retract | 454 | 40 | 3.868 | 15.76 | 27.30 | 2364.07 | 0.7017 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.488 |
+| TCP position RMSE (mm, per-axis) | 14.88 |
+| EE position RMS L2 (mm) | 28.58 |
+| TCP rotvec (mrad) | 2636.84 |
+| W1 effort mean (A) | 0.7629 |
+| W1 effort per joint (A) | j0=0.2402, j1=1.1917, j2=1.4763, j3=0.6946, j4=0.3418, j5=0.6326 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00063 | -0.00019 | -0.00041 | 0.00077 | 0.031 |
+| 1 | 0.00067 | -0.00055 | -0.00079 | 0.00117 | 0.042 |
+| 2 | 0.00070 | -0.00056 | -0.00075 | 0.00116 | 0.034 |
+| 3 | 0.00110 | -0.00025 | -0.00075 | 0.00135 | 0.099 |
+| 4 | 0.00028 | -0.00002 | -0.00007 | 0.00029 | 0.104 |
+| 5 | 0.00148 | -0.00069 | -0.00102 | 0.00193 | 0.105 |
+| 6 | 0.00129 | -0.00078 | -0.00056 | 0.00161 | 0.118 |
+| 7 | 0.00044 | -0.00027 | -0.00049 | 0.00071 | 0.036 |
+| 8 | -0.00006 | -0.00008 | -0.00013 | 0.00017 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3300022d-da50-4e8d-bc31-4c745e3a6082.md b/gap_reports/gap_3300022d-da50-4e8d-bc31-4c745e3a6082.md
new file mode 100644
index 0000000000000000000000000000000000000000..62a4e5ee46a2b7017c97fe33965751177f6e852d
--- /dev/null
+++ b/gap_reports/gap_3300022d-da50-4e8d-bc31-4c745e3a6082.md
@@ -0,0 +1,57 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3300022d-da50-4e8d-bc31-4c745e3a6082.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3300022d-da50-4e8d-bc31-4c745e3a6082.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 182 |
+| Sim rows | 39 |
+| Real episode_id | `3300022d-da50-4e8d-bc31-4c745e3a6082` |
+| Sim episode_id | `3300022d-da50-4e8d-bc31-4c745e3a6082` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 21 | 2.408 | 10.58 | 18.33 | 10.09 | 0.8217 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.408 |
+| TCP position RMSE (mm, per-axis) | 10.58 |
+| EE position RMS L2 (mm) | 18.33 |
+| TCP rotvec (mrad) | 10.09 |
+| W1 effort mean (A) | 0.8217 |
+| W1 effort per joint (A) | j0=0.2454, j1=1.7271, j2=1.5965, j3=1.0256, j4=0.1292, j5=0.2066 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00077 | 0.00134 | 0.00010 | 0.00155 | 0.055 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_33055958-b7dd-45eb-9c33-345a72eaaca6.md b/gap_reports/gap_33055958-b7dd-45eb-9c33-345a72eaaca6.md
new file mode 100644
index 0000000000000000000000000000000000000000..ecafb4625458383aeac284ec313851d61d125054
--- /dev/null
+++ b/gap_reports/gap_33055958-b7dd-45eb-9c33-345a72eaaca6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/33055958-b7dd-45eb-9c33-345a72eaaca6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/33055958-b7dd-45eb-9c33-345a72eaaca6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2520 |
+| Sim rows | 226 |
+| Real episode_id | `33055958-b7dd-45eb-9c33-345a72eaaca6` |
+| Sim episode_id | `33055958-b7dd-45eb-9c33-345a72eaaca6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 201 | 18 | 2.374 | 13.62 | 23.59 | 1930.33 | 0.6112 |
+| 1 | descend | 234 | 21 | 0.877 | 6.06 | 10.50 | 3624.70 | 0.7951 |
+| 2 | settle | 362 | 32 | 0.028 | 0.97 | 1.69 | 3624.47 | 0.7337 |
+| 3 | close | 117 | 11 | 0.630 | 4.51 | 7.81 | 3377.27 | 1.0238 |
+| 4 | lift | 371 | 33 | 2.316 | 13.92 | 24.10 | 2305.28 | 1.1202 |
+| 5 | move_xy | 340 | 30 | 5.195 | 32.31 | 55.97 | 2766.12 | 0.9327 |
+| 6 | lower | 405 | 35 | 0.094 | 1.70 | 2.94 | 3625.12 | 1.1372 |
+| 7 | open | 117 | 11 | 0.639 | 4.45 | 7.71 | 3624.54 | 0.8088 |
+| 8 | retract | 373 | 33 | 2.257 | 13.56 | 23.49 | 2313.92 | 0.7365 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.228 |
+| TCP position RMSE (mm, per-axis) | 13.69 |
+| EE position RMS L2 (mm) | 25.53 |
+| TCP rotvec (mrad) | 3091.32 |
+| W1 effort mean (A) | 0.8707 |
+| W1 effort per joint (A) | j0=0.2400, j1=1.5254, j2=1.7510, j3=0.8021, j4=0.2499, j5=0.6558 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00081 | -0.00050 | -0.00067 | 0.00116 | 0.026 |
+| 1 | 0.00079 | -0.00090 | -0.00123 | 0.00172 | 0.061 |
+| 2 | 0.00080 | -0.00090 | -0.00122 | 0.00171 | 0.054 |
+| 3 | 0.00144 | -0.00062 | -0.00059 | 0.00168 | 0.099 |
+| 4 | 0.00006 | -0.00029 | -0.00044 | 0.00052 | 0.078 |
+| 5 | 0.00218 | -0.00140 | -0.00235 | 0.00349 | 0.218 |
+| 6 | 0.00177 | -0.00125 | -0.00192 | 0.00289 | 0.127 |
+| 7 | 0.00057 | -0.00060 | -0.00104 | 0.00133 | 0.048 |
+| 8 | -0.00010 | -0.00013 | -0.00014 | 0.00021 | 0.021 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_331bbe16-17d8-4167-952f-be4317bd6de1.md b/gap_reports/gap_331bbe16-17d8-4167-952f-be4317bd6de1.md
new file mode 100644
index 0000000000000000000000000000000000000000..c5090e9167ea9d27b6cb6f40455f21a3b5259b07
--- /dev/null
+++ b/gap_reports/gap_331bbe16-17d8-4167-952f-be4317bd6de1.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/331bbe16-17d8-4167-952f-be4317bd6de1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/331bbe16-17d8-4167-952f-be4317bd6de1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2877 |
+| Sim rows | 258 |
+| Real episode_id | `331bbe16-17d8-4167-952f-be4317bd6de1` |
+| Sim episode_id | `331bbe16-17d8-4167-952f-be4317bd6de1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 244 | 22 | 3.654 | 13.74 | 23.80 | 1996.82 | 0.5704 |
+| 1 | descend | 357 | 32 | 1.163 | 7.03 | 12.17 | 3626.09 | 0.6393 |
+| 2 | settle | 429 | 38 | 0.021 | 0.68 | 1.17 | 3625.90 | 0.5706 |
+| 3 | close | 150 | 14 | 0.743 | 4.37 | 7.57 | 1735.68 | 0.9158 |
+| 4 | lift | 345 | 30 | 4.017 | 16.43 | 28.46 | 1903.70 | 1.0637 |
+| 5 | move_xy | 425 | 37 | 7.686 | 33.19 | 57.48 | 2025.36 | 0.8556 |
+| 6 | lower | 430 | 38 | 0.079 | 1.20 | 2.08 | 1422.68 | 0.9145 |
+| 7 | open | 150 | 14 | 0.778 | 4.49 | 7.77 | 3626.07 | 0.6447 |
+| 8 | retract | 347 | 31 | 3.867 | 16.08 | 27.84 | 2351.88 | 0.6887 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.432 |
+| TCP position RMSE (mm, per-axis) | 14.56 |
+| EE position RMS L2 (mm) | 27.43 |
+| TCP rotvec (mrad) | 2618.85 |
+| W1 effort mean (A) | 0.7486 |
+| W1 effort per joint (A) | j0=0.2045, j1=1.1746, j2=1.5127, j3=0.7384, j4=0.2569, j5=0.6043 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00070 | -0.00019 | -0.00051 | 0.00088 | 0.036 |
+| 1 | 0.00066 | -0.00058 | -0.00073 | 0.00114 | 0.039 |
+| 2 | 0.00069 | -0.00054 | -0.00077 | 0.00117 | 0.039 |
+| 3 | 0.00095 | -0.00040 | -0.00006 | 0.00103 | 0.110 |
+| 4 | 0.00035 | 0.00011 | -0.00014 | 0.00039 | 0.079 |
+| 5 | 0.00131 | -0.00082 | -0.00095 | 0.00181 | 0.114 |
+| 6 | 0.00165 | -0.00080 | -0.00044 | 0.00189 | 0.154 |
+| 7 | 0.00052 | -0.00023 | -0.00052 | 0.00077 | 0.039 |
+| 8 | -0.00010 | -0.00013 | -0.00016 | 0.00023 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_332bf3c6-1d81-4d4c-96a9-27ec0b5c2637.md b/gap_reports/gap_332bf3c6-1d81-4d4c-96a9-27ec0b5c2637.md
new file mode 100644
index 0000000000000000000000000000000000000000..249cc3bc5353a248e9fcd264d7d55cb3fc2621dd
--- /dev/null
+++ b/gap_reports/gap_332bf3c6-1d81-4d4c-96a9-27ec0b5c2637.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/332bf3c6-1d81-4d4c-96a9-27ec0b5c2637.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/332bf3c6-1d81-4d4c-96a9-27ec0b5c2637.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2648 |
+| Sim rows | 341 |
+| Real episode_id | `332bf3c6-1d81-4d4c-96a9-27ec0b5c2637` |
+| Sim episode_id | `332bf3c6-1d81-4d4c-96a9-27ec0b5c2637` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 136 | 19 | 5.906 | 28.20 | 48.84 | 2407.68 | 0.6541 |
+| 1 | descend | 150 | 46 | 2.721 | 18.75 | 32.48 | 3624.76 | 0.7470 |
+| 2 | settle | 389 | 34 | 0.028 | 1.02 | 1.77 | 3624.61 | 0.7333 |
+| 3 | close | 155 | 14 | 0.945 | 6.49 | 11.23 | 3625.33 | 1.0329 |
+| 4 | lift | 444 | 106 | 3.418 | 17.83 | 30.88 | 2447.56 | 1.1132 |
+| 5 | move_xy | 366 | 32 | 8.247 | 45.41 | 78.65 | 2861.19 | 0.9421 |
+| 6 | lower | 403 | 35 | 0.090 | 1.72 | 2.99 | 3625.13 | 1.0430 |
+| 7 | open | 157 | 14 | 0.863 | 5.97 | 10.34 | 3624.76 | 0.7500 |
+| 8 | retract | 448 | 39 | 3.302 | 17.34 | 30.03 | 2481.80 | 0.7608 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.866 |
+| TCP position RMSE (mm, per-axis) | 20.84 |
+| EE position RMS L2 (mm) | 36.95 |
+| TCP rotvec (mrad) | 3194.33 |
+| W1 effort mean (A) | 0.8745 |
+| W1 effort per joint (A) | j0=0.2475, j1=1.6646, j2=1.5811, j3=0.7667, j4=0.3250, j5=0.6619 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00101 | -0.00019 | -0.00082 | 0.00132 | 0.038 |
+| 1 | 0.00113 | -0.00066 | -0.00117 | 0.00176 | 0.056 |
+| 2 | 0.00112 | -0.00066 | -0.00121 | 0.00178 | 0.061 |
+| 3 | 0.00226 | -0.00016 | -0.00181 | 0.00289 | 0.158 |
+| 4 | 0.00022 | 0.00011 | -0.00017 | 0.00030 | 0.074 |
+| 5 | 0.00233 | -0.00094 | -0.00186 | 0.00313 | 0.159 |
+| 6 | 0.00247 | -0.00098 | -0.00227 | 0.00350 | 0.182 |
+| 7 | 0.00092 | -0.00024 | -0.00100 | 0.00138 | 0.062 |
+| 8 | -0.00007 | -0.00011 | -0.00012 | 0.00018 | 0.019 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_334bbe55-debb-40d3-9452-027b0745a908.md b/gap_reports/gap_334bbe55-debb-40d3-9452-027b0745a908.md
new file mode 100644
index 0000000000000000000000000000000000000000..b82461521c0c86a15639d2130da38190fde1b973
--- /dev/null
+++ b/gap_reports/gap_334bbe55-debb-40d3-9452-027b0745a908.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/334bbe55-debb-40d3-9452-027b0745a908.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/334bbe55-debb-40d3-9452-027b0745a908.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3173 |
+| Sim rows | 280 |
+| Real episode_id | `334bbe55-debb-40d3-9452-027b0745a908` |
+| Sim episode_id | `334bbe55-debb-40d3-9452-027b0745a908` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 170 | 15 | 2.244 | 8.53 | 14.78 | 1966.47 | 0.5782 |
+| 1 | descend | 856 | 74 | 0.402 | 2.36 | 4.10 | 3626.08 | 0.7275 |
+| 2 | settle | 379 | 33 | 0.021 | 0.57 | 0.99 | 3625.93 | 0.6545 |
+| 3 | close | 137 | 13 | 1.061 | 6.32 | 10.94 | 1206.49 | 0.9102 |
+| 4 | lift | 380 | 33 | 2.742 | 11.16 | 19.32 | 1768.13 | 1.0950 |
+| 5 | move_xy | 330 | 29 | 4.863 | 22.72 | 39.34 | 2198.28 | 0.9102 |
+| 6 | lower | 403 | 35 | 0.079 | 1.00 | 1.74 | 1719.56 | 0.9922 |
+| 7 | open | 137 | 13 | 1.174 | 6.76 | 11.71 | 3626.19 | 0.6094 |
+| 8 | retract | 381 | 33 | 2.813 | 11.44 | 19.82 | 2342.37 | 0.6965 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.280 |
+| TCP position RMSE (mm, per-axis) | 10.20 |
+| EE position RMS L2 (mm) | 16.75 |
+| TCP rotvec (mrad) | 2607.04 |
+| W1 effort mean (A) | 0.7841 |
+| W1 effort per joint (A) | j0=0.2688, j1=1.1348, j2=1.6496, j3=0.7390, j4=0.3411, j5=0.5710 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00013 | -0.00032 | -0.00048 | 0.00059 | 0.031 |
+| 1 | 0.00012 | -0.00060 | -0.00077 | 0.00098 | 0.039 |
+| 2 | 0.00016 | -0.00060 | -0.00075 | 0.00097 | 0.035 |
+| 3 | 0.00091 | -0.00055 | -0.00101 | 0.00147 | 0.156 |
+| 4 | 0.00017 | -0.00012 | -0.00007 | 0.00022 | 0.098 |
+| 5 | 0.00064 | -0.00077 | -0.00153 | 0.00183 | 0.110 |
+| 6 | 0.00109 | -0.00098 | -0.00173 | 0.00227 | 0.152 |
+| 7 | -0.00004 | -0.00043 | -0.00054 | 0.00070 | 0.040 |
+| 8 | -0.00006 | -0.00008 | -0.00012 | 0.00015 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_33770d42-bb4a-49a6-8dd4-eb59bcd1bcfe.md b/gap_reports/gap_33770d42-bb4a-49a6-8dd4-eb59bcd1bcfe.md
new file mode 100644
index 0000000000000000000000000000000000000000..24459bd33a6c8de1cda72333a4b793352a43d61c
--- /dev/null
+++ b/gap_reports/gap_33770d42-bb4a-49a6-8dd4-eb59bcd1bcfe.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/33770d42-bb4a-49a6-8dd4-eb59bcd1bcfe.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/33770d42-bb4a-49a6-8dd4-eb59bcd1bcfe.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1695 |
+| Sim rows | 171 |
+| Real episode_id | `33770d42-bb4a-49a6-8dd4-eb59bcd1bcfe` |
+| Sim episode_id | `33770d42-bb4a-49a6-8dd4-eb59bcd1bcfe` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 18 | 3.510 | 21.32 | 36.92 | 1737.52 | 0.7770 |
+| 1 | descend | 79 | 8 | 0.597 | 4.18 | 7.24 | 5.50 | 0.6695 |
+| 2 | settle | 16 | 2 | 0.027 | 3.06 | 5.31 | 5.96 | 0.7220 |
+| 3 | close | 389 | 39 | 0.101 | 3.31 | 5.73 | 3359.22 | 1.1914 |
+| 4 | lift | 80 | 9 | 0.593 | 4.15 | 7.19 | 3310.65 | 1.2519 |
+| 5 | move_xy | 218 | 22 | 8.216 | 40.29 | 69.79 | 1763.58 | 1.0903 |
+| 6 | lower | 77 | 8 | 1.738 | 3.68 | 6.38 | 66.90 | 1.0424 |
+| 7 | open | 383 | 38 | 1.593 | 2.35 | 4.07 | 66.01 | 0.6059 |
+| 8 | retract | 78 | 8 | 1.761 | 3.84 | 6.66 | 65.57 | 0.7121 |
+| 9 | return | 193 | 19 | 3.335 | 15.89 | 27.51 | 1087.86 | 0.8042 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.167 |
+| TCP position RMSE (mm, per-axis) | 15.55 |
+| EE position RMS L2 (mm) | 29.65 |
+| TCP rotvec (mrad) | 1719.61 |
+| W1 effort mean (A) | 0.8911 |
+| W1 effort per joint (A) | j0=0.2426, j1=1.5441, j2=1.5731, j3=0.8385, j4=0.5050, j5=0.6431 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00165 | -0.00457 | -0.00125 | 0.00501 | 0.044 |
+| 1 | 0.00184 | -0.00483 | -0.00128 | 0.00533 | 0.039 |
+| 2 | 0.00185 | -0.00485 | -0.00137 | 0.00537 | 0.041 |
+| 3 | 0.00237 | -0.00436 | -0.00245 | 0.00553 | 0.155 |
+| 4 | 0.00181 | -0.00379 | -0.00274 | 0.00501 | 0.180 |
+| 5 | 0.00202 | -0.00301 | -0.00170 | 0.00400 | 3.946 |
+| 6 | 0.00253 | -0.00192 | -0.00247 | 0.00402 | 3.904 |
+| 7 | 0.00220 | -0.00341 | -0.00006 | 0.00406 | 3.902 |
+| 8 | 0.00182 | -0.00358 | -0.00019 | 0.00402 | 3.939 |
+| 9 | 0.00002 | -0.00016 | -0.00024 | 0.00029 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_33a8cdc5-daf6-495e-9dd9-144af5f275b7.md b/gap_reports/gap_33a8cdc5-daf6-495e-9dd9-144af5f275b7.md
new file mode 100644
index 0000000000000000000000000000000000000000..572ea8a2e7b7c7eef992caebf00beba823a65dc5
--- /dev/null
+++ b/gap_reports/gap_33a8cdc5-daf6-495e-9dd9-144af5f275b7.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/33a8cdc5-daf6-495e-9dd9-144af5f275b7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/33a8cdc5-daf6-495e-9dd9-144af5f275b7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 755 |
+| Sim rows | 90 |
+| Real episode_id | `33a8cdc5-daf6-495e-9dd9-144af5f275b7` |
+| Sim episode_id | `33a8cdc5-daf6-495e-9dd9-144af5f275b7` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 545 | 53 | 3.960 | 18.81 | 32.59 | 688.06 | 0.7720 |
+| 1 | descend | 210 | 21 | 0.036 | 3.90 | 6.75 | 1.92 | 0.7301 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.800 |
+| TCP position RMSE (mm, per-axis) | 13.59 |
+| EE position RMS L2 (mm) | 27.91 |
+| TCP rotvec (mrad) | 486.53 |
+| W1 effort mean (A) | 0.7603 |
+| W1 effort per joint (A) | j0=0.2355, j1=1.5732, j2=1.6463, j3=0.8077, j4=0.1224, j5=0.1766 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00248 | -0.00630 | 0.00024 | 0.00678 | 0.064 |
+| 1 | -0.00229 | -0.00639 | 0.00015 | 0.00679 | 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.
diff --git a/gap_reports/gap_33b92469-9b35-4ab9-a12d-35cdd22ef6eb.md b/gap_reports/gap_33b92469-9b35-4ab9-a12d-35cdd22ef6eb.md
new file mode 100644
index 0000000000000000000000000000000000000000..f08756aac5c1b44245004df790370cbe9f201f10
--- /dev/null
+++ b/gap_reports/gap_33b92469-9b35-4ab9-a12d-35cdd22ef6eb.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/33b92469-9b35-4ab9-a12d-35cdd22ef6eb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/33b92469-9b35-4ab9-a12d-35cdd22ef6eb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 555 |
+| Sim rows | 71 |
+| Real episode_id | `33b92469-9b35-4ab9-a12d-35cdd22ef6eb` |
+| Sim episode_id | `33b92469-9b35-4ab9-a12d-35cdd22ef6eb` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 344 | 34 | 2.143 | 8.74 | 15.14 | 680.09 | 0.7882 |
+| 1 | descend | 211 | 21 | 0.022 | 8.36 | 14.48 | 1.78 | 0.6897 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.516 |
+| TCP position RMSE (mm, per-axis) | 8.55 |
+| EE position RMS L2 (mm) | 14.89 |
+| TCP rotvec (mrad) | 480.90 |
+| W1 effort mean (A) | 0.7491 |
+| W1 effort per joint (A) | j0=0.1289, j1=1.6752, j2=1.5708, j3=0.7931, j4=0.1842, j5=0.1423 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.01425 | -0.00192 | -0.00124 | 0.01443 | 0.033 |
+| 1 | -0.01430 | -0.00199 | -0.00140 | 0.01450 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_33cc87ae-ce30-4dbb-acd6-a73a15cd432a.md b/gap_reports/gap_33cc87ae-ce30-4dbb-acd6-a73a15cd432a.md
new file mode 100644
index 0000000000000000000000000000000000000000..b2210430ef895611b04988afa81472cbd3a63713
--- /dev/null
+++ b/gap_reports/gap_33cc87ae-ce30-4dbb-acd6-a73a15cd432a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/33cc87ae-ce30-4dbb-acd6-a73a15cd432a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/33cc87ae-ce30-4dbb-acd6-a73a15cd432a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2802 |
+| Sim rows | 250 |
+| Real episode_id | `33cc87ae-ce30-4dbb-acd6-a73a15cd432a` |
+| Sim episode_id | `33cc87ae-ce30-4dbb-acd6-a73a15cd432a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 195 | 18 | 2.788 | 11.79 | 20.42 | 1994.21 | 0.5925 |
+| 1 | descend | 488 | 42 | 1.124 | 7.35 | 12.73 | 3625.40 | 0.7523 |
+| 2 | settle | 373 | 33 | 0.023 | 0.76 | 1.32 | 3625.26 | 0.7076 |
+| 3 | close | 195 | 18 | 1.007 | 6.42 | 11.11 | 3481.45 | 0.9833 |
+| 4 | lift | 298 | 26 | 2.934 | 13.70 | 23.72 | 1985.99 | 1.0879 |
+| 5 | move_xy | 371 | 33 | 7.299 | 37.19 | 64.41 | 2702.82 | 0.8764 |
+| 6 | lower | 392 | 34 | 0.086 | 1.37 | 2.38 | 3625.93 | 0.9671 |
+| 7 | open | 195 | 18 | 1.063 | 6.64 | 11.50 | 3625.49 | 0.6525 |
+| 8 | retract | 295 | 26 | 2.835 | 13.10 | 22.69 | 2388.11 | 0.7364 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.002 |
+| TCP position RMSE (mm, per-axis) | 14.99 |
+| EE position RMS L2 (mm) | 27.19 |
+| TCP rotvec (mrad) | 3084.50 |
+| W1 effort mean (A) | 0.8006 |
+| W1 effort per joint (A) | j0=0.2480, j1=1.3531, j2=1.6041, j3=0.7467, j4=0.2744, j5=0.5774 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00059 | -0.00020 | -0.00067 | 0.00092 | 0.040 |
+| 1 | 0.00062 | -0.00064 | -0.00100 | 0.00134 | 0.046 |
+| 2 | 0.00063 | -0.00066 | -0.00095 | 0.00132 | 0.043 |
+| 3 | 0.00113 | -0.00043 | -0.00144 | 0.00188 | 0.142 |
+| 4 | 0.00022 | -0.00019 | -0.00016 | 0.00033 | 0.111 |
+| 5 | 0.00139 | -0.00092 | -0.00089 | 0.00189 | 0.120 |
+| 6 | 0.00155 | -0.00082 | -0.00106 | 0.00205 | 0.118 |
+| 7 | 0.00049 | -0.00035 | -0.00075 | 0.00096 | 0.051 |
+| 8 | -0.00011 | -0.00019 | -0.00020 | 0.00030 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_33cf5324-594f-4e80-afbd-2aa86e92809b.md b/gap_reports/gap_33cf5324-594f-4e80-afbd-2aa86e92809b.md
new file mode 100644
index 0000000000000000000000000000000000000000..9d23be0fdb59953c3553742e2f68a3e7b31ad894
--- /dev/null
+++ b/gap_reports/gap_33cf5324-594f-4e80-afbd-2aa86e92809b.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/33cf5324-594f-4e80-afbd-2aa86e92809b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/33cf5324-594f-4e80-afbd-2aa86e92809b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 568 |
+| Sim rows | 72 |
+| Real episode_id | `33cf5324-594f-4e80-afbd-2aa86e92809b` |
+| Sim episode_id | `33cf5324-594f-4e80-afbd-2aa86e92809b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 358 | 35 | 9.354 | 40.97 | 70.97 | 17.65 | 0.7372 |
+| 1 | descend | 210 | 21 | 0.026 | 1.33 | 2.30 | 3.59 | 0.7015 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 6.614 |
+| TCP position RMSE (mm, per-axis) | 28.99 |
+| EE position RMS L2 (mm) | 56.36 |
+| TCP rotvec (mrad) | 12.74 |
+| W1 effort mean (A) | 0.7228 |
+| W1 effort per joint (A) | j0=0.2092, j1=1.4029, j2=1.5630, j3=0.8339, j4=0.1744, j5=0.1531 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00186 | 0.00061 | 0.00115 | 0.00227 | 0.071 |
+| 1 | 0.00211 | 0.00043 | 0.00102 | 0.00238 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_33d239d2-a810-4b6b-a9da-de8a2c4aa9fe.md b/gap_reports/gap_33d239d2-a810-4b6b-a9da-de8a2c4aa9fe.md
new file mode 100644
index 0000000000000000000000000000000000000000..04f4900865c5fb8adfaf730aa945cfd60f9b1ecd
--- /dev/null
+++ b/gap_reports/gap_33d239d2-a810-4b6b-a9da-de8a2c4aa9fe.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/33d239d2-a810-4b6b-a9da-de8a2c4aa9fe.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/33d239d2-a810-4b6b-a9da-de8a2c4aa9fe.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1352 |
+| Sim rows | 139 |
+| Real episode_id | `33d239d2-a810-4b6b-a9da-de8a2c4aa9fe` |
+| Sim episode_id | `33d239d2-a810-4b6b-a9da-de8a2c4aa9fe` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 148 | 15 | 3.727 | 15.79 | 27.34 | 1414.08 | 0.7992 |
+| 1 | descend | 70 | 8 | 0.566 | 3.66 | 6.34 | 4.92 | 0.6328 |
+| 2 | settle | 20 | 3 | 0.022 | 2.82 | 4.89 | 5.40 | 0.7008 |
+| 3 | close | 304 | 30 | 0.099 | 3.58 | 6.20 | 2905.45 | 1.1100 |
+| 4 | lift | 91 | 10 | 1.082 | 6.34 | 10.98 | 2418.59 | 1.2827 |
+| 5 | move_xy | 287 | 28 | 7.033 | 42.64 | 73.85 | 68.59 | 1.0723 |
+| 6 | lower | 92 | 10 | 0.485 | 3.69 | 6.39 | 8.39 | 1.1179 |
+| 7 | open | 78 | 8 | 0.031 | 2.27 | 3.92 | 6.36 | 0.7140 |
+| 8 | retract | 91 | 10 | 0.446 | 3.11 | 5.39 | 6.00 | 0.8113 |
+| 9 | return | 171 | 17 | 3.087 | 20.31 | 35.17 | 412.35 | 0.7662 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.735 |
+| TCP position RMSE (mm, per-axis) | 16.07 |
+| EE position RMS L2 (mm) | 37.69 |
+| TCP rotvec (mrad) | 1283.19 |
+| W1 effort mean (A) | 0.9435 |
+| W1 effort per joint (A) | j0=0.2264, j1=1.7872, j2=1.5650, j3=0.7374, j4=0.6146, j5=0.7303 |
+
+## Phase-end anchor (sim - 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 | -0.00408 | -0.00104 | 0.00458 | 0.041 |
+| 1 | 0.00202 | -0.00430 | -0.00102 | 0.00486 | 0.055 |
+| 2 | 0.00202 | -0.00430 | -0.00124 | 0.00491 | 0.049 |
+| 3 | 0.00283 | -0.00557 | -0.00203 | 0.00657 | 0.181 |
+| 4 | 0.00227 | -0.00494 | -0.00203 | 0.00580 | 0.145 |
+| 5 | 0.00370 | -0.00245 | -0.00136 | 0.00464 | 0.133 |
+| 6 | 0.00420 | -0.00219 | -0.00155 | 0.00499 | 0.177 |
+| 7 | 0.00272 | -0.00278 | -0.00053 | 0.00393 | 0.066 |
+| 8 | 0.00262 | -0.00295 | -0.00060 | 0.00399 | 0.064 |
+| 9 | -0.00010 | -0.00028 | -0.00038 | 0.00048 | 0.065 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_341c2aae-d513-4951-aaa5-ebcb78bb0902.md b/gap_reports/gap_341c2aae-d513-4951-aaa5-ebcb78bb0902.md
new file mode 100644
index 0000000000000000000000000000000000000000..27b7a27964f2fe78dc21c5ad926a868678070b96
--- /dev/null
+++ b/gap_reports/gap_341c2aae-d513-4951-aaa5-ebcb78bb0902.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/341c2aae-d513-4951-aaa5-ebcb78bb0902.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/341c2aae-d513-4951-aaa5-ebcb78bb0902.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2823 |
+| Sim rows | 252 |
+| Real episode_id | `341c2aae-d513-4951-aaa5-ebcb78bb0902` |
+| Sim episode_id | `341c2aae-d513-4951-aaa5-ebcb78bb0902` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 229 | 21 | 2.766 | 13.23 | 22.91 | 1870.86 | 0.6270 |
+| 1 | descend | 376 | 33 | 0.477 | 3.47 | 6.01 | 3624.73 | 0.8090 |
+| 2 | settle | 389 | 34 | 0.027 | 1.01 | 1.75 | 3624.55 | 0.6843 |
+| 3 | close | 158 | 14 | 0.676 | 4.95 | 8.57 | 3625.38 | 1.0209 |
+| 4 | lift | 360 | 32 | 3.298 | 17.61 | 30.51 | 2409.41 | 1.1119 |
+| 5 | move_xy | 382 | 34 | 7.417 | 40.85 | 70.76 | 2732.26 | 0.9090 |
+| 6 | lower | 411 | 36 | 0.094 | 1.78 | 3.08 | 3625.11 | 1.0350 |
+| 7 | open | 158 | 14 | 0.812 | 5.57 | 9.65 | 3624.74 | 0.7577 |
+| 8 | retract | 360 | 32 | 3.441 | 18.42 | 31.91 | 2408.99 | 0.7592 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.105 |
+| TCP position RMSE (mm, per-axis) | 16.88 |
+| EE position RMS L2 (mm) | 31.38 |
+| TCP rotvec (mrad) | 3131.80 |
+| W1 effort mean (A) | 0.8424 |
+| W1 effort per joint (A) | j0=0.2112, j1=1.6021, j2=1.6035, j3=0.7685, j4=0.2323, j5=0.6369 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00110 | -0.00023 | -0.00069 | 0.00131 | 0.038 |
+| 1 | 0.00111 | -0.00065 | -0.00117 | 0.00174 | 0.057 |
+| 2 | 0.00111 | -0.00066 | -0.00118 | 0.00175 | 0.059 |
+| 3 | 0.00223 | -0.00032 | -0.00097 | 0.00246 | 0.166 |
+| 4 | 0.00025 | -0.00025 | -0.00035 | 0.00049 | 0.095 |
+| 5 | 0.00196 | -0.00100 | -0.00100 | 0.00242 | 0.110 |
+| 6 | 0.00235 | -0.00093 | -0.00203 | 0.00324 | 0.150 |
+| 7 | 0.00099 | -0.00030 | -0.00095 | 0.00141 | 0.042 |
+| 8 | -0.00014 | -0.00022 | -0.00022 | 0.00034 | 0.037 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_343b34b6-792d-475c-b2af-9829c7d3a203.md b/gap_reports/gap_343b34b6-792d-475c-b2af-9829c7d3a203.md
new file mode 100644
index 0000000000000000000000000000000000000000..c7673993084295c718183d4377a876b12329ffbd
--- /dev/null
+++ b/gap_reports/gap_343b34b6-792d-475c-b2af-9829c7d3a203.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/343b34b6-792d-475c-b2af-9829c7d3a203.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/343b34b6-792d-475c-b2af-9829c7d3a203.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1218 |
+| Sim rows | 125 |
+| Real episode_id | `343b34b6-792d-475c-b2af-9829c7d3a203` |
+| Sim episode_id | `343b34b6-792d-475c-b2af-9829c7d3a203` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 117 | 12 | 1.952 | 8.20 | 14.21 | 694.18 | 0.6297 |
+| 1 | descend | 85 | 9 | 0.966 | 4.54 | 7.87 | 3.84 | 0.6047 |
+| 2 | settle | 36 | 4 | 0.020 | 2.49 | 4.32 | 4.55 | 0.6068 |
+| 3 | close | 285 | 28 | 0.070 | 2.44 | 4.22 | 5.83 | 0.9859 |
+| 4 | lift | 88 | 9 | 0.892 | 4.29 | 7.44 | 4.81 | 1.2264 |
+| 5 | move_xy | 176 | 18 | 2.104 | 10.68 | 18.49 | 105.71 | 1.1687 |
+| 6 | lower | 86 | 9 | 1.878 | 4.64 | 8.04 | 68.37 | 0.9458 |
+| 7 | open | 91 | 10 | 1.651 | 2.86 | 4.95 | 68.26 | 0.6132 |
+| 8 | retract | 86 | 9 | 1.823 | 4.02 | 6.97 | 67.64 | 0.6857 |
+| 9 | return | 168 | 17 | 2.787 | 11.85 | 20.53 | 1078.81 | 0.7027 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.653 |
+| TCP position RMSE (mm, per-axis) | 6.47 |
+| EE position RMS L2 (mm) | 12.24 |
+| TCP rotvec (mrad) | 408.77 |
+| W1 effort mean (A) | 0.8476 |
+| W1 effort per joint (A) | j0=0.1603, j1=1.2861, j2=1.5769, j3=0.8470, j4=0.5399, j5=0.6756 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00156 | -0.00355 | -0.00002 | 0.00388 | 0.038 |
+| 1 | 0.00237 | -0.00361 | 0.00000 | 0.00431 | 0.051 |
+| 2 | 0.00232 | -0.00363 | -0.00015 | 0.00431 | 0.034 |
+| 3 | 0.00252 | -0.00315 | -0.00092 | 0.00414 | 0.138 |
+| 4 | 0.00178 | -0.00347 | -0.00112 | 0.00405 | 0.146 |
+| 5 | 0.00144 | -0.00432 | -0.00133 | 0.00474 | 4.054 |
+| 6 | 0.00216 | -0.00470 | -0.00107 | 0.00528 | 4.046 |
+| 7 | 0.00173 | -0.00464 | -0.00056 | 0.00499 | 4.042 |
+| 8 | 0.00119 | -0.00420 | -0.00070 | 0.00442 | 4.059 |
+| 9 | -0.00017 | -0.00008 | -0.00023 | 0.00030 | 0.035 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_346fad90-fa99-440e-ac04-79c01328886d.md b/gap_reports/gap_346fad90-fa99-440e-ac04-79c01328886d.md
new file mode 100644
index 0000000000000000000000000000000000000000..b6a88b8343078cf5e46fbc1cb2bb3ca5afcd5d84
--- /dev/null
+++ b/gap_reports/gap_346fad90-fa99-440e-ac04-79c01328886d.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/346fad90-fa99-440e-ac04-79c01328886d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/346fad90-fa99-440e-ac04-79c01328886d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 458 |
+| Sim rows | 62 |
+| Real episode_id | `346fad90-fa99-440e-ac04-79c01328886d` |
+| Sim episode_id | `346fad90-fa99-440e-ac04-79c01328886d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 249 | 25 | 2.367 | 11.38 | 19.70 | 13.59 | 0.8180 |
+| 1 | descend | 209 | 21 | 0.024 | 2.49 | 4.31 | 2.06 | 0.7771 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.674 |
+| TCP position RMSE (mm, per-axis) | 8.23 |
+| EE position RMS L2 (mm) | 14.82 |
+| TCP rotvec (mrad) | 9.72 |
+| W1 effort mean (A) | 0.7991 |
+| W1 effort per joint (A) | j0=0.1042, j1=1.7985, j2=1.7764, j3=0.8411, j4=0.1653, j5=0.1090 |
+
+## Phase-end anchor (sim - 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 | -0.00428 | 0.00036 | 0.00430 | 0.060 |
+| 1 | 0.00042 | -0.00426 | 0.00049 | 0.00430 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3480ebcf-d351-4c53-809a-cce96efb0d59.md b/gap_reports/gap_3480ebcf-d351-4c53-809a-cce96efb0d59.md
new file mode 100644
index 0000000000000000000000000000000000000000..854e090e4d208debcf60cf8799cea344a0a0308c
--- /dev/null
+++ b/gap_reports/gap_3480ebcf-d351-4c53-809a-cce96efb0d59.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3480ebcf-d351-4c53-809a-cce96efb0d59.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3480ebcf-d351-4c53-809a-cce96efb0d59.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1476 |
+| Sim rows | 152 |
+| Real episode_id | `3480ebcf-d351-4c53-809a-cce96efb0d59` |
+| Sim episode_id | `3480ebcf-d351-4c53-809a-cce96efb0d59` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 4.888 | 12.40 | 21.47 | 623.46 | 0.6926 |
+| 1 | descend | 111 | 12 | 9.078 | 4.77 | 8.26 | 353.04 | 0.7590 |
+| 2 | settle | 40 | 5 | 9.028 | 3.06 | 5.29 | 353.27 | 0.7517 |
+| 3 | close | 40 | 5 | 9.028 | 3.65 | 6.31 | 354.69 | 1.1077 |
+| 4 | lift | 132 | 13 | 9.116 | 6.38 | 11.05 | 354.45 | 1.1607 |
+| 5 | move_xy | 247 | 25 | 22.921 | 21.01 | 36.39 | 823.69 | 1.0909 |
+| 6 | lower | 116 | 12 | 35.071 | 5.17 | 8.95 | 1330.10 | 1.2171 |
+| 7 | open | 81 | 9 | 35.045 | 2.39 | 4.14 | 1329.32 | 0.9054 |
+| 8 | retract | 118 | 12 | 35.070 | 5.20 | 9.00 | 1328.82 | 0.9729 |
+| 9 | return | 376 | 37 | 18.827 | 10.43 | 18.06 | 1194.53 | 0.8922 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 22.182 |
+| TCP position RMSE (mm, per-axis) | 9.22 |
+| EE position RMS L2 (mm) | 20.09 |
+| TCP rotvec (mrad) | 910.88 |
+| W1 effort mean (A) | 0.9222 |
+| W1 effort per joint (A) | j0=0.2369, j1=1.4852, j2=1.5939, j3=0.7315, j4=0.1680, j5=1.3178 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00163 | -0.00454 | -0.00085 | 0.00490 | 22.174 |
+| 1 | 0.00214 | -0.00474 | -0.00095 | 0.00529 | 22.114 |
+| 2 | 0.00212 | -0.00473 | -0.00103 | 0.00529 | 22.112 |
+| 3 | 0.00301 | -0.00486 | -0.00264 | 0.00629 | 22.113 |
+| 4 | 0.00259 | -0.00480 | -0.00132 | 0.00561 | 22.186 |
+| 5 | 0.00169 | -0.00352 | -0.00142 | 0.00416 | 85.889 |
+| 6 | 0.00225 | -0.00279 | -0.00141 | 0.00385 | 85.844 |
+| 7 | 0.00182 | -0.00371 | -0.00005 | 0.00414 | 85.843 |
+| 8 | 0.00143 | -0.00397 | -0.00017 | 0.00422 | 85.890 |
+| 9 | -0.00004 | -0.00008 | -0.00023 | 0.00025 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_348150c0-f8f3-45d9-b193-5cd5936ae37a.md b/gap_reports/gap_348150c0-f8f3-45d9-b193-5cd5936ae37a.md
new file mode 100644
index 0000000000000000000000000000000000000000..124d2a21e2900a49e00ffa752195ed036a6cd194
--- /dev/null
+++ b/gap_reports/gap_348150c0-f8f3-45d9-b193-5cd5936ae37a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/348150c0-f8f3-45d9-b193-5cd5936ae37a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/348150c0-f8f3-45d9-b193-5cd5936ae37a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2726 |
+| Sim rows | 240 |
+| Real episode_id | `348150c0-f8f3-45d9-b193-5cd5936ae37a` |
+| Sim episode_id | `348150c0-f8f3-45d9-b193-5cd5936ae37a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 184 | 17 | 2.687 | 13.24 | 22.93 | 1908.44 | 0.6287 |
+| 1 | descend | 483 | 42 | 0.590 | 4.31 | 7.47 | 3624.74 | 0.7966 |
+| 2 | settle | 382 | 33 | 0.027 | 0.97 | 1.68 | 3624.57 | 0.7592 |
+| 3 | close | 144 | 13 | 0.738 | 5.27 | 9.13 | 3625.29 | 1.0654 |
+| 4 | lift | 325 | 28 | 2.733 | 14.98 | 25.95 | 2345.03 | 1.1346 |
+| 5 | move_xy | 345 | 30 | 7.133 | 41.55 | 71.97 | 2807.84 | 0.9332 |
+| 6 | lower | 394 | 34 | 0.091 | 1.68 | 2.91 | 3625.11 | 1.0302 |
+| 7 | open | 143 | 13 | 0.644 | 4.48 | 7.76 | 3624.69 | 0.7542 |
+| 8 | retract | 326 | 28 | 2.701 | 14.89 | 25.79 | 2358.43 | 0.7529 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.871 |
+| TCP position RMSE (mm, per-axis) | 16.39 |
+| EE position RMS L2 (mm) | 29.50 |
+| TCP rotvec (mrad) | 3132.03 |
+| W1 effort mean (A) | 0.8491 |
+| W1 effort per joint (A) | j0=0.2487, j1=1.5310, j2=1.7010, j3=0.7934, j4=0.2668, j5=0.5537 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00094 | -0.00035 | -0.00072 | 0.00123 | 0.034 |
+| 1 | 0.00092 | -0.00075 | -0.00118 | 0.00168 | 0.053 |
+| 2 | 0.00093 | -0.00078 | -0.00117 | 0.00168 | 0.057 |
+| 3 | 0.00199 | -0.00037 | -0.00060 | 0.00211 | 0.155 |
+| 4 | 0.00025 | 0.00006 | -0.00014 | 0.00029 | 0.073 |
+| 5 | 0.00187 | -0.00104 | -0.00122 | 0.00247 | 0.121 |
+| 6 | 0.00220 | -0.00116 | -0.00245 | 0.00349 | 0.171 |
+| 7 | 0.00078 | -0.00041 | -0.00098 | 0.00132 | 0.043 |
+| 8 | -0.00014 | -0.00022 | -0.00020 | 0.00033 | 0.037 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3494d849-9800-439f-a1f6-0628ee256d02.md b/gap_reports/gap_3494d849-9800-439f-a1f6-0628ee256d02.md
new file mode 100644
index 0000000000000000000000000000000000000000..b0d390f6b3aff44d0b50cf2e8494de242f250cd4
--- /dev/null
+++ b/gap_reports/gap_3494d849-9800-439f-a1f6-0628ee256d02.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3494d849-9800-439f-a1f6-0628ee256d02.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3494d849-9800-439f-a1f6-0628ee256d02.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1505 |
+| Sim rows | 155 |
+| Real episode_id | `3494d849-9800-439f-a1f6-0628ee256d02` |
+| Sim episode_id | `3494d849-9800-439f-a1f6-0628ee256d02` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 192 | 19 | 2.794 | 15.54 | 26.92 | 1165.86 | 0.7224 |
+| 1 | descend | 102 | 11 | 0.810 | 4.76 | 8.24 | 5.31 | 0.6424 |
+| 2 | settle | 25 | 3 | 0.021 | 3.05 | 5.29 | 5.69 | 0.6315 |
+| 3 | close | 397 | 39 | 0.108 | 3.58 | 6.19 | 957.89 | 1.0449 |
+| 4 | lift | 121 | 13 | 1.110 | 6.26 | 10.85 | 1476.39 | 1.0801 |
+| 5 | move_xy | 197 | 20 | 8.785 | 36.28 | 62.84 | 295.22 | 1.0264 |
+| 6 | lower | 69 | 8 | 12.953 | 4.24 | 7.35 | 504.17 | 1.1127 |
+| 7 | open | 74 | 8 | 12.929 | 2.67 | 4.63 | 502.70 | 0.8534 |
+| 8 | retract | 68 | 8 | 12.945 | 3.41 | 5.91 | 502.51 | 0.8796 |
+| 9 | return | 260 | 26 | 7.269 | 17.70 | 30.66 | 485.91 | 0.7805 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 8.014 |
+| TCP position RMSE (mm, per-axis) | 14.11 |
+| EE position RMS L2 (mm) | 28.31 |
+| TCP rotvec (mrad) | 744.26 |
+| W1 effort mean (A) | 0.8897 |
+| W1 effort per joint (A) | j0=0.2228, j1=1.6550, j2=1.5161, j3=0.7695, j4=0.3572, j5=0.8176 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00153 | -0.00452 | -0.00093 | 0.00486 | 0.028 |
+| 1 | 0.00193 | -0.00482 | -0.00100 | 0.00529 | 0.035 |
+| 2 | 0.00192 | -0.00482 | -0.00105 | 0.00529 | 0.045 |
+| 3 | 0.00273 | -0.00493 | -0.00224 | 0.00606 | 0.193 |
+| 4 | 0.00210 | -0.00478 | -0.00251 | 0.00579 | 0.203 |
+| 5 | 0.00299 | -0.00333 | -0.00202 | 0.00491 | 31.722 |
+| 6 | 0.00342 | -0.00306 | -0.00283 | 0.00539 | 31.672 |
+| 7 | 0.00277 | -0.00368 | -0.00059 | 0.00464 | 31.668 |
+| 8 | 0.00256 | -0.00389 | -0.00074 | 0.00472 | 31.722 |
+| 9 | -0.00009 | -0.00015 | -0.00036 | 0.00040 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_34985a6e-2643-4c5e-b5f9-95671963bcef.md b/gap_reports/gap_34985a6e-2643-4c5e-b5f9-95671963bcef.md
new file mode 100644
index 0000000000000000000000000000000000000000..dcdeec698c6657178aca55db3f28580ef44550ec
--- /dev/null
+++ b/gap_reports/gap_34985a6e-2643-4c5e-b5f9-95671963bcef.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/34985a6e-2643-4c5e-b5f9-95671963bcef.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/34985a6e-2643-4c5e-b5f9-95671963bcef.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2868 |
+| Sim rows | 252 |
+| Real episode_id | `34985a6e-2643-4c5e-b5f9-95671963bcef` |
+| Sim episode_id | `34985a6e-2643-4c5e-b5f9-95671963bcef` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 212 | 19 | 3.404 | 12.82 | 22.21 | 3.26 | 0.5903 |
+| 1 | descend | 331 | 29 | 1.698 | 10.29 | 17.83 | 4.93 | 0.7157 |
+| 2 | settle | 379 | 33 | 0.024 | 0.88 | 1.52 | 5.16 | 0.6495 |
+| 3 | close | 145 | 13 | 1.079 | 6.27 | 10.86 | 6.14 | 0.8611 |
+| 4 | lift | 430 | 37 | 4.212 | 17.18 | 29.76 | 5.01 | 1.0749 |
+| 5 | move_xy | 400 | 35 | 8.741 | 38.18 | 66.12 | 5.18 | 0.8881 |
+| 6 | lower | 394 | 34 | 0.089 | 1.48 | 2.56 | 7.42 | 0.9404 |
+| 7 | open | 146 | 13 | 1.127 | 6.45 | 11.18 | 5.20 | 0.5844 |
+| 8 | retract | 431 | 37 | 4.068 | 16.54 | 28.65 | 3.43 | 0.7072 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.765 |
+| TCP position RMSE (mm, per-axis) | 16.26 |
+| EE position RMS L2 (mm) | 30.87 |
+| TCP rotvec (mrad) | 5.22 |
+| W1 effort mean (A) | 0.7690 |
+| W1 effort per joint (A) | j0=0.2999, j1=1.1452, j2=1.4137, j3=0.6541, j4=0.4890, j5=0.6122 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00094 | -0.00045 | -0.00046 | 0.00114 | 0.036 |
+| 1 | 0.00099 | -0.00084 | -0.00077 | 0.00151 | 0.037 |
+| 2 | 0.00097 | -0.00085 | -0.00074 | 0.00149 | 0.034 |
+| 3 | 0.00128 | -0.00059 | -0.00062 | 0.00154 | 0.113 |
+| 4 | 0.00025 | -0.00011 | -0.00026 | 0.00037 | 0.069 |
+| 5 | 0.00201 | -0.00087 | -0.00159 | 0.00270 | 0.154 |
+| 6 | 0.00160 | -0.00091 | -0.00222 | 0.00289 | 0.204 |
+| 7 | 0.00072 | -0.00056 | -0.00050 | 0.00104 | 0.036 |
+| 8 | -0.00007 | -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.
diff --git a/gap_reports/gap_34a255b9-ff96-444a-b118-7c6f1e5fb619.md b/gap_reports/gap_34a255b9-ff96-444a-b118-7c6f1e5fb619.md
new file mode 100644
index 0000000000000000000000000000000000000000..5a4da439641b9de4af0d10449305c1128aaa69d2
--- /dev/null
+++ b/gap_reports/gap_34a255b9-ff96-444a-b118-7c6f1e5fb619.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/34a255b9-ff96-444a-b118-7c6f1e5fb619.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/34a255b9-ff96-444a-b118-7c6f1e5fb619.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 677 |
+| Sim rows | 83 |
+| Real episode_id | `34a255b9-ff96-444a-b118-7c6f1e5fb619` |
+| Sim episode_id | `34a255b9-ff96-444a-b118-7c6f1e5fb619` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 468 | 46 | 5.349 | 20.45 | 35.42 | 1507.68 | 0.7789 |
+| 1 | descend | 209 | 21 | 0.035 | 4.83 | 8.37 | 1.91 | 0.7399 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.782 |
+| TCP position RMSE (mm, per-axis) | 14.86 |
+| EE position RMS L2 (mm) | 29.82 |
+| TCP rotvec (mrad) | 1066.09 |
+| W1 effort mean (A) | 0.7668 |
+| W1 effort per joint (A) | j0=0.1423, j1=1.5931, j2=1.7303, j3=0.8144, j4=0.1420, j5=0.1787 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00596 | -0.00591 | 0.00003 | 0.00840 | 0.076 |
+| 1 | -0.00591 | -0.00598 | -0.00010 | 0.00841 | 0.049 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_34d2b6df-3127-46d4-9641-b8f5cbfefff6.md b/gap_reports/gap_34d2b6df-3127-46d4-9641-b8f5cbfefff6.md
new file mode 100644
index 0000000000000000000000000000000000000000..144a89870954cfe44fa8970af340da31b1360228
--- /dev/null
+++ b/gap_reports/gap_34d2b6df-3127-46d4-9641-b8f5cbfefff6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/34d2b6df-3127-46d4-9641-b8f5cbfefff6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/34d2b6df-3127-46d4-9641-b8f5cbfefff6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2286 |
+| Sim rows | 718 |
+| Real episode_id | `34d2b6df-3127-46d4-9641-b8f5cbfefff6` |
+| Sim episode_id | `34d2b6df-3127-46d4-9641-b8f5cbfefff6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 166 | 17 | 2.239 | 8.66 | 15.01 | 1990.04 | 0.5671 |
+| 1 | descend | 185 | 505 | 3.716 | 15.27 | 26.45 | 3625.41 | 0.7288 |
+| 2 | settle | 331 | 33 | 0.027 | 0.96 | 1.65 | 3624.52 | 0.6816 |
+| 3 | close | 153 | 16 | 0.952 | 6.52 | 11.29 | 3625.14 | 1.0348 |
+| 4 | lift | 310 | 31 | 2.566 | 14.68 | 25.43 | 2392.42 | 1.1109 |
+| 5 | move_xy | 307 | 31 | 5.735 | 34.74 | 60.17 | 2786.43 | 0.9567 |
+| 6 | lower | 368 | 36 | 0.104 | 1.81 | 3.14 | 3624.91 | 1.1167 |
+| 7 | open | 155 | 16 | 0.817 | 5.64 | 9.77 | 3624.73 | 0.7506 |
+| 8 | retract | 311 | 31 | 2.346 | 13.55 | 23.47 | 2370.52 | 0.7439 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.695 |
+| TCP position RMSE (mm, per-axis) | 14.88 |
+| EE position RMS L2 (mm) | 27.09 |
+| TCP rotvec (mrad) | 3140.57 |
+| W1 effort mean (A) | 0.8394 |
+| W1 effort per joint (A) | j0=0.2301, j1=1.5405, j2=1.6669, j3=0.7651, j4=0.2873, j5=0.5464 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00014 | -0.00038 | -0.00046 | 0.00061 | 0.024 |
+| 1 | 0.00076 | -0.00086 | -0.00121 | 0.00167 | 0.052 |
+| 2 | 0.00075 | -0.00087 | -0.00118 | 0.00164 | 0.055 |
+| 3 | 0.00192 | -0.00069 | -0.00118 | 0.00236 | 0.165 |
+| 4 | 0.00023 | -0.00045 | -0.00063 | 0.00081 | 0.115 |
+| 5 | 0.00169 | -0.00105 | -0.00148 | 0.00248 | 0.107 |
+| 6 | 0.00161 | -0.00127 | -0.00181 | 0.00274 | 0.124 |
+| 7 | 0.00065 | -0.00055 | -0.00099 | 0.00130 | 0.060 |
+| 8 | -0.00010 | -0.00016 | -0.00017 | 0.00025 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_34d6f350-53bd-4982-a28a-03c66a7972d5.md b/gap_reports/gap_34d6f350-53bd-4982-a28a-03c66a7972d5.md
new file mode 100644
index 0000000000000000000000000000000000000000..a006f5d9ed717790383d21835e0f06b90a971bee
--- /dev/null
+++ b/gap_reports/gap_34d6f350-53bd-4982-a28a-03c66a7972d5.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/34d6f350-53bd-4982-a28a-03c66a7972d5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/34d6f350-53bd-4982-a28a-03c66a7972d5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1682 |
+| Sim rows | 172 |
+| Real episode_id | `34d6f350-53bd-4982-a28a-03c66a7972d5` |
+| Sim episode_id | `34d6f350-53bd-4982-a28a-03c66a7972d5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 152 | 16 | 2.153 | 10.25 | 17.75 | 799.23 | 0.6756 |
+| 1 | descend | 76 | 8 | 0.587 | 3.69 | 6.39 | 4.55 | 0.6277 |
+| 2 | settle | 25 | 3 | 0.021 | 2.79 | 4.83 | 4.95 | 0.6268 |
+| 3 | close | 366 | 36 | 0.138 | 3.14 | 5.44 | 706.86 | 1.0764 |
+| 4 | lift | 79 | 9 | 0.530 | 3.51 | 6.08 | 8.60 | 1.1571 |
+| 5 | move_xy | 179 | 18 | 14.374 | 13.05 | 22.60 | 500.50 | 1.0810 |
+| 6 | lower | 80 | 9 | 27.769 | 3.59 | 6.21 | 1064.29 | 1.1850 |
+| 7 | open | 374 | 37 | 27.760 | 2.51 | 4.35 | 1063.52 | 0.7324 |
+| 8 | retract | 81 | 9 | 27.768 | 3.45 | 5.98 | 1063.00 | 0.8198 |
+| 9 | return | 270 | 27 | 16.000 | 13.41 | 23.22 | 1412.06 | 0.8334 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 16.675 |
+| TCP position RMSE (mm, per-axis) | 7.28 |
+| EE position RMS L2 (mm) | 13.69 |
+| TCP rotvec (mrad) | 823.21 |
+| W1 effort mean (A) | 0.8806 |
+| W1 effort per joint (A) | j0=0.1567, j1=1.3175, j2=1.4144, j3=0.7803, j4=0.4959, j5=1.1189 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00199 | -0.00400 | -0.00051 | 0.00450 | 0.035 |
+| 1 | 0.00231 | -0.00421 | -0.00049 | 0.00483 | 0.034 |
+| 2 | 0.00230 | -0.00421 | -0.00059 | 0.00483 | 0.037 |
+| 3 | 0.00308 | -0.00382 | -0.00224 | 0.00539 | 0.217 |
+| 4 | 0.00244 | -0.00374 | -0.00279 | 0.00527 | 0.262 |
+| 5 | 0.00185 | -0.00337 | -0.00117 | 0.00402 | 67.995 |
+| 6 | 0.00235 | -0.00312 | -0.00118 | 0.00408 | 67.997 |
+| 7 | 0.00181 | -0.00396 | 0.00006 | 0.00435 | 67.998 |
+| 8 | 0.00140 | -0.00402 | -0.00004 | 0.00425 | 68.002 |
+| 9 | -0.00002 | -0.00007 | -0.00016 | 0.00018 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_35062251-5164-4624-b242-14d004fc1a9b.md b/gap_reports/gap_35062251-5164-4624-b242-14d004fc1a9b.md
new file mode 100644
index 0000000000000000000000000000000000000000..e0bc6de2b12712506e3b8f22345abcfb58e8c239
--- /dev/null
+++ b/gap_reports/gap_35062251-5164-4624-b242-14d004fc1a9b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/35062251-5164-4624-b242-14d004fc1a9b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/35062251-5164-4624-b242-14d004fc1a9b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2530 |
+| Sim rows | 226 |
+| Real episode_id | `35062251-5164-4624-b242-14d004fc1a9b` |
+| Sim episode_id | `35062251-5164-4624-b242-14d004fc1a9b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 194 | 18 | 2.595 | 11.39 | 19.73 | 1965.16 | 0.5872 |
+| 1 | descend | 345 | 30 | 0.403 | 2.75 | 4.77 | 3625.28 | 0.7578 |
+| 2 | settle | 354 | 31 | 0.029 | 0.78 | 1.36 | 3537.15 | 0.6871 |
+| 3 | close | 100 | 9 | 0.522 | 3.75 | 6.50 | 3134.64 | 0.9682 |
+| 4 | lift | 355 | 31 | 2.892 | 14.11 | 24.44 | 2268.82 | 1.0854 |
+| 5 | move_xy | 346 | 31 | 7.164 | 37.08 | 64.23 | 2726.57 | 0.8738 |
+| 6 | lower | 379 | 33 | 0.082 | 1.32 | 2.29 | 3549.78 | 0.9688 |
+| 7 | open | 102 | 10 | 0.506 | 3.40 | 5.90 | 3625.51 | 0.6357 |
+| 8 | retract | 355 | 31 | 3.263 | 15.71 | 27.21 | 2292.77 | 0.7187 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.940 |
+| TCP position RMSE (mm, per-axis) | 14.86 |
+| EE position RMS L2 (mm) | 28.09 |
+| TCP rotvec (mrad) | 3035.45 |
+| W1 effort mean (A) | 0.8067 |
+| W1 effort per joint (A) | j0=0.2571, j1=1.2819, j2=1.6360, j3=0.7555, j4=0.3127, j5=0.5972 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00067 | -0.00037 | -0.00074 | 0.00106 | 0.039 |
+| 1 | 0.00063 | -0.00060 | -0.00101 | 0.00133 | 0.045 |
+| 2 | 0.00065 | -0.00063 | -0.00099 | 0.00134 | 0.045 |
+| 3 | 0.00110 | -0.00065 | -0.00086 | 0.00154 | 0.114 |
+| 4 | 0.00003 | -0.00047 | -0.00046 | 0.00066 | 0.111 |
+| 5 | 0.00193 | -0.00080 | -0.00110 | 0.00236 | 0.175 |
+| 6 | 0.00125 | -0.00094 | -0.00105 | 0.00189 | 0.109 |
+| 7 | 0.00042 | -0.00046 | -0.00079 | 0.00100 | 0.041 |
+| 8 | -0.00012 | -0.00015 | -0.00016 | 0.00025 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_351d6e47-7a96-47bf-afc2-2711534e18dd.md b/gap_reports/gap_351d6e47-7a96-47bf-afc2-2711534e18dd.md
new file mode 100644
index 0000000000000000000000000000000000000000..b19dd48be1445446fadabe770529d6f742682039
--- /dev/null
+++ b/gap_reports/gap_351d6e47-7a96-47bf-afc2-2711534e18dd.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/351d6e47-7a96-47bf-afc2-2711534e18dd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/351d6e47-7a96-47bf-afc2-2711534e18dd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2379 |
+| Sim rows | 240 |
+| Real episode_id | `351d6e47-7a96-47bf-afc2-2711534e18dd` |
+| Sim episode_id | `351d6e47-7a96-47bf-afc2-2711534e18dd` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 199 | 20 | 3.623 | 17.95 | 31.09 | 1905.65 | 0.6394 |
+| 1 | descend | 353 | 35 | 0.746 | 5.37 | 9.31 | 3624.69 | 0.7484 |
+| 2 | settle | 319 | 32 | 0.027 | 1.02 | 1.76 | 3624.61 | 0.7469 |
+| 3 | close | 117 | 12 | 0.728 | 5.12 | 8.87 | 3625.09 | 1.0372 |
+| 4 | lift | 302 | 30 | 3.518 | 18.73 | 32.44 | 2432.72 | 1.1452 |
+| 5 | move_xy | 331 | 33 | 7.321 | 40.04 | 69.35 | 2760.52 | 0.9115 |
+| 6 | lower | 330 | 33 | 0.096 | 1.80 | 3.12 | 3625.12 | 1.0306 |
+| 7 | open | 123 | 13 | 0.775 | 5.65 | 9.79 | 3624.74 | 0.7447 |
+| 8 | retract | 305 | 30 | 3.484 | 18.61 | 32.23 | 2429.40 | 0.7565 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.213 |
+| TCP position RMSE (mm, per-axis) | 17.36 |
+| EE position RMS L2 (mm) | 32.25 |
+| TCP rotvec (mrad) | 3140.59 |
+| W1 effort mean (A) | 0.8402 |
+| W1 effort per joint (A) | j0=0.2274, j1=1.5852, j2=1.5994, j3=0.7728, j4=0.2920, j5=0.5645 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00109 | -0.00029 | -0.00078 | 0.00137 | 0.033 |
+| 1 | 0.00111 | -0.00064 | -0.00120 | 0.00176 | 0.060 |
+| 2 | 0.00113 | -0.00064 | -0.00120 | 0.00177 | 0.058 |
+| 3 | 0.00233 | -0.00044 | -0.00072 | 0.00248 | 0.166 |
+| 4 | 0.00038 | -0.00016 | -0.00057 | 0.00070 | 0.129 |
+| 5 | 0.00271 | -0.00096 | -0.00147 | 0.00322 | 0.204 |
+| 6 | 0.00246 | -0.00089 | -0.00253 | 0.00364 | 0.176 |
+| 7 | 0.00097 | -0.00029 | -0.00097 | 0.00140 | 0.044 |
+| 8 | -0.00015 | -0.00023 | -0.00023 | 0.00036 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_356f6107-d05c-416c-a6b1-5c78552a6bfd.md b/gap_reports/gap_356f6107-d05c-416c-a6b1-5c78552a6bfd.md
new file mode 100644
index 0000000000000000000000000000000000000000..467bf8839cc174d70642df182e411cec58fafabb
--- /dev/null
+++ b/gap_reports/gap_356f6107-d05c-416c-a6b1-5c78552a6bfd.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/356f6107-d05c-416c-a6b1-5c78552a6bfd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/356f6107-d05c-416c-a6b1-5c78552a6bfd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2854 |
+| Sim rows | 254 |
+| Real episode_id | `356f6107-d05c-416c-a6b1-5c78552a6bfd` |
+| Sim episode_id | `356f6107-d05c-416c-a6b1-5c78552a6bfd` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 237 | 21 | 2.574 | 13.91 | 24.08 | 1955.91 | 0.6162 |
+| 1 | descend | 517 | 45 | 0.460 | 3.21 | 5.57 | 3624.73 | 0.8103 |
+| 2 | settle | 386 | 34 | 0.028 | 0.98 | 1.69 | 3624.51 | 0.7013 |
+| 3 | close | 162 | 15 | 0.894 | 6.15 | 10.66 | 3625.13 | 1.0452 |
+| 4 | lift | 274 | 24 | 2.349 | 13.26 | 22.97 | 2378.98 | 1.1465 |
+| 5 | move_xy | 449 | 39 | 6.012 | 36.34 | 62.93 | 2862.51 | 0.9705 |
+| 6 | lower | 395 | 35 | 0.102 | 1.78 | 3.08 | 3624.93 | 1.1304 |
+| 7 | open | 161 | 15 | 0.997 | 6.85 | 11.87 | 3624.75 | 0.7370 |
+| 8 | retract | 273 | 24 | 2.255 | 12.88 | 22.31 | 2403.33 | 0.7584 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.481 |
+| TCP position RMSE (mm, per-axis) | 14.74 |
+| EE position RMS L2 (mm) | 28.13 |
+| TCP rotvec (mrad) | 3147.34 |
+| W1 effort mean (A) | 0.8595 |
+| W1 effort per joint (A) | j0=0.2488, j1=1.5427, j2=1.7270, j3=0.7575, j4=0.3216, j5=0.5592 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00076 | -0.00043 | -0.00068 | 0.00110 | 0.021 |
+| 1 | 0.00075 | -0.00087 | -0.00122 | 0.00167 | 0.058 |
+| 2 | 0.00079 | -0.00088 | -0.00120 | 0.00168 | 0.055 |
+| 3 | 0.00141 | -0.00050 | -0.00096 | 0.00178 | 0.115 |
+| 4 | 0.00024 | 0.00001 | -0.00012 | 0.00027 | 0.077 |
+| 5 | 0.00205 | -0.00128 | -0.00234 | 0.00336 | 0.170 |
+| 6 | 0.00181 | -0.00125 | -0.00236 | 0.00323 | 0.141 |
+| 7 | 0.00059 | -0.00052 | -0.00100 | 0.00127 | 0.064 |
+| 8 | -0.00012 | -0.00022 | -0.00020 | 0.00033 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3581c254-1ca2-426c-b22d-ee14d3beaff5.md b/gap_reports/gap_3581c254-1ca2-426c-b22d-ee14d3beaff5.md
new file mode 100644
index 0000000000000000000000000000000000000000..579cc188eedfd7ae09a1889b86d12605211cd420
--- /dev/null
+++ b/gap_reports/gap_3581c254-1ca2-426c-b22d-ee14d3beaff5.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3581c254-1ca2-426c-b22d-ee14d3beaff5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3581c254-1ca2-426c-b22d-ee14d3beaff5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 473 |
+| Sim rows | 63 |
+| Real episode_id | `3581c254-1ca2-426c-b22d-ee14d3beaff5` |
+| Sim episode_id | `3581c254-1ca2-426c-b22d-ee14d3beaff5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 26 | 1.959 | 8.05 | 13.95 | 927.25 | 0.7814 |
+| 1 | descend | 210 | 21 | 0.031 | 9.32 | 16.14 | 1.85 | 0.7289 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.386 |
+| TCP position RMSE (mm, per-axis) | 8.71 |
+| EE position RMS L2 (mm) | 14.96 |
+| TCP rotvec (mrad) | 655.66 |
+| W1 effort mean (A) | 0.7581 |
+| W1 effort per joint (A) | j0=0.1291, j1=1.8330, j2=1.6649, j3=0.6516, j4=0.1551, j5=0.1148 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.01108 | -0.01160 | -0.00184 | 0.01615 | 0.055 |
+| 1 | -0.01100 | -0.01164 | -0.00187 | 0.01612 | 0.051 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3598e531-1849-4fab-bca0-66445e111fdd.md b/gap_reports/gap_3598e531-1849-4fab-bca0-66445e111fdd.md
new file mode 100644
index 0000000000000000000000000000000000000000..129edb607ea278019a0eaad9f018871041230ae1
--- /dev/null
+++ b/gap_reports/gap_3598e531-1849-4fab-bca0-66445e111fdd.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3598e531-1849-4fab-bca0-66445e111fdd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3598e531-1849-4fab-bca0-66445e111fdd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2805 |
+| Sim rows | 249 |
+| Real episode_id | `3598e531-1849-4fab-bca0-66445e111fdd` |
+| Sim episode_id | `3598e531-1849-4fab-bca0-66445e111fdd` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 205 | 18 | 2.384 | 9.83 | 17.03 | 2025.93 | 0.5620 |
+| 1 | descend | 665 | 58 | 0.354 | 2.17 | 3.75 | 3626.04 | 0.7401 |
+| 2 | settle | 351 | 31 | 0.020 | 0.56 | 0.97 | 3625.96 | 0.7158 |
+| 3 | close | 129 | 12 | 0.807 | 4.78 | 8.28 | 1540.06 | 0.8890 |
+| 4 | lift | 277 | 25 | 2.480 | 10.27 | 17.79 | 1846.33 | 1.0841 |
+| 5 | move_xy | 393 | 34 | 5.142 | 24.20 | 41.92 | 1917.28 | 0.8773 |
+| 6 | lower | 379 | 33 | 0.080 | 1.02 | 1.77 | 1815.60 | 1.0088 |
+| 7 | open | 130 | 12 | 0.723 | 4.34 | 7.51 | 3626.18 | 0.5857 |
+| 8 | retract | 276 | 24 | 2.377 | 9.97 | 17.27 | 2193.45 | 0.6931 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.242 |
+| TCP position RMSE (mm, per-axis) | 10.19 |
+| EE position RMS L2 (mm) | 18.37 |
+| TCP rotvec (mrad) | 2605.84 |
+| W1 effort mean (A) | 0.7877 |
+| W1 effort per joint (A) | j0=0.2550, j1=1.1231, j2=1.6580, j3=0.7965, j4=0.3264, j5=0.5672 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00019 | -0.00036 | -0.00055 | 0.00068 | 0.034 |
+| 1 | 0.00021 | -0.00057 | -0.00080 | 0.00101 | 0.036 |
+| 2 | 0.00017 | -0.00058 | -0.00077 | 0.00098 | 0.034 |
+| 3 | 0.00069 | -0.00038 | -0.00021 | 0.00081 | 0.096 |
+| 4 | 0.00005 | -0.00040 | -0.00044 | 0.00060 | 0.089 |
+| 5 | 0.00136 | -0.00090 | -0.00148 | 0.00220 | 0.179 |
+| 6 | 0.00098 | -0.00075 | -0.00083 | 0.00149 | 0.110 |
+| 7 | -0.00004 | -0.00035 | -0.00060 | 0.00069 | 0.046 |
+| 8 | -0.00007 | -0.00009 | -0.00013 | 0.00017 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_35bc4be8-9be6-4ffc-aabe-3f973e654e9e.md b/gap_reports/gap_35bc4be8-9be6-4ffc-aabe-3f973e654e9e.md
new file mode 100644
index 0000000000000000000000000000000000000000..820c6d27b3cda1e88f5ad118ea403d0e716e89f1
--- /dev/null
+++ b/gap_reports/gap_35bc4be8-9be6-4ffc-aabe-3f973e654e9e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/35bc4be8-9be6-4ffc-aabe-3f973e654e9e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/35bc4be8-9be6-4ffc-aabe-3f973e654e9e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2971 |
+| Sim rows | 262 |
+| Real episode_id | `35bc4be8-9be6-4ffc-aabe-3f973e654e9e` |
+| Sim episode_id | `35bc4be8-9be6-4ffc-aabe-3f973e654e9e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 233 | 21 | 3.639 | 14.01 | 24.27 | 3.31 | 0.5682 |
+| 1 | descend | 405 | 35 | 1.118 | 6.91 | 11.96 | 5.00 | 0.6748 |
+| 2 | settle | 356 | 31 | 0.023 | 0.88 | 1.52 | 5.12 | 0.6102 |
+| 3 | close | 104 | 10 | 0.521 | 3.38 | 5.86 | 7.02 | 0.9442 |
+| 4 | lift | 490 | 42 | 3.957 | 16.39 | 28.38 | 4.63 | 1.0759 |
+| 5 | move_xy | 387 | 34 | 7.984 | 34.53 | 59.81 | 5.11 | 0.8487 |
+| 6 | lower | 408 | 35 | 0.086 | 1.44 | 2.49 | 7.16 | 0.9154 |
+| 7 | open | 105 | 10 | 0.581 | 3.46 | 5.99 | 5.21 | 0.6016 |
+| 8 | retract | 483 | 42 | 3.959 | 16.50 | 28.59 | 3.44 | 0.6913 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.499 |
+| TCP position RMSE (mm, per-axis) | 14.92 |
+| EE position RMS L2 (mm) | 28.30 |
+| TCP rotvec (mrad) | 5.26 |
+| W1 effort mean (A) | 0.7582 |
+| W1 effort per joint (A) | j0=0.2878, j1=1.1237, j2=1.4223, j3=0.6308, j4=0.4808, j5=0.6038 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00097 | -0.00061 | -0.00051 | 0.00125 | 0.028 |
+| 1 | 0.00099 | -0.00085 | -0.00078 | 0.00152 | 0.039 |
+| 2 | 0.00097 | -0.00086 | -0.00076 | 0.00150 | 0.037 |
+| 3 | 0.00159 | -0.00056 | -0.00178 | 0.00245 | 0.171 |
+| 4 | 0.00011 | -0.00027 | -0.00038 | 0.00048 | 0.091 |
+| 5 | 0.00186 | -0.00092 | -0.00181 | 0.00275 | 0.130 |
+| 6 | 0.00209 | -0.00087 | -0.00127 | 0.00260 | 0.154 |
+| 7 | 0.00075 | -0.00060 | -0.00055 | 0.00111 | 0.031 |
+| 8 | -0.00005 | -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.
diff --git a/gap_reports/gap_35d33dcf-342d-4c0b-bc83-98feb1f1ea00.md b/gap_reports/gap_35d33dcf-342d-4c0b-bc83-98feb1f1ea00.md
new file mode 100644
index 0000000000000000000000000000000000000000..5f38df4ba7e06aee10f44158a39d08c6f12f1295
--- /dev/null
+++ b/gap_reports/gap_35d33dcf-342d-4c0b-bc83-98feb1f1ea00.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/35d33dcf-342d-4c0b-bc83-98feb1f1ea00.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/35d33dcf-342d-4c0b-bc83-98feb1f1ea00.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1236 |
+| Sim rows | 129 |
+| Real episode_id | `35d33dcf-342d-4c0b-bc83-98feb1f1ea00` |
+| Sim episode_id | `35d33dcf-342d-4c0b-bc83-98feb1f1ea00` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.920 | 12.22 | 21.17 | 983.78 | 0.6514 |
+| 1 | descend | 72 | 8 | 0.794 | 3.53 | 6.12 | 3.75 | 0.5666 |
+| 2 | settle | 32 | 4 | 0.026 | 2.00 | 3.46 | 4.48 | 0.5783 |
+| 3 | close | 298 | 30 | 0.159 | 1.66 | 2.87 | 6.18 | 0.9178 |
+| 4 | lift | 74 | 8 | 0.621 | 2.91 | 5.04 | 5.18 | 1.1824 |
+| 5 | move_xy | 199 | 20 | 6.397 | 35.17 | 60.92 | 276.58 | 1.1376 |
+| 6 | lower | 71 | 8 | 0.638 | 4.81 | 8.33 | 11.94 | 1.0714 |
+| 7 | open | 97 | 10 | 0.027 | 3.18 | 5.51 | 6.24 | 0.7334 |
+| 8 | retract | 71 | 8 | 0.556 | 3.96 | 6.86 | 5.75 | 0.8200 |
+| 9 | return | 167 | 17 | 2.021 | 14.12 | 24.45 | 461.27 | 0.7714 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.351 |
+| TCP position RMSE (mm, per-axis) | 12.89 |
+| EE position RMS L2 (mm) | 27.38 |
+| TCP rotvec (mrad) | 354.60 |
+| W1 effort mean (A) | 0.8566 |
+| W1 effort per joint (A) | j0=0.1724, j1=1.4246, j2=1.5739, j3=0.8766, j4=0.6073, j5=0.4845 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00112 | -0.00306 | 0.00013 | 0.00326 | 0.050 |
+| 1 | 0.00176 | -0.00295 | 0.00031 | 0.00345 | 0.059 |
+| 2 | 0.00177 | -0.00298 | 0.00019 | 0.00347 | 0.025 |
+| 3 | 0.00059 | -0.00274 | -0.00055 | 0.00285 | 0.323 |
+| 4 | 0.00011 | -0.00313 | -0.00065 | 0.00320 | 0.265 |
+| 5 | 0.00290 | -0.00431 | -0.00203 | 0.00558 | 0.336 |
+| 6 | 0.00345 | -0.00440 | -0.00282 | 0.00626 | 0.324 |
+| 7 | 0.00219 | -0.00491 | -0.00129 | 0.00553 | 0.059 |
+| 8 | 0.00175 | -0.00477 | -0.00152 | 0.00530 | 0.074 |
+| 9 | -0.00022 | -0.00015 | -0.00028 | 0.00038 | 0.047 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_35ea4fd2-1664-48eb-95e7-3a68688d2e43.md b/gap_reports/gap_35ea4fd2-1664-48eb-95e7-3a68688d2e43.md
new file mode 100644
index 0000000000000000000000000000000000000000..c9dc6e60c0416316eddf07e252b521a3324e143d
--- /dev/null
+++ b/gap_reports/gap_35ea4fd2-1664-48eb-95e7-3a68688d2e43.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/35ea4fd2-1664-48eb-95e7-3a68688d2e43.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/35ea4fd2-1664-48eb-95e7-3a68688d2e43.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2419 |
+| Sim rows | 245 |
+| Real episode_id | `35ea4fd2-1664-48eb-95e7-3a68688d2e43` |
+| Sim episode_id | `35ea4fd2-1664-48eb-95e7-3a68688d2e43` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 226 | 23 | 2.813 | 15.60 | 27.02 | 1988.31 | 0.6035 |
+| 1 | descend | 359 | 36 | 0.849 | 5.88 | 10.19 | 3624.68 | 0.7321 |
+| 2 | settle | 342 | 34 | 0.029 | 0.98 | 1.70 | 3624.52 | 0.7442 |
+| 3 | close | 122 | 13 | 0.932 | 6.32 | 10.95 | 3624.78 | 1.0882 |
+| 4 | lift | 247 | 25 | 2.206 | 12.86 | 22.27 | 2352.32 | 1.1616 |
+| 5 | move_xy | 406 | 40 | 5.640 | 34.47 | 59.71 | 2844.36 | 0.9569 |
+| 6 | lower | 352 | 34 | 0.093 | 1.67 | 2.89 | 3625.04 | 1.1309 |
+| 7 | open | 124 | 13 | 0.795 | 5.44 | 9.43 | 3624.71 | 0.7557 |
+| 8 | retract | 241 | 25 | 2.247 | 13.19 | 22.85 | 2311.53 | 0.7456 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.401 |
+| TCP position RMSE (mm, per-axis) | 14.45 |
+| EE position RMS L2 (mm) | 28.23 |
+| TCP rotvec (mrad) | 3137.84 |
+| W1 effort mean (A) | 0.8570 |
+| W1 effort per joint (A) | j0=0.2414, j1=1.5337, j2=1.7188, j3=0.7468, j4=0.3108, j5=0.5905 |
+
+## Phase-end anchor (sim - 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 | -0.00050 | -0.00077 | 0.00121 | 0.027 |
+| 1 | 0.00076 | -0.00087 | -0.00123 | 0.00169 | 0.060 |
+| 2 | 0.00079 | -0.00087 | -0.00123 | 0.00170 | 0.058 |
+| 3 | 0.00134 | -0.00062 | -0.00098 | 0.00177 | 0.090 |
+| 4 | 0.00041 | -0.00022 | -0.00036 | 0.00059 | 0.145 |
+| 5 | 0.00217 | -0.00115 | -0.00215 | 0.00327 | 0.202 |
+| 6 | 0.00184 | -0.00112 | -0.00153 | 0.00264 | 0.129 |
+| 7 | 0.00064 | -0.00053 | -0.00093 | 0.00125 | 0.040 |
+| 8 | -0.00012 | -0.00019 | -0.00020 | 0.00030 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_36100eb2-01af-4171-8a49-4ba031432b90.md b/gap_reports/gap_36100eb2-01af-4171-8a49-4ba031432b90.md
new file mode 100644
index 0000000000000000000000000000000000000000..7989ea74b349dc11e9d6f89159cb2782364be7f8
--- /dev/null
+++ b/gap_reports/gap_36100eb2-01af-4171-8a49-4ba031432b90.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/36100eb2-01af-4171-8a49-4ba031432b90.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/36100eb2-01af-4171-8a49-4ba031432b90.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2448 |
+| Sim rows | 219 |
+| Real episode_id | `36100eb2-01af-4171-8a49-4ba031432b90` |
+| Sim episode_id | `36100eb2-01af-4171-8a49-4ba031432b90` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 188 | 17 | 2.880 | 10.60 | 18.35 | 1943.33 | 0.5831 |
+| 1 | descend | 330 | 29 | 1.602 | 9.59 | 16.62 | 3626.02 | 0.7302 |
+| 2 | settle | 374 | 33 | 0.022 | 0.60 | 1.03 | 3625.95 | 0.7141 |
+| 3 | close | 142 | 13 | 0.934 | 5.45 | 9.43 | 1506.54 | 0.9657 |
+| 4 | lift | 286 | 25 | 2.989 | 12.30 | 21.31 | 1951.85 | 1.0665 |
+| 5 | move_xy | 329 | 29 | 6.277 | 28.16 | 48.77 | 1907.71 | 0.8622 |
+| 6 | lower | 374 | 33 | 0.088 | 1.17 | 2.03 | 1287.39 | 0.9675 |
+| 7 | open | 142 | 13 | 0.912 | 5.27 | 9.14 | 3626.24 | 0.5989 |
+| 8 | retract | 283 | 25 | 3.232 | 13.31 | 23.05 | 2321.40 | 0.7044 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.816 |
+| TCP position RMSE (mm, per-axis) | 12.40 |
+| EE position RMS L2 (mm) | 22.54 |
+| TCP rotvec (mrad) | 2581.70 |
+| W1 effort mean (A) | 0.7808 |
+| W1 effort per joint (A) | j0=0.2436, j1=1.2093, j2=1.5664, j3=0.6978, j4=0.3915, j5=0.5761 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00038 | -0.00030 | -0.00045 | 0.00066 | 0.032 |
+| 1 | 0.00043 | -0.00055 | -0.00072 | 0.00100 | 0.033 |
+| 2 | 0.00042 | -0.00055 | -0.00076 | 0.00102 | 0.036 |
+| 3 | 0.00095 | -0.00029 | -0.00174 | 0.00200 | 0.145 |
+| 4 | 0.00043 | -0.00024 | -0.00044 | 0.00066 | 0.127 |
+| 5 | 0.00117 | -0.00068 | -0.00090 | 0.00163 | 0.097 |
+| 6 | 0.00093 | -0.00069 | -0.00157 | 0.00196 | 0.110 |
+| 7 | 0.00022 | -0.00028 | -0.00054 | 0.00064 | 0.040 |
+| 8 | -0.00008 | -0.00010 | -0.00016 | 0.00021 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_36136ce3-440c-41ec-a0bf-bc2bbada9f87.md b/gap_reports/gap_36136ce3-440c-41ec-a0bf-bc2bbada9f87.md
new file mode 100644
index 0000000000000000000000000000000000000000..ba132ba7fe1aea45a8fdbe5800da5a9a2bba2b6a
--- /dev/null
+++ b/gap_reports/gap_36136ce3-440c-41ec-a0bf-bc2bbada9f87.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/36136ce3-440c-41ec-a0bf-bc2bbada9f87.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/36136ce3-440c-41ec-a0bf-bc2bbada9f87.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2543 |
+| Sim rows | 228 |
+| Real episode_id | `36136ce3-440c-41ec-a0bf-bc2bbada9f87` |
+| Sim episode_id | `36136ce3-440c-41ec-a0bf-bc2bbada9f87` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 201 | 18 | 2.319 | 12.90 | 22.34 | 1980.48 | 0.6132 |
+| 1 | descend | 380 | 33 | 0.601 | 4.10 | 7.10 | 3624.65 | 0.8291 |
+| 2 | settle | 362 | 32 | 0.029 | 0.97 | 1.68 | 3624.53 | 0.7461 |
+| 3 | close | 163 | 15 | 0.697 | 4.95 | 8.57 | 3625.30 | 1.0739 |
+| 4 | lift | 258 | 23 | 2.157 | 12.54 | 21.72 | 2334.60 | 1.1403 |
+| 5 | move_xy | 372 | 33 | 5.301 | 32.50 | 56.30 | 2825.38 | 0.9869 |
+| 6 | lower | 385 | 34 | 0.099 | 1.75 | 3.03 | 3624.97 | 1.0947 |
+| 7 | open | 164 | 15 | 0.657 | 4.58 | 7.93 | 3624.76 | 0.7404 |
+| 8 | retract | 258 | 23 | 2.483 | 14.56 | 25.22 | 2398.90 | 0.7482 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.251 |
+| TCP position RMSE (mm, per-axis) | 13.58 |
+| EE position RMS L2 (mm) | 25.17 |
+| TCP rotvec (mrad) | 3141.26 |
+| W1 effort mean (A) | 0.8723 |
+| W1 effort per joint (A) | j0=0.2446, j1=1.5710, j2=1.7117, j3=0.7793, j4=0.3052, j5=0.6219 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00077 | -0.00048 | -0.00079 | 0.00120 | 0.032 |
+| 1 | 0.00078 | -0.00086 | -0.00125 | 0.00171 | 0.058 |
+| 2 | 0.00074 | -0.00086 | -0.00123 | 0.00167 | 0.058 |
+| 3 | 0.00213 | -0.00060 | -0.00117 | 0.00250 | 0.171 |
+| 4 | 0.00026 | -0.00045 | -0.00067 | 0.00085 | 0.110 |
+| 5 | 0.00205 | -0.00104 | -0.00106 | 0.00254 | 0.149 |
+| 6 | 0.00203 | -0.00126 | -0.00188 | 0.00304 | 0.166 |
+| 7 | 0.00066 | -0.00054 | -0.00098 | 0.00130 | 0.042 |
+| 8 | -0.00012 | -0.00022 | -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.
diff --git a/gap_reports/gap_361b3334-b7b5-4a7d-bcba-d11fb35d6a97.md b/gap_reports/gap_361b3334-b7b5-4a7d-bcba-d11fb35d6a97.md
new file mode 100644
index 0000000000000000000000000000000000000000..9a15b6c0b4ab27b928b04fcb183807a8f96179f3
--- /dev/null
+++ b/gap_reports/gap_361b3334-b7b5-4a7d-bcba-d11fb35d6a97.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/361b3334-b7b5-4a7d-bcba-d11fb35d6a97.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/361b3334-b7b5-4a7d-bcba-d11fb35d6a97.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2643 |
+| Sim rows | 234 |
+| Real episode_id | `361b3334-b7b5-4a7d-bcba-d11fb35d6a97` |
+| Sim episode_id | `361b3334-b7b5-4a7d-bcba-d11fb35d6a97` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 250 | 22 | 3.058 | 15.69 | 27.18 | 1834.05 | 0.6184 |
+| 1 | descend | 214 | 19 | 0.781 | 5.67 | 9.83 | 3624.78 | 0.7565 |
+| 2 | settle | 387 | 34 | 0.025 | 0.91 | 1.57 | 3624.69 | 0.6465 |
+| 3 | close | 122 | 11 | 0.605 | 4.38 | 7.59 | 3625.01 | 1.0212 |
+| 4 | lift | 369 | 32 | 2.869 | 15.81 | 27.38 | 2379.78 | 1.1534 |
+| 5 | move_xy | 409 | 36 | 6.822 | 39.08 | 67.69 | 2694.39 | 0.9358 |
+| 6 | lower | 397 | 35 | 0.094 | 1.66 | 2.87 | 3624.99 | 1.0293 |
+| 7 | open | 123 | 11 | 0.561 | 3.95 | 6.84 | 3624.75 | 0.7423 |
+| 8 | retract | 372 | 32 | 2.881 | 15.88 | 27.50 | 2399.46 | 0.7508 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.862 |
+| TCP position RMSE (mm, per-axis) | 16.15 |
+| EE position RMS L2 (mm) | 31.69 |
+| TCP rotvec (mrad) | 3122.35 |
+| W1 effort mean (A) | 0.8401 |
+| W1 effort per joint (A) | j0=0.1906, j1=1.4516, j2=1.6654, j3=0.7918, j4=0.3252, j5=0.6160 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00092 | -0.00038 | -0.00072 | 0.00123 | 0.023 |
+| 1 | 0.00092 | -0.00069 | -0.00110 | 0.00159 | 0.053 |
+| 2 | 0.00088 | -0.00067 | -0.00108 | 0.00155 | 0.050 |
+| 3 | 0.00200 | -0.00037 | -0.00171 | 0.00266 | 0.143 |
+| 4 | 0.00005 | -0.00031 | -0.00026 | 0.00041 | 0.090 |
+| 5 | 0.00213 | -0.00091 | -0.00177 | 0.00292 | 0.168 |
+| 6 | 0.00199 | -0.00077 | -0.00176 | 0.00276 | 0.161 |
+| 7 | 0.00076 | -0.00039 | -0.00096 | 0.00129 | 0.042 |
+| 8 | -0.00011 | -0.00017 | -0.00019 | 0.00028 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_362addfd-d79a-4185-86e9-3a5291b85336.md b/gap_reports/gap_362addfd-d79a-4185-86e9-3a5291b85336.md
new file mode 100644
index 0000000000000000000000000000000000000000..f8d96ca7ea845334332e85a955fa5a3d04fdca87
--- /dev/null
+++ b/gap_reports/gap_362addfd-d79a-4185-86e9-3a5291b85336.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/362addfd-d79a-4185-86e9-3a5291b85336.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/362addfd-d79a-4185-86e9-3a5291b85336.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2834 |
+| Sim rows | 252 |
+| Real episode_id | `362addfd-d79a-4185-86e9-3a5291b85336` |
+| Sim episode_id | `362addfd-d79a-4185-86e9-3a5291b85336` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 207 | 19 | 3.560 | 13.11 | 22.71 | 1935.87 | 0.5911 |
+| 1 | descend | 327 | 29 | 1.044 | 6.07 | 10.51 | 3625.98 | 0.7710 |
+| 2 | settle | 354 | 31 | 0.027 | 0.70 | 1.21 | 3511.48 | 0.6884 |
+| 3 | close | 140 | 13 | 1.006 | 5.95 | 10.31 | 1065.38 | 0.9165 |
+| 4 | lift | 439 | 38 | 4.128 | 16.67 | 28.86 | 2050.01 | 1.0916 |
+| 5 | move_xy | 376 | 33 | 8.112 | 35.60 | 61.65 | 2252.18 | 0.8727 |
+| 6 | lower | 412 | 36 | 0.082 | 1.23 | 2.12 | 1550.80 | 0.8867 |
+| 7 | open | 139 | 13 | 1.228 | 6.95 | 12.03 | 3626.21 | 0.5949 |
+| 8 | retract | 440 | 38 | 4.060 | 16.51 | 28.59 | 2474.89 | 0.7102 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.584 |
+| TCP position RMSE (mm, per-axis) | 15.32 |
+| EE position RMS L2 (mm) | 28.70 |
+| TCP rotvec (mrad) | 2610.13 |
+| W1 effort mean (A) | 0.7958 |
+| W1 effort per joint (A) | j0=0.2936, j1=1.1878, j2=1.5031, j3=0.7239, j4=0.4434, 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 | 0.00062 | -0.00016 | -0.00041 | 0.00076 | 0.040 |
+| 1 | 0.00068 | -0.00051 | -0.00079 | 0.00116 | 0.038 |
+| 2 | 0.00071 | -0.00056 | -0.00079 | 0.00120 | 0.040 |
+| 3 | 0.00087 | -0.00036 | -0.00015 | 0.00096 | 0.097 |
+| 4 | 0.00046 | -0.00024 | -0.00041 | 0.00066 | 0.158 |
+| 5 | 0.00155 | -0.00067 | -0.00043 | 0.00174 | 0.140 |
+| 6 | 0.00189 | -0.00055 | -0.00247 | 0.00316 | 0.194 |
+| 7 | 0.00047 | -0.00025 | -0.00047 | 0.00072 | 0.036 |
+| 8 | -0.00006 | -0.00007 | -0.00012 | 0.00015 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_362bee8a-ed59-490e-a187-fe9399005e1b.md b/gap_reports/gap_362bee8a-ed59-490e-a187-fe9399005e1b.md
new file mode 100644
index 0000000000000000000000000000000000000000..278b6e1b293b101cc25d95d2e8802f077713c0bf
--- /dev/null
+++ b/gap_reports/gap_362bee8a-ed59-490e-a187-fe9399005e1b.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/362bee8a-ed59-490e-a187-fe9399005e1b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/362bee8a-ed59-490e-a187-fe9399005e1b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1489 |
+| Sim rows | 152 |
+| Real episode_id | `362bee8a-ed59-490e-a187-fe9399005e1b` |
+| Sim episode_id | `362bee8a-ed59-490e-a187-fe9399005e1b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 162 | 16 | 8.059 | 13.06 | 22.62 | 511.30 | 0.6828 |
+| 1 | descend | 81 | 9 | 14.637 | 4.04 | 7.00 | 566.71 | 0.7619 |
+| 2 | settle | 36 | 4 | 14.608 | 2.52 | 4.37 | 566.94 | 0.8211 |
+| 3 | close | 403 | 39 | 14.608 | 2.67 | 4.63 | 568.19 | 1.2445 |
+| 4 | lift | 84 | 9 | 14.630 | 4.25 | 7.36 | 567.87 | 1.3449 |
+| 5 | move_xy | 196 | 20 | 8.458 | 20.13 | 34.87 | 578.33 | 1.2590 |
+| 6 | lower | 82 | 9 | 0.582 | 4.24 | 7.34 | 3623.11 | 1.1059 |
+| 7 | open | 125 | 13 | 0.023 | 3.05 | 5.28 | 5.78 | 0.6939 |
+| 8 | retract | 83 | 9 | 0.518 | 3.78 | 6.54 | 5.24 | 0.7366 |
+| 9 | return | 237 | 24 | 2.137 | 15.42 | 26.71 | 811.56 | 0.7178 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 9.984 |
+| TCP position RMSE (mm, per-axis) | 9.50 |
+| EE position RMS L2 (mm) | 18.68 |
+| TCP rotvec (mrad) | 1251.77 |
+| W1 effort mean (A) | 0.9688 |
+| W1 effort per joint (A) | j0=0.1725, j1=1.7343, j2=1.6028, j3=0.7762, j4=0.4541, j5=1.0725 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00196 | -0.00376 | 0.00000 | 0.00424 | 35.851 |
+| 1 | 0.00237 | -0.00361 | -0.00023 | 0.00432 | 35.784 |
+| 2 | 0.00238 | -0.00365 | -0.00030 | 0.00437 | 35.782 |
+| 3 | 0.00285 | -0.00286 | -0.00221 | 0.00460 | 35.780 |
+| 4 | 0.00268 | -0.00333 | -0.00260 | 0.00500 | 35.835 |
+| 5 | 0.00243 | -0.00450 | -0.00330 | 0.00608 | 0.271 |
+| 6 | 0.00315 | -0.00452 | -0.00331 | 0.00643 | 0.242 |
+| 7 | 0.00220 | -0.00466 | -0.00106 | 0.00526 | 0.046 |
+| 8 | 0.00177 | -0.00443 | -0.00141 | 0.00497 | 0.058 |
+| 9 | -0.00013 | -0.00012 | -0.00028 | 0.00033 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_363e9ca4-a573-4363-8f4b-e22a3610459d.md b/gap_reports/gap_363e9ca4-a573-4363-8f4b-e22a3610459d.md
new file mode 100644
index 0000000000000000000000000000000000000000..64380b5038c0904c56ec7e04f499f8a7f74cc225
--- /dev/null
+++ b/gap_reports/gap_363e9ca4-a573-4363-8f4b-e22a3610459d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/363e9ca4-a573-4363-8f4b-e22a3610459d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/363e9ca4-a573-4363-8f4b-e22a3610459d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2551 |
+| Sim rows | 257 |
+| Real episode_id | `363e9ca4-a573-4363-8f4b-e22a3610459d` |
+| Sim episode_id | `363e9ca4-a573-4363-8f4b-e22a3610459d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 190 | 19 | 2.815 | 11.24 | 19.47 | 1915.06 | 0.5709 |
+| 1 | descend | 435 | 43 | 0.670 | 4.17 | 7.22 | 3626.00 | 0.6815 |
+| 2 | settle | 317 | 32 | 0.022 | 0.60 | 1.03 | 3625.97 | 0.7206 |
+| 3 | close | 95 | 10 | 0.529 | 3.16 | 5.47 | 5.63 | 0.9042 |
+| 4 | lift | 373 | 37 | 3.030 | 12.66 | 21.93 | 1657.35 | 1.0488 |
+| 5 | move_xy | 322 | 32 | 6.456 | 29.36 | 50.85 | 2100.31 | 0.8800 |
+| 6 | lower | 349 | 35 | 0.076 | 1.05 | 1.81 | 1013.94 | 0.9425 |
+| 7 | open | 94 | 10 | 0.491 | 2.92 | 5.06 | 3626.23 | 0.5878 |
+| 8 | retract | 376 | 37 | 3.134 | 12.97 | 22.47 | 2204.47 | 0.6713 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.781 |
+| TCP position RMSE (mm, per-axis) | 12.27 |
+| EE position RMS L2 (mm) | 22.60 |
+| TCP rotvec (mrad) | 2497.96 |
+| W1 effort mean (A) | 0.7636 |
+| W1 effort per joint (A) | j0=0.2583, j1=1.1573, j2=1.5870, j3=0.6241, j4=0.3991, j5=0.5559 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00042 | -0.00036 | -0.00054 | 0.00077 | 0.031 |
+| 1 | 0.00040 | -0.00057 | -0.00072 | 0.00100 | 0.031 |
+| 2 | 0.00042 | -0.00057 | -0.00074 | 0.00103 | 0.033 |
+| 3 | 0.00100 | -0.00041 | -0.00166 | 0.00198 | 0.130 |
+| 4 | 0.00036 | -0.00008 | -0.00020 | 0.00042 | 0.098 |
+| 5 | 0.00112 | -0.00071 | -0.00128 | 0.00184 | 0.118 |
+| 6 | 0.00144 | -0.00066 | -0.00150 | 0.00218 | 0.140 |
+| 7 | 0.00023 | -0.00037 | -0.00064 | 0.00077 | 0.037 |
+| 8 | -0.00004 | -0.00007 | -0.00011 | 0.00013 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3661c3d2-7d0b-4a2f-b44e-febc937aedd4.md b/gap_reports/gap_3661c3d2-7d0b-4a2f-b44e-febc937aedd4.md
new file mode 100644
index 0000000000000000000000000000000000000000..71ca847654b13b6bfcfda7e66dec386604450127
--- /dev/null
+++ b/gap_reports/gap_3661c3d2-7d0b-4a2f-b44e-febc937aedd4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3661c3d2-7d0b-4a2f-b44e-febc937aedd4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3661c3d2-7d0b-4a2f-b44e-febc937aedd4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2606 |
+| Sim rows | 233 |
+| Real episode_id | `3661c3d2-7d0b-4a2f-b44e-febc937aedd4` |
+| Sim episode_id | `3661c3d2-7d0b-4a2f-b44e-febc937aedd4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 203 | 18 | 2.169 | 12.31 | 21.32 | 1970.71 | 0.6192 |
+| 1 | descend | 352 | 31 | 0.825 | 5.66 | 9.81 | 3624.65 | 0.7398 |
+| 2 | settle | 379 | 33 | 0.028 | 0.98 | 1.69 | 3624.52 | 0.7871 |
+| 3 | close | 122 | 11 | 0.521 | 3.90 | 6.76 | 3624.90 | 1.0630 |
+| 4 | lift | 338 | 30 | 2.437 | 14.50 | 25.11 | 2316.43 | 1.1379 |
+| 5 | move_xy | 366 | 33 | 5.613 | 34.73 | 60.16 | 2816.75 | 0.9420 |
+| 6 | lower | 384 | 34 | 0.094 | 1.69 | 2.93 | 3625.14 | 1.0795 |
+| 7 | open | 121 | 11 | 0.632 | 4.41 | 7.64 | 3624.72 | 0.7511 |
+| 8 | retract | 341 | 30 | 2.484 | 14.82 | 25.67 | 2314.24 | 0.7400 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.349 |
+| TCP position RMSE (mm, per-axis) | 14.37 |
+| EE position RMS L2 (mm) | 27.04 |
+| TCP rotvec (mrad) | 3131.11 |
+| W1 effort mean (A) | 0.8616 |
+| W1 effort per joint (A) | j0=0.2449, j1=1.5980, j2=1.7389, j3=0.7094, j4=0.2852, j5=0.5932 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00077 | -0.00053 | -0.00073 | 0.00119 | 0.026 |
+| 1 | 0.00074 | -0.00086 | -0.00121 | 0.00166 | 0.055 |
+| 2 | 0.00079 | -0.00087 | -0.00125 | 0.00172 | 0.059 |
+| 3 | 0.00181 | -0.00101 | -0.00252 | 0.00326 | 0.214 |
+| 4 | 0.00023 | -0.00020 | -0.00029 | 0.00042 | 0.085 |
+| 5 | 0.00209 | -0.00129 | -0.00189 | 0.00310 | 0.175 |
+| 6 | 0.00174 | -0.00139 | -0.00261 | 0.00343 | 0.190 |
+| 7 | 0.00054 | -0.00059 | -0.00101 | 0.00129 | 0.046 |
+| 8 | -0.00012 | -0.00018 | -0.00018 | 0.00028 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3667469f-c3e8-4447-aa02-44a88256350e.md b/gap_reports/gap_3667469f-c3e8-4447-aa02-44a88256350e.md
new file mode 100644
index 0000000000000000000000000000000000000000..2ce4a1b83ae62d3f4d22f56ba8109d386e039fee
--- /dev/null
+++ b/gap_reports/gap_3667469f-c3e8-4447-aa02-44a88256350e.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3667469f-c3e8-4447-aa02-44a88256350e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3667469f-c3e8-4447-aa02-44a88256350e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1843 |
+| Sim rows | 184 |
+| Real episode_id | `3667469f-c3e8-4447-aa02-44a88256350e` |
+| Sim episode_id | `3667469f-c3e8-4447-aa02-44a88256350e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 180 | 18 | 2.682 | 7.70 | 13.35 | 655.57 | 0.6496 |
+| 1 | descend | 100 | 10 | 1.023 | 4.34 | 7.52 | 3.70 | 0.5280 |
+| 2 | settle | 15 | 2 | 0.056 | 2.26 | 3.91 | 4.48 | 0.5682 |
+| 3 | close | 391 | 38 | 0.095 | 2.02 | 3.50 | 2.87 | 1.0160 |
+| 4 | lift | 97 | 10 | 1.184 | 4.69 | 8.12 | 2.33 | 1.1412 |
+| 5 | move_xy | 169 | 17 | 2.769 | 14.02 | 24.29 | 7.78 | 1.2325 |
+| 6 | lower | 100 | 10 | 0.923 | 4.67 | 8.09 | 5.76 | 1.2847 |
+| 7 | open | 366 | 36 | 0.025 | 2.77 | 4.79 | 5.93 | 0.7006 |
+| 8 | retract | 102 | 11 | 0.831 | 4.62 | 8.01 | 5.27 | 0.8024 |
+| 9 | return | 323 | 32 | 4.100 | 15.36 | 26.60 | 1316.31 | 0.6430 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.889 |
+| TCP position RMSE (mm, per-axis) | 7.70 |
+| EE position RMS L2 (mm) | 14.71 |
+| TCP rotvec (mrad) | 465.04 |
+| W1 effort mean (A) | 0.8159 |
+| W1 effort per joint (A) | j0=0.1307, j1=1.4760, j2=1.5129, j3=0.7325, j4=0.5322, j5=0.5114 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00123 | -0.00318 | 0.00004 | 0.00341 | 0.025 |
+| 1 | 0.00202 | -0.00332 | 0.00010 | 0.00389 | 0.049 |
+| 2 | 0.00200 | -0.00336 | 0.00002 | 0.00391 | 0.024 |
+| 3 | 0.00086 | -0.00326 | 0.00024 | 0.00338 | 0.214 |
+| 4 | -0.00017 | -0.00314 | 0.00027 | 0.00316 | 0.234 |
+| 5 | 0.00027 | -0.00321 | -0.00036 | 0.00325 | 0.178 |
+| 6 | 0.00023 | -0.00301 | 0.00012 | 0.00302 | 0.247 |
+| 7 | 0.00226 | -0.00410 | -0.00110 | 0.00481 | 0.055 |
+| 8 | 0.00168 | -0.00395 | -0.00125 | 0.00447 | 0.056 |
+| 9 | -0.00004 | -0.00011 | -0.00027 | 0.00029 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3667814e-1f0d-4698-b504-b54fb3d3682f.md b/gap_reports/gap_3667814e-1f0d-4698-b504-b54fb3d3682f.md
new file mode 100644
index 0000000000000000000000000000000000000000..28fa71fd3e18995667883009247dcf4d5e0307f1
--- /dev/null
+++ b/gap_reports/gap_3667814e-1f0d-4698-b504-b54fb3d3682f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3667814e-1f0d-4698-b504-b54fb3d3682f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3667814e-1f0d-4698-b504-b54fb3d3682f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2719 |
+| Sim rows | 240 |
+| Real episode_id | `3667814e-1f0d-4698-b504-b54fb3d3682f` |
+| Sim episode_id | `3667814e-1f0d-4698-b504-b54fb3d3682f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.034 | 12.01 | 20.80 | 1963.81 | 0.5716 |
+| 1 | descend | 453 | 39 | 0.431 | 2.67 | 4.63 | 3626.09 | 0.6921 |
+| 2 | settle | 386 | 34 | 0.020 | 0.56 | 0.96 | 3626.06 | 0.6801 |
+| 3 | close | 111 | 10 | 0.490 | 2.92 | 5.05 | 1552.85 | 0.8967 |
+| 4 | lift | 332 | 29 | 2.790 | 11.69 | 20.24 | 1754.43 | 1.0685 |
+| 5 | move_xy | 363 | 32 | 6.288 | 27.93 | 48.38 | 1840.10 | 0.8714 |
+| 6 | lower | 407 | 35 | 0.076 | 1.01 | 1.74 | 1719.20 | 0.9893 |
+| 7 | open | 111 | 10 | 0.500 | 2.91 | 5.04 | 3626.16 | 0.6183 |
+| 8 | retract | 331 | 29 | 2.778 | 11.63 | 20.14 | 2228.18 | 0.6948 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.686 |
+| TCP position RMSE (mm, per-axis) | 11.65 |
+| EE position RMS L2 (mm) | 21.31 |
+| TCP rotvec (mrad) | 2584.10 |
+| W1 effort mean (A) | 0.7802 |
+| W1 effort per joint (A) | j0=0.2117, j1=1.1411, j2=1.6072, j3=0.8214, j4=0.2968, j5=0.6031 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00043 | -0.00032 | -0.00053 | 0.00076 | 0.034 |
+| 1 | 0.00039 | -0.00048 | -0.00071 | 0.00094 | 0.034 |
+| 2 | 0.00042 | -0.00049 | -0.00072 | 0.00096 | 0.037 |
+| 3 | 0.00076 | -0.00042 | -0.00024 | 0.00090 | 0.105 |
+| 4 | 0.00022 | -0.00015 | -0.00022 | 0.00034 | 0.097 |
+| 5 | 0.00139 | -0.00053 | -0.00094 | 0.00176 | 0.136 |
+| 6 | 0.00148 | -0.00072 | -0.00107 | 0.00196 | 0.166 |
+| 7 | 0.00023 | -0.00031 | -0.00059 | 0.00071 | 0.042 |
+| 8 | -0.00008 | -0.00011 | -0.00015 | 0.00020 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_369d30cd-0931-4119-bcaf-5b40b3180a06.md b/gap_reports/gap_369d30cd-0931-4119-bcaf-5b40b3180a06.md
new file mode 100644
index 0000000000000000000000000000000000000000..b58dd938e88b5da2a900f1958b599c7f37249b7e
--- /dev/null
+++ b/gap_reports/gap_369d30cd-0931-4119-bcaf-5b40b3180a06.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/369d30cd-0931-4119-bcaf-5b40b3180a06.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/369d30cd-0931-4119-bcaf-5b40b3180a06.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2701 |
+| Sim rows | 239 |
+| Real episode_id | `369d30cd-0931-4119-bcaf-5b40b3180a06` |
+| Sim episode_id | `369d30cd-0931-4119-bcaf-5b40b3180a06` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 184 | 16 | 3.160 | 11.32 | 19.61 | 1964.36 | 0.5886 |
+| 1 | descend | 356 | 31 | 1.397 | 8.40 | 14.55 | 3626.03 | 0.6581 |
+| 2 | settle | 363 | 32 | 0.021 | 0.67 | 1.17 | 3625.96 | 0.6518 |
+| 3 | close | 171 | 16 | 0.887 | 5.16 | 8.93 | 1077.07 | 0.9003 |
+| 4 | lift | 367 | 32 | 2.879 | 11.68 | 20.24 | 1818.93 | 1.0863 |
+| 5 | move_xy | 334 | 29 | 7.762 | 33.81 | 58.56 | 2254.83 | 0.8701 |
+| 6 | lower | 383 | 33 | 0.079 | 1.17 | 2.02 | 1045.76 | 0.8528 |
+| 7 | open | 173 | 16 | 0.902 | 5.21 | 9.03 | 3626.18 | 0.5751 |
+| 8 | retract | 370 | 32 | 2.852 | 11.63 | 20.15 | 2254.14 | 0.7177 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.166 |
+| TCP position RMSE (mm, per-axis) | 13.62 |
+| EE position RMS L2 (mm) | 24.51 |
+| TCP rotvec (mrad) | 2561.06 |
+| W1 effort mean (A) | 0.7575 |
+| W1 effort per joint (A) | j0=0.2397, j1=1.1988, j2=1.4547, j3=0.6944, j4=0.3503, j5=0.6073 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00064 | -0.00018 | -0.00042 | 0.00078 | 0.046 |
+| 1 | 0.00069 | -0.00055 | -0.00075 | 0.00116 | 0.035 |
+| 2 | 0.00070 | -0.00054 | -0.00076 | 0.00117 | 0.034 |
+| 3 | 0.00138 | -0.00007 | -0.00126 | 0.00187 | 0.124 |
+| 4 | 0.00038 | -0.00005 | -0.00024 | 0.00046 | 0.084 |
+| 5 | 0.00162 | -0.00075 | -0.00116 | 0.00213 | 0.127 |
+| 6 | 0.00147 | -0.00070 | -0.00141 | 0.00215 | 0.105 |
+| 7 | 0.00051 | -0.00023 | -0.00052 | 0.00076 | 0.034 |
+| 8 | -0.00009 | -0.00011 | -0.00014 | 0.00020 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_36a104f6-445b-436f-b364-6a5f77d73ac6.md b/gap_reports/gap_36a104f6-445b-436f-b364-6a5f77d73ac6.md
new file mode 100644
index 0000000000000000000000000000000000000000..b70474209231c7b1695e3828eab562136449cbe4
--- /dev/null
+++ b/gap_reports/gap_36a104f6-445b-436f-b364-6a5f77d73ac6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/36a104f6-445b-436f-b364-6a5f77d73ac6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/36a104f6-445b-436f-b364-6a5f77d73ac6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2970 |
+| Sim rows | 263 |
+| Real episode_id | `36a104f6-445b-436f-b364-6a5f77d73ac6` |
+| Sim episode_id | `36a104f6-445b-436f-b364-6a5f77d73ac6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 224 | 20 | 3.496 | 14.63 | 25.33 | 1997.49 | 0.6019 |
+| 1 | descend | 318 | 28 | 0.793 | 5.21 | 9.02 | 3625.39 | 0.6937 |
+| 2 | settle | 382 | 33 | 0.022 | 0.81 | 1.41 | 3625.24 | 0.6794 |
+| 3 | close | 169 | 15 | 0.899 | 5.84 | 10.12 | 2899.49 | 0.9663 |
+| 4 | lift | 440 | 39 | 3.533 | 16.15 | 27.97 | 2348.51 | 1.1128 |
+| 5 | move_xy | 424 | 37 | 8.922 | 43.62 | 75.55 | 2702.82 | 0.8644 |
+| 6 | lower | 403 | 35 | 0.087 | 1.45 | 2.52 | 3481.09 | 0.9027 |
+| 7 | open | 168 | 15 | 0.937 | 5.98 | 10.36 | 3625.48 | 0.6701 |
+| 8 | retract | 442 | 39 | 3.953 | 17.94 | 31.07 | 2462.91 | 0.7295 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.686 |
+| TCP position RMSE (mm, per-axis) | 17.63 |
+| EE position RMS L2 (mm) | 33.83 |
+| TCP rotvec (mrad) | 3033.73 |
+| W1 effort mean (A) | 0.7968 |
+| W1 effort per joint (A) | j0=0.2384, j1=1.3694, j2=1.5447, j3=0.7429, j4=0.3001, j5=0.5852 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00083 | -0.00018 | -0.00064 | 0.00106 | 0.034 |
+| 1 | 0.00084 | -0.00056 | -0.00100 | 0.00142 | 0.054 |
+| 2 | 0.00087 | -0.00061 | -0.00093 | 0.00141 | 0.045 |
+| 3 | 0.00148 | -0.00030 | -0.00041 | 0.00157 | 0.107 |
+| 4 | 0.00013 | -0.00002 | -0.00019 | 0.00023 | 0.057 |
+| 5 | 0.00224 | -0.00090 | -0.00172 | 0.00297 | 0.187 |
+| 6 | 0.00206 | -0.00074 | -0.00106 | 0.00243 | 0.173 |
+| 7 | 0.00067 | -0.00025 | -0.00074 | 0.00103 | 0.049 |
+| 8 | -0.00007 | -0.00009 | -0.00012 | 0.00017 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_36eca12f-7f5e-405e-9f43-0daf30e12c7e.md b/gap_reports/gap_36eca12f-7f5e-405e-9f43-0daf30e12c7e.md
new file mode 100644
index 0000000000000000000000000000000000000000..894d5d092fae29507a4fbb6f87f14b67e972afa9
--- /dev/null
+++ b/gap_reports/gap_36eca12f-7f5e-405e-9f43-0daf30e12c7e.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/36eca12f-7f5e-405e-9f43-0daf30e12c7e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/36eca12f-7f5e-405e-9f43-0daf30e12c7e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1589 |
+| Sim rows | 163 |
+| Real episode_id | `36eca12f-7f5e-405e-9f43-0daf30e12c7e` |
+| Sim episode_id | `36eca12f-7f5e-405e-9f43-0daf30e12c7e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.760 | 14.16 | 24.53 | 698.62 | 0.7140 |
+| 1 | descend | 60 | 7 | 0.344 | 2.95 | 5.10 | 5.12 | 0.7093 |
+| 2 | settle | 37 | 4 | 0.030 | 2.38 | 4.11 | 5.46 | 0.7539 |
+| 3 | close | 388 | 39 | 0.067 | 2.66 | 4.61 | 6.00 | 1.1900 |
+| 4 | lift | 61 | 7 | 0.178 | 2.87 | 4.98 | 5.80 | 1.3054 |
+| 5 | move_xy | 174 | 18 | 5.364 | 35.03 | 60.68 | 169.32 | 1.2285 |
+| 6 | lower | 61 | 7 | 0.424 | 3.31 | 5.73 | 4.67 | 1.0228 |
+| 7 | open | 364 | 36 | 0.018 | 2.88 | 4.98 | 4.88 | 0.5476 |
+| 8 | retract | 60 | 7 | 0.152 | 2.84 | 4.91 | 4.48 | 0.6219 |
+| 9 | return | 234 | 23 | 2.751 | 14.17 | 24.55 | 436.97 | 0.6889 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.105 |
+| TCP position RMSE (mm, per-axis) | 12.98 |
+| EE position RMS L2 (mm) | 23.75 |
+| TCP rotvec (mrad) | 266.06 |
+| W1 effort mean (A) | 0.8559 |
+| W1 effort per joint (A) | j0=0.1135, j1=1.6436, j2=1.5478, j3=0.9118, j4=0.3742, j5=0.5444 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00230 | -0.00315 | -0.00013 | 0.00390 | 0.060 |
+| 1 | 0.00266 | -0.00314 | -0.00030 | 0.00413 | 0.046 |
+| 2 | 0.00264 | -0.00315 | -0.00041 | 0.00413 | 0.057 |
+| 3 | 0.00320 | -0.00308 | -0.00074 | 0.00450 | 0.105 |
+| 4 | 0.00306 | -0.00323 | -0.00100 | 0.00456 | 0.124 |
+| 5 | 0.00185 | -0.00466 | -0.00074 | 0.00507 | 0.069 |
+| 6 | 0.00202 | -0.00488 | -0.00062 | 0.00532 | 0.099 |
+| 7 | 0.00201 | -0.00451 | -0.00063 | 0.00497 | 0.036 |
+| 8 | 0.00169 | -0.00428 | -0.00074 | 0.00466 | 0.048 |
+| 9 | -0.00012 | -0.00009 | -0.00022 | 0.00026 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_36fea1c4-5a01-4647-ad57-d09d851cb703.md b/gap_reports/gap_36fea1c4-5a01-4647-ad57-d09d851cb703.md
new file mode 100644
index 0000000000000000000000000000000000000000..9fb65a185fd5799d39d8d4f6dba387d12c3376e3
--- /dev/null
+++ b/gap_reports/gap_36fea1c4-5a01-4647-ad57-d09d851cb703.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/36fea1c4-5a01-4647-ad57-d09d851cb703.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/36fea1c4-5a01-4647-ad57-d09d851cb703.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1434 |
+| Sim rows | 149 |
+| Real episode_id | `36fea1c4-5a01-4647-ad57-d09d851cb703` |
+| Sim episode_id | `36fea1c4-5a01-4647-ad57-d09d851cb703` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 123 | 13 | 2.849 | 12.11 | 20.98 | 341.86 | 0.6735 |
+| 1 | descend | 59 | 7 | 0.383 | 3.16 | 5.47 | 4.59 | 0.6747 |
+| 2 | settle | 39 | 5 | 0.027 | 2.69 | 4.67 | 4.98 | 0.7391 |
+| 3 | close | 382 | 37 | 0.127 | 3.01 | 5.22 | 9.28 | 1.1454 |
+| 4 | lift | 60 | 7 | 0.333 | 3.31 | 5.73 | 8.90 | 1.2346 |
+| 5 | move_xy | 112 | 12 | 2.272 | 11.00 | 19.05 | 18.08 | 1.2666 |
+| 6 | lower | 59 | 7 | 0.231 | 3.09 | 5.35 | 9.08 | 1.0842 |
+| 7 | open | 352 | 35 | 0.020 | 2.79 | 4.84 | 4.94 | 0.6529 |
+| 8 | retract | 60 | 7 | 0.388 | 3.13 | 5.42 | 4.53 | 0.7000 |
+| 9 | return | 188 | 19 | 2.381 | 12.11 | 20.97 | 247.64 | 0.6888 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.394 |
+| TCP position RMSE (mm, per-axis) | 6.92 |
+| EE position RMS L2 (mm) | 11.93 |
+| TCP rotvec (mrad) | 133.74 |
+| W1 effort mean (A) | 0.8501 |
+| W1 effort per joint (A) | j0=0.1496, j1=1.6194, j2=1.5770, j3=0.8196, j4=0.4355, j5=0.4993 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00211 | -0.00387 | -0.00025 | 0.00441 | 0.031 |
+| 1 | 0.00253 | -0.00389 | -0.00029 | 0.00465 | 0.053 |
+| 2 | 0.00250 | -0.00389 | -0.00049 | 0.00465 | 0.052 |
+| 3 | 0.00319 | -0.00338 | -0.00243 | 0.00525 | 0.211 |
+| 4 | 0.00285 | -0.00362 | -0.00237 | 0.00518 | 0.223 |
+| 5 | 0.00272 | -0.00390 | -0.00263 | 0.00544 | 0.255 |
+| 6 | 0.00347 | -0.00355 | -0.00294 | 0.00577 | 0.279 |
+| 7 | 0.00231 | -0.00422 | -0.00061 | 0.00485 | 0.038 |
+| 8 | 0.00191 | -0.00405 | -0.00080 | 0.00455 | 0.059 |
+| 9 | -0.00015 | -0.00013 | -0.00026 | 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.
diff --git a/gap_reports/gap_370332c7-61bf-4522-941c-ab16196795f5.md b/gap_reports/gap_370332c7-61bf-4522-941c-ab16196795f5.md
new file mode 100644
index 0000000000000000000000000000000000000000..609d3b53f4e01c81a497faf144340b6985e2a67f
--- /dev/null
+++ b/gap_reports/gap_370332c7-61bf-4522-941c-ab16196795f5.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/370332c7-61bf-4522-941c-ab16196795f5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/370332c7-61bf-4522-941c-ab16196795f5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1389 |
+| Sim rows | 145 |
+| Real episode_id | `370332c7-61bf-4522-941c-ab16196795f5` |
+| Sim episode_id | `370332c7-61bf-4522-941c-ab16196795f5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 22 | 5.327 | 17.22 | 29.82 | 265.38 | 0.6713 |
+| 1 | descend | 112 | 12 | 7.800 | 4.54 | 7.86 | 302.94 | 0.7258 |
+| 2 | settle | 41 | 5 | 7.738 | 2.26 | 3.92 | 303.21 | 0.7287 |
+| 3 | close | 40 | 5 | 7.739 | 2.39 | 4.14 | 302.80 | 1.1110 |
+| 4 | lift | 113 | 12 | 7.803 | 4.87 | 8.44 | 302.43 | 1.1684 |
+| 5 | move_xy | 258 | 26 | 7.901 | 13.59 | 23.53 | 271.85 | 1.1393 |
+| 6 | lower | 112 | 12 | 9.079 | 4.84 | 8.39 | 352.75 | 1.1460 |
+| 7 | open | 72 | 8 | 9.028 | 3.06 | 5.29 | 353.25 | 0.7842 |
+| 8 | retract | 111 | 12 | 9.067 | 4.32 | 7.49 | 352.91 | 0.8509 |
+| 9 | return | 310 | 31 | 5.144 | 14.51 | 25.13 | 862.69 | 0.7634 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 7.777 |
+| TCP position RMSE (mm, per-axis) | 8.93 |
+| EE position RMS L2 (mm) | 20.20 |
+| TCP rotvec (mrad) | 403.63 |
+| W1 effort mean (A) | 0.8710 |
+| W1 effort per joint (A) | j0=0.1841, j1=1.6174, j2=1.5996, j3=0.8265, j4=0.1909, j5=0.8076 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00199 | -0.00345 | 0.00007 | 0.00398 | 19.012 |
+| 1 | 0.00229 | -0.00317 | -0.00013 | 0.00391 | 18.955 |
+| 2 | 0.00229 | -0.00318 | -0.00020 | 0.00392 | 18.958 |
+| 3 | 0.00220 | -0.00349 | -0.00024 | 0.00413 | 18.957 |
+| 4 | 0.00189 | -0.00398 | -0.00008 | 0.00441 | 19.021 |
+| 5 | 0.00156 | -0.00466 | -0.00160 | 0.00516 | 22.173 |
+| 6 | 0.00202 | -0.00471 | -0.00131 | 0.00529 | 22.113 |
+| 7 | 0.00214 | -0.00475 | -0.00104 | 0.00531 | 22.111 |
+| 8 | 0.00162 | -0.00462 | -0.00115 | 0.00503 | 22.183 |
+| 9 | -0.00004 | -0.00010 | -0.00023 | 0.00025 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_37094c99-ea67-4aee-9225-5ea280da1a6d.md b/gap_reports/gap_37094c99-ea67-4aee-9225-5ea280da1a6d.md
new file mode 100644
index 0000000000000000000000000000000000000000..72a3af8619e75edbaa0617bc603e12684fb9de3d
--- /dev/null
+++ b/gap_reports/gap_37094c99-ea67-4aee-9225-5ea280da1a6d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/37094c99-ea67-4aee-9225-5ea280da1a6d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/37094c99-ea67-4aee-9225-5ea280da1a6d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2602 |
+| Sim rows | 232 |
+| Real episode_id | `37094c99-ea67-4aee-9225-5ea280da1a6d` |
+| Sim episode_id | `37094c99-ea67-4aee-9225-5ea280da1a6d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 184 | 17 | 2.218 | 11.42 | 19.78 | 1981.87 | 0.6176 |
+| 1 | descend | 561 | 49 | 0.534 | 3.72 | 6.44 | 3624.69 | 0.8100 |
+| 2 | settle | 360 | 32 | 0.028 | 0.98 | 1.70 | 3624.52 | 0.7895 |
+| 3 | close | 121 | 11 | 0.773 | 5.43 | 9.40 | 3625.08 | 1.0231 |
+| 4 | lift | 250 | 22 | 2.465 | 14.17 | 24.54 | 2264.99 | 1.1346 |
+| 5 | move_xy | 344 | 30 | 5.778 | 34.99 | 60.60 | 2825.47 | 0.9700 |
+| 6 | lower | 410 | 36 | 0.096 | 1.70 | 2.94 | 3625.07 | 1.0670 |
+| 7 | open | 122 | 11 | 0.881 | 6.13 | 10.62 | 3624.75 | 0.7242 |
+| 8 | retract | 250 | 22 | 2.360 | 13.66 | 23.66 | 2337.97 | 0.7540 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.395 |
+| TCP position RMSE (mm, per-axis) | 14.25 |
+| EE position RMS L2 (mm) | 25.40 |
+| TCP rotvec (mrad) | 3130.57 |
+| W1 effort mean (A) | 0.8636 |
+| W1 effort per joint (A) | j0=0.2420, j1=1.5904, j2=1.7169, j3=0.7880, j4=0.2655, j5=0.5788 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00074 | -0.00043 | -0.00077 | 0.00115 | 0.037 |
+| 1 | 0.00077 | -0.00087 | -0.00124 | 0.00170 | 0.056 |
+| 2 | 0.00076 | -0.00087 | -0.00124 | 0.00169 | 0.057 |
+| 3 | 0.00147 | -0.00078 | -0.00188 | 0.00251 | 0.155 |
+| 4 | 0.00029 | -0.00022 | -0.00027 | 0.00045 | 0.111 |
+| 5 | 0.00180 | -0.00123 | -0.00185 | 0.00286 | 0.130 |
+| 6 | 0.00147 | -0.00125 | -0.00155 | 0.00247 | 0.115 |
+| 7 | 0.00050 | -0.00053 | -0.00101 | 0.00124 | 0.048 |
+| 8 | -0.00014 | -0.00026 | -0.00023 | 0.00037 | 0.043 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_371041e5-7ceb-4ff7-a20d-98e0d0b2c373.md b/gap_reports/gap_371041e5-7ceb-4ff7-a20d-98e0d0b2c373.md
new file mode 100644
index 0000000000000000000000000000000000000000..a7343ac9aca9b52ff50c2c3abc4d2eb995499fcf
--- /dev/null
+++ b/gap_reports/gap_371041e5-7ceb-4ff7-a20d-98e0d0b2c373.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/371041e5-7ceb-4ff7-a20d-98e0d0b2c373.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/371041e5-7ceb-4ff7-a20d-98e0d0b2c373.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2802 |
+| Sim rows | 249 |
+| Real episode_id | `371041e5-7ceb-4ff7-a20d-98e0d0b2c373` |
+| Sim episode_id | `371041e5-7ceb-4ff7-a20d-98e0d0b2c373` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 245 | 22 | 3.494 | 18.09 | 31.33 | 1951.33 | 0.6204 |
+| 1 | descend | 366 | 32 | 1.054 | 7.28 | 12.61 | 3624.73 | 0.8039 |
+| 2 | settle | 378 | 33 | 0.025 | 0.96 | 1.67 | 3624.60 | 0.7055 |
+| 3 | close | 166 | 15 | 0.873 | 6.07 | 10.51 | 3624.92 | 1.0555 |
+| 4 | lift | 323 | 29 | 2.888 | 15.68 | 27.16 | 2369.52 | 1.1691 |
+| 5 | move_xy | 434 | 38 | 7.079 | 40.84 | 70.75 | 2789.40 | 0.9297 |
+| 6 | lower | 395 | 34 | 0.096 | 1.74 | 3.01 | 3625.16 | 1.0389 |
+| 7 | open | 168 | 15 | 0.806 | 5.65 | 9.79 | 3624.73 | 0.7569 |
+| 8 | retract | 327 | 29 | 2.852 | 15.57 | 26.96 | 2405.49 | 0.7505 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.006 |
+| TCP position RMSE (mm, per-axis) | 17.03 |
+| EE position RMS L2 (mm) | 32.64 |
+| TCP rotvec (mrad) | 3139.11 |
+| W1 effort mean (A) | 0.8510 |
+| W1 effort per joint (A) | j0=0.2315, j1=1.5272, j2=1.6853, j3=0.7728, j4=0.2885, j5=0.6009 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00089 | -0.00034 | -0.00081 | 0.00125 | 0.031 |
+| 1 | 0.00089 | -0.00072 | -0.00122 | 0.00167 | 0.055 |
+| 2 | 0.00093 | -0.00075 | -0.00116 | 0.00167 | 0.053 |
+| 3 | 0.00156 | -0.00044 | -0.00118 | 0.00201 | 0.089 |
+| 4 | 0.00024 | -0.00018 | -0.00035 | 0.00046 | 0.084 |
+| 5 | 0.00180 | -0.00097 | -0.00081 | 0.00220 | 0.119 |
+| 6 | 0.00251 | -0.00101 | -0.00221 | 0.00349 | 0.225 |
+| 7 | 0.00075 | -0.00038 | -0.00096 | 0.00128 | 0.046 |
+| 8 | -0.00014 | -0.00021 | -0.00020 | 0.00032 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3712c55e-caa4-4a81-a5c6-8cf8e9c454c0.md b/gap_reports/gap_3712c55e-caa4-4a81-a5c6-8cf8e9c454c0.md
new file mode 100644
index 0000000000000000000000000000000000000000..477af84c96e11efc870266c98e3e9cde85574848
--- /dev/null
+++ b/gap_reports/gap_3712c55e-caa4-4a81-a5c6-8cf8e9c454c0.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3712c55e-caa4-4a81-a5c6-8cf8e9c454c0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3712c55e-caa4-4a81-a5c6-8cf8e9c454c0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2808 |
+| Sim rows | 249 |
+| Real episode_id | `3712c55e-caa4-4a81-a5c6-8cf8e9c454c0` |
+| Sim episode_id | `3712c55e-caa4-4a81-a5c6-8cf8e9c454c0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 191 | 17 | 2.610 | 12.61 | 21.84 | 1927.48 | 0.6292 |
+| 1 | descend | 383 | 33 | 0.664 | 4.58 | 7.94 | 3624.74 | 0.8345 |
+| 2 | settle | 355 | 31 | 0.027 | 0.97 | 1.68 | 3624.55 | 0.7051 |
+| 3 | close | 183 | 17 | 0.742 | 5.24 | 9.08 | 3625.25 | 1.0504 |
+| 4 | lift | 388 | 34 | 3.016 | 16.51 | 28.60 | 2413.76 | 1.1071 |
+| 5 | move_xy | 355 | 31 | 6.837 | 39.66 | 68.70 | 2820.90 | 0.9425 |
+| 6 | lower | 380 | 33 | 0.096 | 1.75 | 3.02 | 3625.13 | 1.0345 |
+| 7 | open | 185 | 17 | 0.774 | 5.42 | 9.38 | 3624.75 | 0.7511 |
+| 8 | retract | 388 | 34 | 2.952 | 16.27 | 28.18 | 2420.49 | 0.7510 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.847 |
+| TCP position RMSE (mm, per-axis) | 16.16 |
+| EE position RMS L2 (mm) | 29.55 |
+| TCP rotvec (mrad) | 3145.66 |
+| W1 effort mean (A) | 0.8562 |
+| W1 effort per joint (A) | j0=0.2564, j1=1.5545, j2=1.6647, j3=0.7718, j4=0.3007, j5=0.5891 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00087 | -0.00032 | -0.00075 | 0.00119 | 0.034 |
+| 1 | 0.00087 | -0.00074 | -0.00121 | 0.00167 | 0.060 |
+| 2 | 0.00094 | -0.00075 | -0.00119 | 0.00169 | 0.054 |
+| 3 | 0.00154 | -0.00045 | -0.00162 | 0.00228 | 0.122 |
+| 4 | 0.00007 | -0.00032 | -0.00030 | 0.00044 | 0.082 |
+| 5 | 0.00176 | -0.00097 | -0.00206 | 0.00288 | 0.123 |
+| 6 | 0.00203 | -0.00108 | -0.00218 | 0.00317 | 0.141 |
+| 7 | 0.00077 | -0.00038 | -0.00097 | 0.00130 | 0.047 |
+| 8 | -0.00013 | -0.00019 | -0.00017 | 0.00028 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_371e0cf6-8548-4101-bda8-bac9dd30ef2d.md b/gap_reports/gap_371e0cf6-8548-4101-bda8-bac9dd30ef2d.md
new file mode 100644
index 0000000000000000000000000000000000000000..861da5317bb2a9475e7e9fbb506d90ce5a9ae892
--- /dev/null
+++ b/gap_reports/gap_371e0cf6-8548-4101-bda8-bac9dd30ef2d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/371e0cf6-8548-4101-bda8-bac9dd30ef2d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/371e0cf6-8548-4101-bda8-bac9dd30ef2d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2545 |
+| Sim rows | 227 |
+| Real episode_id | `371e0cf6-8548-4101-bda8-bac9dd30ef2d` |
+| Sim episode_id | `371e0cf6-8548-4101-bda8-bac9dd30ef2d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.281 | 8.90 | 15.41 | 1966.48 | 0.5646 |
+| 1 | descend | 285 | 25 | 0.983 | 5.88 | 10.18 | 3626.00 | 0.7330 |
+| 2 | settle | 384 | 34 | 0.022 | 0.57 | 0.99 | 3625.95 | 0.6872 |
+| 3 | close | 145 | 13 | 0.917 | 5.50 | 9.53 | 1808.73 | 0.8913 |
+| 4 | lift | 315 | 28 | 2.651 | 11.15 | 19.32 | 1587.16 | 1.0829 |
+| 5 | move_xy | 364 | 32 | 5.234 | 24.94 | 43.19 | 2028.18 | 0.8751 |
+| 6 | lower | 406 | 35 | 0.083 | 1.07 | 1.86 | 1761.37 | 1.0186 |
+| 7 | open | 145 | 13 | 0.877 | 5.25 | 9.09 | 3626.16 | 0.6058 |
+| 8 | retract | 314 | 28 | 2.494 | 10.47 | 18.13 | 2213.30 | 0.6821 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.320 |
+| TCP position RMSE (mm, per-axis) | 10.69 |
+| EE position RMS L2 (mm) | 19.83 |
+| TCP rotvec (mrad) | 2608.04 |
+| W1 effort mean (A) | 0.7893 |
+| W1 effort per joint (A) | j0=0.2180, j1=1.1688, j2=1.6053, j3=0.7580, j4=0.3713, j5=0.6142 |
+
+## Phase-end anchor (sim - 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 | -0.00039 | -0.00046 | 0.00062 | 0.025 |
+| 1 | 0.00016 | -0.00057 | -0.00078 | 0.00098 | 0.036 |
+| 2 | 0.00017 | -0.00057 | -0.00077 | 0.00097 | 0.035 |
+| 3 | 0.00040 | -0.00054 | -0.00048 | 0.00082 | 0.099 |
+| 4 | 0.00017 | -0.00009 | -0.00002 | 0.00020 | 0.086 |
+| 5 | 0.00102 | -0.00086 | -0.00131 | 0.00187 | 0.142 |
+| 6 | 0.00122 | -0.00079 | -0.00114 | 0.00184 | 0.167 |
+| 7 | 0.00001 | -0.00037 | -0.00056 | 0.00067 | 0.041 |
+| 8 | -0.00006 | -0.00008 | -0.00013 | 0.00016 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_371f8540-6f60-427b-9942-66d3f0ffd6bb.md b/gap_reports/gap_371f8540-6f60-427b-9942-66d3f0ffd6bb.md
new file mode 100644
index 0000000000000000000000000000000000000000..292fadd0938615c6dd183327db85bc92b269d28b
--- /dev/null
+++ b/gap_reports/gap_371f8540-6f60-427b-9942-66d3f0ffd6bb.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/371f8540-6f60-427b-9942-66d3f0ffd6bb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/371f8540-6f60-427b-9942-66d3f0ffd6bb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2494 |
+| Sim rows | 222 |
+| Real episode_id | `371f8540-6f60-427b-9942-66d3f0ffd6bb` |
+| Sim episode_id | `371f8540-6f60-427b-9942-66d3f0ffd6bb` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 200 | 18 | 2.170 | 12.29 | 21.29 | 1935.17 | 0.6132 |
+| 1 | descend | 285 | 25 | 0.837 | 5.76 | 9.97 | 3624.63 | 0.7322 |
+| 2 | settle | 386 | 34 | 0.027 | 0.97 | 1.68 | 3624.52 | 0.7859 |
+| 3 | close | 113 | 11 | 0.533 | 3.87 | 6.71 | 3625.08 | 1.0638 |
+| 4 | lift | 346 | 30 | 2.274 | 13.60 | 23.56 | 2322.34 | 1.1132 |
+| 5 | move_xy | 334 | 29 | 4.935 | 30.58 | 52.96 | 2755.64 | 0.9298 |
+| 6 | lower | 391 | 34 | 0.098 | 1.72 | 2.98 | 3551.26 | 1.0592 |
+| 7 | open | 114 | 11 | 0.614 | 4.29 | 7.43 | 3624.73 | 0.7222 |
+| 8 | retract | 325 | 28 | 2.182 | 12.91 | 22.36 | 2362.00 | 0.7552 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.118 |
+| TCP position RMSE (mm, per-axis) | 12.95 |
+| EE position RMS L2 (mm) | 23.91 |
+| TCP rotvec (mrad) | 3117.64 |
+| W1 effort mean (A) | 0.8577 |
+| W1 effort per joint (A) | j0=0.2400, j1=1.6081, j2=1.7132, j3=0.7163, j4=0.2813, j5=0.5871 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00081 | -0.00048 | -0.00067 | 0.00116 | 0.026 |
+| 1 | 0.00077 | -0.00088 | -0.00124 | 0.00170 | 0.060 |
+| 2 | 0.00078 | -0.00086 | -0.00124 | 0.00170 | 0.056 |
+| 3 | 0.00189 | -0.00085 | -0.00141 | 0.00251 | 0.160 |
+| 4 | 0.00020 | -0.00027 | -0.00020 | 0.00039 | 0.115 |
+| 5 | 0.00207 | -0.00121 | -0.00176 | 0.00297 | 0.175 |
+| 6 | 0.00204 | -0.00121 | -0.00205 | 0.00313 | 0.162 |
+| 7 | 0.00055 | -0.00060 | -0.00100 | 0.00129 | 0.046 |
+| 8 | -0.00011 | -0.00023 | -0.00022 | 0.00034 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_37305570-3259-4d79-8ea2-c449643c163c.md b/gap_reports/gap_37305570-3259-4d79-8ea2-c449643c163c.md
new file mode 100644
index 0000000000000000000000000000000000000000..ef1c7fcfb726248e159e2339127adf2a8a5d7af7
--- /dev/null
+++ b/gap_reports/gap_37305570-3259-4d79-8ea2-c449643c163c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/37305570-3259-4d79-8ea2-c449643c163c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/37305570-3259-4d79-8ea2-c449643c163c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2921 |
+| Sim rows | 258 |
+| Real episode_id | `37305570-3259-4d79-8ea2-c449643c163c` |
+| Sim episode_id | `37305570-3259-4d79-8ea2-c449643c163c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.096 | 12.55 | 21.73 | 2.87 | 0.5703 |
+| 1 | descend | 614 | 53 | 0.690 | 4.40 | 7.62 | 4.32 | 0.7289 |
+| 2 | settle | 374 | 33 | 0.024 | 0.81 | 1.40 | 4.51 | 0.6738 |
+| 3 | close | 122 | 11 | 0.909 | 5.34 | 9.24 | 5.81 | 0.9010 |
+| 4 | lift | 342 | 30 | 2.655 | 10.70 | 18.54 | 4.09 | 1.0813 |
+| 5 | move_xy | 390 | 34 | 6.423 | 29.60 | 51.28 | 5.03 | 0.8957 |
+| 6 | lower | 404 | 35 | 0.079 | 1.28 | 2.22 | 6.24 | 0.9595 |
+| 7 | open | 121 | 11 | 0.901 | 5.18 | 8.97 | 4.53 | 0.6222 |
+| 8 | retract | 341 | 30 | 2.675 | 10.86 | 18.81 | 2.91 | 0.6926 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.732 |
+| TCP position RMSE (mm, per-axis) | 12.22 |
+| EE position RMS L2 (mm) | 22.07 |
+| TCP rotvec (mrad) | 4.61 |
+| W1 effort mean (A) | 0.7699 |
+| W1 effort per joint (A) | j0=0.2960, j1=1.1351, j2=1.4783, j3=0.6919, j4=0.4763, j5=0.5417 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00070 | -0.00055 | -0.00045 | 0.00100 | 0.034 |
+| 1 | 0.00073 | -0.00085 | -0.00081 | 0.00138 | 0.038 |
+| 2 | 0.00072 | -0.00089 | -0.00076 | 0.00137 | 0.040 |
+| 3 | 0.00104 | -0.00063 | -0.00060 | 0.00136 | 0.091 |
+| 4 | 0.00015 | -0.00026 | -0.00041 | 0.00050 | 0.068 |
+| 5 | 0.00146 | -0.00106 | -0.00117 | 0.00216 | 0.120 |
+| 6 | 0.00187 | -0.00097 | -0.00085 | 0.00227 | 0.168 |
+| 7 | 0.00048 | -0.00056 | -0.00057 | 0.00093 | 0.042 |
+| 8 | -0.00007 | -0.00010 | -0.00014 | 0.00019 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3764c11f-a0ca-43a9-80dc-260668871c83.md b/gap_reports/gap_3764c11f-a0ca-43a9-80dc-260668871c83.md
new file mode 100644
index 0000000000000000000000000000000000000000..87643cff733c659054abd164ca15a8c0909fdf71
--- /dev/null
+++ b/gap_reports/gap_3764c11f-a0ca-43a9-80dc-260668871c83.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3764c11f-a0ca-43a9-80dc-260668871c83.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3764c11f-a0ca-43a9-80dc-260668871c83.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1657 |
+| Sim rows | 170 |
+| Real episode_id | `3764c11f-a0ca-43a9-80dc-260668871c83` |
+| Sim episode_id | `3764c11f-a0ca-43a9-80dc-260668871c83` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.673 | 10.40 | 18.01 | 524.01 | 0.6359 |
+| 1 | descend | 70 | 8 | 0.736 | 3.52 | 6.10 | 4.03 | 0.5461 |
+| 2 | settle | 38 | 5 | 0.016 | 2.38 | 4.12 | 4.47 | 0.5121 |
+| 3 | close | 379 | 37 | 0.061 | 2.25 | 3.90 | 5.24 | 0.9825 |
+| 4 | lift | 70 | 8 | 0.655 | 3.17 | 5.49 | 4.86 | 1.1069 |
+| 5 | move_xy | 172 | 17 | 6.756 | 37.83 | 65.52 | 98.66 | 1.2891 |
+| 6 | lower | 68 | 8 | 0.524 | 4.54 | 7.86 | 9.15 | 1.3502 |
+| 7 | open | 353 | 35 | 0.035 | 3.52 | 6.09 | 7.19 | 0.7806 |
+| 8 | retract | 72 | 8 | 0.602 | 4.20 | 7.27 | 6.91 | 0.8741 |
+| 9 | return | 300 | 30 | 2.991 | 18.55 | 32.13 | 695.00 | 0.6931 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.517 |
+| TCP position RMSE (mm, per-axis) | 14.03 |
+| EE position RMS L2 (mm) | 26.05 |
+| TCP rotvec (mrad) | 277.06 |
+| W1 effort mean (A) | 0.8540 |
+| W1 effort per joint (A) | j0=0.1766, j1=1.6618, j2=1.4286, j3=0.7723, j4=0.5221, j5=0.5628 |
+
+## Phase-end anchor (sim - 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 | -0.00352 | 0.00022 | 0.00387 | 0.036 |
+| 1 | 0.00222 | -0.00349 | 0.00027 | 0.00414 | 0.049 |
+| 2 | 0.00219 | -0.00348 | 0.00012 | 0.00412 | 0.024 |
+| 3 | 0.00233 | -0.00301 | -0.00061 | 0.00386 | 0.129 |
+| 4 | 0.00187 | -0.00336 | -0.00065 | 0.00390 | 0.122 |
+| 5 | 0.00297 | -0.00516 | -0.00251 | 0.00646 | 0.221 |
+| 6 | 0.00323 | -0.00491 | -0.00252 | 0.00640 | 0.126 |
+| 7 | 0.00300 | -0.00512 | -0.00152 | 0.00612 | 0.078 |
+| 8 | 0.00278 | -0.00528 | -0.00161 | 0.00618 | 0.071 |
+| 9 | -0.00008 | -0.00016 | -0.00030 | 0.00035 | 0.043 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_37719785-96e9-49a4-9dda-f8680047160e.md b/gap_reports/gap_37719785-96e9-49a4-9dda-f8680047160e.md
new file mode 100644
index 0000000000000000000000000000000000000000..ba6e86c87a6171b6c2cedfccd18c977b6d325b8f
--- /dev/null
+++ b/gap_reports/gap_37719785-96e9-49a4-9dda-f8680047160e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/37719785-96e9-49a4-9dda-f8680047160e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/37719785-96e9-49a4-9dda-f8680047160e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2585 |
+| Sim rows | 233 |
+| Real episode_id | `37719785-96e9-49a4-9dda-f8680047160e` |
+| Sim episode_id | `37719785-96e9-49a4-9dda-f8680047160e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 175 | 16 | 2.409 | 10.82 | 18.74 | 1898.71 | 0.5768 |
+| 1 | descend | 317 | 28 | 1.448 | 9.29 | 16.09 | 3625.36 | 0.7389 |
+| 2 | settle | 373 | 33 | 0.023 | 0.74 | 1.29 | 3625.21 | 0.6567 |
+| 3 | close | 182 | 17 | 1.041 | 6.60 | 11.44 | 3093.18 | 0.9366 |
+| 4 | lift | 324 | 29 | 2.642 | 12.64 | 21.90 | 2374.93 | 1.1008 |
+| 5 | move_xy | 331 | 29 | 5.153 | 27.43 | 47.50 | 2791.99 | 0.9116 |
+| 6 | lower | 376 | 33 | 0.089 | 1.36 | 2.35 | 3471.79 | 1.0284 |
+| 7 | open | 182 | 17 | 1.146 | 7.20 | 12.47 | 3625.46 | 0.6731 |
+| 8 | retract | 325 | 29 | 2.559 | 12.26 | 21.24 | 2429.95 | 0.7272 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.366 |
+| TCP position RMSE (mm, per-axis) | 12.31 |
+| EE position RMS L2 (mm) | 21.97 |
+| TCP rotvec (mrad) | 3054.97 |
+| W1 effort mean (A) | 0.8097 |
+| W1 effort per joint (A) | j0=0.2275, j1=1.4001, j2=1.5948, j3=0.7531, j4=0.3448, j5=0.5382 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00037 | -0.00032 | -0.00069 | 0.00084 | 0.039 |
+| 1 | 0.00040 | -0.00070 | -0.00102 | 0.00130 | 0.045 |
+| 2 | 0.00041 | -0.00072 | -0.00097 | 0.00127 | 0.042 |
+| 3 | 0.00061 | -0.00055 | -0.00039 | 0.00091 | 0.064 |
+| 4 | 0.00032 | -0.00011 | -0.00031 | 0.00046 | 0.081 |
+| 5 | 0.00150 | -0.00098 | -0.00116 | 0.00214 | 0.146 |
+| 6 | 0.00109 | -0.00106 | -0.00197 | 0.00249 | 0.134 |
+| 7 | 0.00021 | -0.00044 | -0.00079 | 0.00093 | 0.050 |
+| 8 | -0.00011 | -0.00016 | -0.00019 | 0.00027 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_37747e76-5156-435b-b38d-9465bae5f62d.md b/gap_reports/gap_37747e76-5156-435b-b38d-9465bae5f62d.md
new file mode 100644
index 0000000000000000000000000000000000000000..08eba30c7af54f787e07fa389c027b4e03309184
--- /dev/null
+++ b/gap_reports/gap_37747e76-5156-435b-b38d-9465bae5f62d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/37747e76-5156-435b-b38d-9465bae5f62d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/37747e76-5156-435b-b38d-9465bae5f62d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2949 |
+| Sim rows | 262 |
+| Real episode_id | `37747e76-5156-435b-b38d-9465bae5f62d` |
+| Sim episode_id | `37747e76-5156-435b-b38d-9465bae5f62d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 224 | 20 | 3.813 | 16.50 | 28.58 | 1982.76 | 0.5917 |
+| 1 | descend | 492 | 43 | 1.213 | 7.97 | 13.81 | 3625.36 | 0.6924 |
+| 2 | settle | 360 | 32 | 0.025 | 0.85 | 1.46 | 3625.30 | 0.6729 |
+| 3 | close | 124 | 11 | 0.867 | 5.61 | 9.72 | 2891.72 | 1.0028 |
+| 4 | lift | 413 | 36 | 2.518 | 11.62 | 20.13 | 2152.83 | 1.1165 |
+| 5 | move_xy | 408 | 36 | 8.722 | 42.75 | 74.05 | 2771.82 | 0.8854 |
+| 6 | lower | 395 | 35 | 0.083 | 1.43 | 2.48 | 3191.94 | 0.9223 |
+| 7 | open | 123 | 11 | 0.843 | 5.42 | 9.38 | 3625.54 | 0.6322 |
+| 8 | retract | 410 | 36 | 3.023 | 13.66 | 23.66 | 2388.73 | 0.7336 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.481 |
+| TCP position RMSE (mm, per-axis) | 16.83 |
+| EE position RMS L2 (mm) | 31.56 |
+| TCP rotvec (mrad) | 2980.23 |
+| W1 effort mean (A) | 0.7913 |
+| W1 effort per joint (A) | j0=0.2841, j1=1.3199, j2=1.4866, j3=0.6863, j4=0.3718, j5=0.5989 |
+
+## Phase-end anchor (sim - 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 | -0.00023 | -0.00061 | 0.00108 | 0.030 |
+| 1 | 0.00088 | -0.00060 | -0.00096 | 0.00144 | 0.045 |
+| 2 | 0.00090 | -0.00061 | -0.00098 | 0.00146 | 0.048 |
+| 3 | 0.00150 | -0.00017 | -0.00071 | 0.00167 | 0.114 |
+| 4 | 0.00033 | 0.00008 | -0.00015 | 0.00037 | 0.071 |
+| 5 | 0.00218 | -0.00084 | -0.00164 | 0.00285 | 0.183 |
+| 6 | 0.00206 | -0.00085 | -0.00131 | 0.00259 | 0.150 |
+| 7 | 0.00069 | -0.00024 | -0.00073 | 0.00103 | 0.037 |
+| 8 | -0.00010 | -0.00016 | -0.00018 | 0.00026 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_37c8f626-5e0c-42d4-a6ff-bd733dc493c1.md b/gap_reports/gap_37c8f626-5e0c-42d4-a6ff-bd733dc493c1.md
new file mode 100644
index 0000000000000000000000000000000000000000..36953e967232f9089e7dfcf4194684557d0ed971
--- /dev/null
+++ b/gap_reports/gap_37c8f626-5e0c-42d4-a6ff-bd733dc493c1.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/37c8f626-5e0c-42d4-a6ff-bd733dc493c1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/37c8f626-5e0c-42d4-a6ff-bd733dc493c1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2437 |
+| Sim rows | 217 |
+| Real episode_id | `37c8f626-5e0c-42d4-a6ff-bd733dc493c1` |
+| Sim episode_id | `37c8f626-5e0c-42d4-a6ff-bd733dc493c1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 221 | 20 | 2.661 | 15.11 | 26.18 | 3.06 | 0.6211 |
+| 1 | descend | 283 | 25 | 0.819 | 5.75 | 9.95 | 4.25 | 0.7641 |
+| 2 | settle | 386 | 34 | 0.028 | 1.16 | 2.00 | 4.43 | 0.7532 |
+| 3 | close | 122 | 11 | 0.602 | 4.36 | 7.55 | 5.65 | 1.0144 |
+| 4 | lift | 247 | 22 | 2.354 | 13.95 | 24.16 | 3.85 | 1.1008 |
+| 5 | move_xy | 409 | 35 | 5.286 | 32.63 | 56.52 | 5.09 | 0.9594 |
+| 6 | lower | 399 | 35 | 0.096 | 1.90 | 3.29 | 6.57 | 1.0407 |
+| 7 | open | 123 | 11 | 0.679 | 4.73 | 8.19 | 4.33 | 0.6876 |
+| 8 | retract | 247 | 22 | 2.296 | 13.60 | 23.56 | 3.10 | 0.7396 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.293 |
+| TCP position RMSE (mm, per-axis) | 13.95 |
+| EE position RMS L2 (mm) | 27.09 |
+| TCP rotvec (mrad) | 4.61 |
+| W1 effort mean (A) | 0.8380 |
+| W1 effort per joint (A) | j0=0.2630, j1=1.5413, j2=1.5418, j3=0.6545, j4=0.4313, j5=0.5962 |
+
+## Phase-end anchor (sim - 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 | -0.00078 | -0.00079 | 0.00156 | 0.036 |
+| 1 | 0.00104 | -0.00116 | -0.00126 | 0.00201 | 0.061 |
+| 2 | 0.00108 | -0.00117 | -0.00119 | 0.00199 | 0.053 |
+| 3 | 0.00201 | -0.00119 | -0.00173 | 0.00290 | 0.142 |
+| 4 | 0.00025 | -0.00020 | -0.00025 | 0.00041 | 0.095 |
+| 5 | 0.00245 | -0.00173 | -0.00260 | 0.00397 | 0.190 |
+| 6 | 0.00185 | -0.00147 | -0.00181 | 0.00298 | 0.109 |
+| 7 | 0.00086 | -0.00087 | -0.00100 | 0.00158 | 0.046 |
+| 8 | -0.00014 | -0.00027 | -0.00021 | 0.00037 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_37cdcd72-d1a0-41d6-8b5c-4c0645761691.md b/gap_reports/gap_37cdcd72-d1a0-41d6-8b5c-4c0645761691.md
new file mode 100644
index 0000000000000000000000000000000000000000..e193f5256f6db75b9cd93c48bcbdb0335936414d
--- /dev/null
+++ b/gap_reports/gap_37cdcd72-d1a0-41d6-8b5c-4c0645761691.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/37cdcd72-d1a0-41d6-8b5c-4c0645761691.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/37cdcd72-d1a0-41d6-8b5c-4c0645761691.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2455 |
+| Sim rows | 219 |
+| Real episode_id | `37cdcd72-d1a0-41d6-8b5c-4c0645761691` |
+| Sim episode_id | `37cdcd72-d1a0-41d6-8b5c-4c0645761691` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 169 | 15 | 2.036 | 7.89 | 13.66 | 1912.24 | 0.5759 |
+| 1 | descend | 333 | 29 | 0.936 | 5.62 | 9.73 | 3626.00 | 0.7359 |
+| 2 | settle | 384 | 33 | 0.021 | 0.56 | 0.97 | 3625.96 | 0.6968 |
+| 3 | close | 150 | 14 | 0.761 | 4.63 | 8.03 | 1156.95 | 0.9360 |
+| 4 | lift | 279 | 25 | 2.450 | 10.19 | 17.65 | 2224.37 | 1.1017 |
+| 5 | move_xy | 328 | 29 | 5.564 | 26.36 | 45.66 | 1966.50 | 0.9097 |
+| 6 | lower | 384 | 34 | 0.081 | 1.05 | 1.82 | 1544.32 | 1.0189 |
+| 7 | open | 152 | 14 | 0.684 | 4.09 | 7.08 | 3626.16 | 0.6121 |
+| 8 | retract | 276 | 24 | 2.511 | 10.68 | 18.50 | 2247.05 | 0.6910 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.341 |
+| TCP position RMSE (mm, per-axis) | 10.78 |
+| EE position RMS L2 (mm) | 19.64 |
+| TCP rotvec (mrad) | 2596.77 |
+| W1 effort mean (A) | 0.7932 |
+| W1 effort per joint (A) | j0=0.2220, j1=1.2144, j2=1.6276, j3=0.7174, j4=0.3807, j5=0.5970 |
+
+## Phase-end anchor (sim - 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 | -0.00037 | -0.00046 | 0.00061 | 0.030 |
+| 1 | 0.00017 | -0.00056 | -0.00080 | 0.00099 | 0.037 |
+| 2 | 0.00017 | -0.00057 | -0.00077 | 0.00098 | 0.038 |
+| 3 | 0.00082 | -0.00029 | -0.00022 | 0.00090 | 0.106 |
+| 4 | 0.00024 | 0.00011 | -0.00007 | 0.00027 | 0.071 |
+| 5 | 0.00096 | -0.00088 | -0.00100 | 0.00165 | 0.119 |
+| 6 | 0.00081 | -0.00090 | -0.00218 | 0.00249 | 0.158 |
+| 7 | 0.00001 | -0.00035 | -0.00057 | 0.00067 | 0.044 |
+| 8 | -0.00009 | -0.00011 | -0.00015 | 0.00020 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_37f1e49e-d571-4c73-a0c6-d21629936d8a.md b/gap_reports/gap_37f1e49e-d571-4c73-a0c6-d21629936d8a.md
new file mode 100644
index 0000000000000000000000000000000000000000..becd1c09883cb1b6a46f58e59fad82d1b287e17e
--- /dev/null
+++ b/gap_reports/gap_37f1e49e-d571-4c73-a0c6-d21629936d8a.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/37f1e49e-d571-4c73-a0c6-d21629936d8a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/37f1e49e-d571-4c73-a0c6-d21629936d8a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1093 |
+| Sim rows | 114 |
+| Real episode_id | `37f1e49e-d571-4c73-a0c6-d21629936d8a` |
+| Sim episode_id | `37f1e49e-d571-4c73-a0c6-d21629936d8a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 128 | 13 | 2.116 | 11.85 | 20.52 | 603.07 | 0.7274 |
+| 1 | descend | 81 | 9 | 0.837 | 4.84 | 8.38 | 5.05 | 0.7039 |
+| 2 | settle | 29 | 4 | 0.025 | 3.06 | 5.30 | 5.83 | 0.7063 |
+| 3 | close | 26 | 3 | 0.127 | 3.65 | 6.32 | 10.16 | 1.1245 |
+| 4 | lift | 102 | 11 | 1.565 | 8.48 | 14.68 | 10.22 | 1.1942 |
+| 5 | move_xy | 220 | 22 | 3.434 | 18.79 | 32.55 | 152.67 | 1.1313 |
+| 6 | lower | 107 | 11 | 0.941 | 4.20 | 7.28 | 7.63 | 0.9532 |
+| 7 | open | 85 | 9 | 0.017 | 2.24 | 3.88 | 4.43 | 0.5540 |
+| 8 | retract | 109 | 11 | 0.950 | 4.37 | 7.58 | 3.81 | 0.6804 |
+| 9 | return | 206 | 21 | 2.473 | 11.57 | 20.04 | 422.00 | 0.7392 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.653 |
+| TCP position RMSE (mm, per-axis) | 8.87 |
+| EE position RMS L2 (mm) | 19.43 |
+| TCP rotvec (mrad) | 237.79 |
+| W1 effort mean (A) | 0.8258 |
+| W1 effort per joint (A) | j0=0.1995, j1=1.5235, j2=1.5175, j3=0.7830, j4=0.4402, j5=0.4915 |
+
+## Phase-end anchor (sim - 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 | -0.00446 | -0.00062 | 0.00491 | 0.047 |
+| 1 | 0.00249 | -0.00459 | -0.00090 | 0.00530 | 0.050 |
+| 2 | 0.00243 | -0.00460 | -0.00102 | 0.00530 | 0.057 |
+| 3 | 0.00349 | -0.00443 | -0.00287 | 0.00633 | 0.241 |
+| 4 | 0.00246 | -0.00473 | -0.00315 | 0.00619 | 0.228 |
+| 5 | 0.00154 | -0.00292 | -0.00206 | 0.00389 | 0.246 |
+| 6 | 0.00211 | -0.00230 | -0.00183 | 0.00362 | 0.246 |
+| 7 | 0.00210 | -0.00326 | -0.00004 | 0.00387 | 0.031 |
+| 8 | 0.00163 | -0.00333 | -0.00007 | 0.00371 | 0.033 |
+| 9 | -0.00004 | -0.00015 | -0.00022 | 0.00026 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_37f4f6af-6234-4a91-b9db-edbbafe85cab.md b/gap_reports/gap_37f4f6af-6234-4a91-b9db-edbbafe85cab.md
new file mode 100644
index 0000000000000000000000000000000000000000..3360e93fca7277aa63ee6fec8aea3034b25706b4
--- /dev/null
+++ b/gap_reports/gap_37f4f6af-6234-4a91-b9db-edbbafe85cab.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/37f4f6af-6234-4a91-b9db-edbbafe85cab.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/37f4f6af-6234-4a91-b9db-edbbafe85cab.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 403 |
+| Sim rows | 57 |
+| Real episode_id | `37f4f6af-6234-4a91-b9db-edbbafe85cab` |
+| Sim episode_id | `37f4f6af-6234-4a91-b9db-edbbafe85cab` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 192 | 20 | 1.868 | 6.78 | 11.74 | 360.55 | 0.7970 |
+| 1 | descend | 211 | 21 | 0.025 | 5.48 | 9.49 | 1.60 | 0.8460 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.321 |
+| TCP position RMSE (mm, per-axis) | 6.16 |
+| EE position RMS L2 (mm) | 10.62 |
+| TCP rotvec (mrad) | 254.95 |
+| W1 effort mean (A) | 0.8222 |
+| W1 effort per joint (A) | j0=0.1648, j1=1.7836, j2=1.8801, j3=0.8506, j4=0.1466, j5=0.1073 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00933 | -0.00277 | -0.00019 | 0.00974 | 0.039 |
+| 1 | -0.00905 | -0.00272 | -0.00030 | 0.00946 | 0.045 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_37f988f4-ee88-4b3a-a7c6-788dc1bdd5b0.md b/gap_reports/gap_37f988f4-ee88-4b3a-a7c6-788dc1bdd5b0.md
new file mode 100644
index 0000000000000000000000000000000000000000..cf1996a05bc27dd0b340d5ac40c9cdf827a1736f
--- /dev/null
+++ b/gap_reports/gap_37f988f4-ee88-4b3a-a7c6-788dc1bdd5b0.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/37f988f4-ee88-4b3a-a7c6-788dc1bdd5b0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/37f988f4-ee88-4b3a-a7c6-788dc1bdd5b0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3798 |
+| Sim rows | 240 |
+| Real episode_id | `37f988f4-ee88-4b3a-a7c6-788dc1bdd5b0` |
+| Sim episode_id | `37f988f4-ee88-4b3a-a7c6-788dc1bdd5b0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 205 | 20 | 3.111 | 14.54 | 25.18 | 1928.32 | 0.5867 |
+| 1 | descend | 291 | 29 | 0.764 | 5.10 | 8.83 | 3625.34 | 0.7315 |
+| 2 | settle | 316 | 32 | 0.025 | 0.78 | 1.35 | 3625.26 | 0.7390 |
+| 3 | close | 116 | 12 | 0.617 | 4.39 | 7.61 | 3400.92 | 1.0104 |
+| 4 | lift | 594 | 32 | 3.117 | 15.73 | 27.25 | 2103.98 | 1.0868 |
+| 5 | move_xy | 688 | 34 | 6.607 | 34.22 | 59.27 | 2680.86 | 0.9079 |
+| 6 | lower | 706 | 35 | 0.090 | 1.44 | 2.49 | 3625.59 | 1.0140 |
+| 7 | open | 236 | 12 | 0.607 | 3.96 | 6.86 | 3625.49 | 0.6544 |
+| 8 | retract | 646 | 32 | 3.115 | 15.04 | 26.05 | 2308.74 | 0.7211 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.869 |
+| TCP position RMSE (mm, per-axis) | 14.60 |
+| EE position RMS L2 (mm) | 30.23 |
+| TCP rotvec (mrad) | 3069.63 |
+| W1 effort mean (A) | 0.8456 |
+| W1 effort per joint (A) | j0=0.2348, j1=1.3524, j2=1.6696, j3=0.7503, j4=0.3981, j5=0.6683 |
+
+## Phase-end anchor (sim - 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 | -0.00036 | -0.00076 | 0.00108 | 0.040 |
+| 1 | 0.00062 | -0.00063 | -0.00099 | 0.00132 | 0.047 |
+| 2 | 0.00064 | -0.00063 | -0.00099 | 0.00134 | 0.046 |
+| 3 | 0.00150 | -0.00029 | -0.00090 | 0.00178 | 0.153 |
+| 4 | 0.00034 | 0.00005 | -0.00010 | 0.00036 | 0.066 |
+| 5 | 0.00175 | -0.00075 | -0.00098 | 0.00214 | 0.147 |
+| 6 | 0.00177 | -0.00080 | -0.00141 | 0.00240 | 0.160 |
+| 7 | 0.00048 | -0.00039 | -0.00079 | 0.00101 | 0.042 |
+| 8 | -0.00010 | -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.
diff --git a/gap_reports/gap_3809260a-a0c9-4a27-9951-a5b4c4207f08.md b/gap_reports/gap_3809260a-a0c9-4a27-9951-a5b4c4207f08.md
new file mode 100644
index 0000000000000000000000000000000000000000..9e44076e6ee805d98c6bd2caf059f00043771063
--- /dev/null
+++ b/gap_reports/gap_3809260a-a0c9-4a27-9951-a5b4c4207f08.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3809260a-a0c9-4a27-9951-a5b4c4207f08.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3809260a-a0c9-4a27-9951-a5b4c4207f08.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2732 |
+| Sim rows | 243 |
+| Real episode_id | `3809260a-a0c9-4a27-9951-a5b4c4207f08` |
+| Sim episode_id | `3809260a-a0c9-4a27-9951-a5b4c4207f08` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 197 | 18 | 2.480 | 11.02 | 19.09 | 1950.13 | 0.5717 |
+| 1 | descend | 411 | 36 | 1.393 | 8.97 | 15.53 | 3625.45 | 0.7094 |
+| 2 | settle | 365 | 32 | 0.022 | 0.68 | 1.18 | 3625.33 | 0.7215 |
+| 3 | close | 166 | 15 | 0.739 | 4.73 | 8.18 | 3067.73 | 0.9994 |
+| 4 | lift | 332 | 29 | 2.623 | 12.51 | 21.66 | 2404.47 | 1.1147 |
+| 5 | move_xy | 375 | 33 | 5.555 | 29.70 | 51.44 | 2785.81 | 0.8868 |
+| 6 | lower | 389 | 34 | 0.086 | 1.26 | 2.19 | 3476.55 | 1.1082 |
+| 7 | open | 167 | 15 | 0.790 | 4.99 | 8.64 | 3625.46 | 0.6718 |
+| 8 | retract | 330 | 29 | 2.634 | 12.64 | 21.89 | 2369.84 | 0.7287 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.448 |
+| TCP position RMSE (mm, per-axis) | 12.69 |
+| EE position RMS L2 (mm) | 23.46 |
+| TCP rotvec (mrad) | 3053.04 |
+| W1 effort mean (A) | 0.8220 |
+| W1 effort per joint (A) | j0=0.2532, j1=1.3918, j2=1.5938, j3=0.7807, j4=0.2998, j5=0.6127 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00039 | -0.00033 | -0.00073 | 0.00089 | 0.040 |
+| 1 | 0.00040 | -0.00064 | -0.00093 | 0.00120 | 0.042 |
+| 2 | 0.00038 | -0.00065 | -0.00089 | 0.00117 | 0.042 |
+| 3 | 0.00082 | -0.00065 | -0.00108 | 0.00150 | 0.131 |
+| 4 | 0.00014 | -0.00031 | -0.00037 | 0.00051 | 0.090 |
+| 5 | 0.00116 | -0.00084 | -0.00129 | 0.00192 | 0.104 |
+| 6 | 0.00126 | -0.00096 | -0.00155 | 0.00222 | 0.126 |
+| 7 | 0.00026 | -0.00045 | -0.00077 | 0.00093 | 0.053 |
+| 8 | -0.00008 | -0.00015 | -0.00016 | 0.00023 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_380ec506-425a-4947-8eb1-b5404942fa70.md b/gap_reports/gap_380ec506-425a-4947-8eb1-b5404942fa70.md
new file mode 100644
index 0000000000000000000000000000000000000000..3ce52d43b9bebd7e2794eaa027855d09e700ea5b
--- /dev/null
+++ b/gap_reports/gap_380ec506-425a-4947-8eb1-b5404942fa70.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/380ec506-425a-4947-8eb1-b5404942fa70.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/380ec506-425a-4947-8eb1-b5404942fa70.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2737 |
+| Sim rows | 243 |
+| Real episode_id | `380ec506-425a-4947-8eb1-b5404942fa70` |
+| Sim episode_id | `380ec506-425a-4947-8eb1-b5404942fa70` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 241 | 22 | 2.673 | 14.88 | 25.77 | 1967.47 | 0.6134 |
+| 1 | descend | 317 | 28 | 1.067 | 7.36 | 12.74 | 3624.68 | 0.7656 |
+| 2 | settle | 387 | 34 | 0.028 | 0.98 | 1.69 | 3624.52 | 0.7644 |
+| 3 | close | 130 | 12 | 0.795 | 5.62 | 9.73 | 3625.17 | 1.0367 |
+| 4 | lift | 334 | 29 | 2.481 | 14.37 | 24.88 | 2236.79 | 1.1415 |
+| 5 | move_xy | 455 | 40 | 5.699 | 34.67 | 60.06 | 2873.73 | 0.9411 |
+| 6 | lower | 406 | 35 | 0.100 | 1.75 | 3.04 | 3553.30 | 1.1204 |
+| 7 | open | 131 | 12 | 0.765 | 5.33 | 9.23 | 3624.72 | 0.7491 |
+| 8 | retract | 336 | 29 | 2.349 | 13.69 | 23.71 | 2306.18 | 0.7423 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.442 |
+| TCP position RMSE (mm, per-axis) | 14.67 |
+| EE position RMS L2 (mm) | 28.84 |
+| TCP rotvec (mrad) | 3120.41 |
+| W1 effort mean (A) | 0.8665 |
+| W1 effort per joint (A) | j0=0.2145, j1=1.5529, j2=1.7120, j3=0.7827, j4=0.3025, j5=0.6342 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00074 | -0.00047 | -0.00083 | 0.00121 | 0.034 |
+| 1 | 0.00076 | -0.00087 | -0.00123 | 0.00168 | 0.058 |
+| 2 | 0.00080 | -0.00086 | -0.00120 | 0.00168 | 0.053 |
+| 3 | 0.00194 | -0.00066 | -0.00159 | 0.00259 | 0.237 |
+| 4 | 0.00002 | -0.00028 | -0.00035 | 0.00045 | 0.063 |
+| 5 | 0.00185 | -0.00126 | -0.00172 | 0.00282 | 0.140 |
+| 6 | 0.00167 | -0.00105 | -0.00091 | 0.00217 | 0.110 |
+| 7 | 0.00056 | -0.00052 | -0.00100 | 0.00126 | 0.045 |
+| 8 | -0.00011 | -0.00017 | -0.00018 | 0.00027 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_380f7953-126c-4cc8-8460-a83de5de93c2.md b/gap_reports/gap_380f7953-126c-4cc8-8460-a83de5de93c2.md
new file mode 100644
index 0000000000000000000000000000000000000000..e1e7b30fcc7e273c11a766b33173ef3b9aac842a
--- /dev/null
+++ b/gap_reports/gap_380f7953-126c-4cc8-8460-a83de5de93c2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/380f7953-126c-4cc8-8460-a83de5de93c2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/380f7953-126c-4cc8-8460-a83de5de93c2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2630 |
+| Sim rows | 235 |
+| Real episode_id | `380f7953-126c-4cc8-8460-a83de5de93c2` |
+| Sim episode_id | `380f7953-126c-4cc8-8460-a83de5de93c2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 196 | 18 | 2.502 | 9.63 | 16.68 | 2.57 | 0.5679 |
+| 1 | descend | 435 | 38 | 1.177 | 6.94 | 12.02 | 3.50 | 0.7470 |
+| 2 | settle | 352 | 31 | 0.024 | 0.73 | 1.27 | 3.70 | 0.7175 |
+| 3 | close | 129 | 12 | 1.159 | 6.69 | 11.59 | 5.47 | 0.8747 |
+| 4 | lift | 303 | 27 | 2.505 | 10.02 | 17.36 | 3.87 | 1.1115 |
+| 5 | move_xy | 402 | 35 | 5.696 | 27.14 | 47.01 | 4.72 | 0.9104 |
+| 6 | lower | 381 | 33 | 0.085 | 1.25 | 2.17 | 5.98 | 1.0187 |
+| 7 | open | 129 | 12 | 1.103 | 6.29 | 10.89 | 3.74 | 0.6298 |
+| 8 | retract | 303 | 27 | 2.352 | 9.56 | 16.55 | 2.55 | 0.6963 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.460 |
+| TCP position RMSE (mm, per-axis) | 11.33 |
+| EE position RMS L2 (mm) | 21.49 |
+| TCP rotvec (mrad) | 4.16 |
+| W1 effort mean (A) | 0.7980 |
+| W1 effort per joint (A) | j0=0.3067, j1=1.1159, j2=1.5682, j3=0.7008, j4=0.5253, j5=0.5714 |
+
+## Phase-end anchor (sim - 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 | -0.00061 | -0.00050 | 0.00090 | 0.034 |
+| 1 | 0.00046 | -0.00087 | -0.00077 | 0.00125 | 0.035 |
+| 2 | 0.00049 | -0.00087 | -0.00077 | 0.00126 | 0.036 |
+| 3 | 0.00073 | -0.00076 | -0.00054 | 0.00119 | 0.097 |
+| 4 | 0.00024 | -0.00040 | -0.00052 | 0.00069 | 0.108 |
+| 5 | 0.00096 | -0.00111 | -0.00151 | 0.00211 | 0.098 |
+| 6 | 0.00089 | -0.00112 | -0.00149 | 0.00207 | 0.106 |
+| 7 | 0.00022 | -0.00071 | -0.00056 | 0.00093 | 0.042 |
+| 8 | -0.00005 | -0.00009 | -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.
diff --git a/gap_reports/gap_3822da87-440c-44fe-a7ef-c88c44e25207.md b/gap_reports/gap_3822da87-440c-44fe-a7ef-c88c44e25207.md
new file mode 100644
index 0000000000000000000000000000000000000000..94169971fc836df6cf5e4316c8c4509c0de8000c
--- /dev/null
+++ b/gap_reports/gap_3822da87-440c-44fe-a7ef-c88c44e25207.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3822da87-440c-44fe-a7ef-c88c44e25207.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3822da87-440c-44fe-a7ef-c88c44e25207.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1414 |
+| Sim rows | 147 |
+| Real episode_id | `3822da87-440c-44fe-a7ef-c88c44e25207` |
+| Sim episode_id | `3822da87-440c-44fe-a7ef-c88c44e25207` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 4.418 | 15.91 | 27.56 | 1618.02 | 0.7964 |
+| 1 | descend | 119 | 12 | 0.986 | 5.31 | 9.19 | 5.03 | 0.6866 |
+| 2 | settle | 18 | 3 | 0.025 | 2.83 | 4.90 | 5.68 | 0.6697 |
+| 3 | close | 310 | 31 | 0.130 | 1.96 | 3.39 | 6.32 | 1.0584 |
+| 4 | lift | 133 | 14 | 1.283 | 6.19 | 10.72 | 6.03 | 1.2736 |
+| 5 | move_xy | 187 | 19 | 5.631 | 25.77 | 44.63 | 5.88 | 1.0174 |
+| 6 | lower | 71 | 8 | 0.651 | 3.05 | 5.28 | 6.60 | 0.9749 |
+| 7 | open | 98 | 10 | 0.026 | 2.01 | 3.49 | 4.33 | 0.6025 |
+| 8 | retract | 71 | 8 | 0.757 | 3.37 | 5.83 | 3.75 | 0.6566 |
+| 9 | return | 192 | 20 | 3.119 | 15.11 | 26.17 | 722.98 | 0.7338 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.541 |
+| TCP position RMSE (mm, per-axis) | 11.17 |
+| EE position RMS L2 (mm) | 22.28 |
+| TCP rotvec (mrad) | 560.44 |
+| W1 effort mean (A) | 0.8747 |
+| W1 effort per joint (A) | j0=0.2661, j1=1.5783, j2=1.6361, j3=0.7995, j4=0.4800, j5=0.4883 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00154 | -0.00401 | -0.00110 | 0.00444 | 0.040 |
+| 1 | 0.00198 | -0.00427 | -0.00142 | 0.00492 | 0.053 |
+| 2 | 0.00194 | -0.00427 | -0.00140 | 0.00489 | 0.053 |
+| 3 | 0.00096 | -0.00309 | -0.00150 | 0.00357 | 0.178 |
+| 4 | 0.00016 | -0.00271 | -0.00148 | 0.00309 | 0.187 |
+| 5 | -0.00014 | -0.00318 | -0.00038 | 0.00321 | 0.287 |
+| 6 | 0.00064 | -0.00278 | -0.00038 | 0.00288 | 0.188 |
+| 7 | 0.00174 | -0.00302 | 0.00019 | 0.00349 | 0.024 |
+| 8 | 0.00129 | -0.00316 | -0.00001 | 0.00342 | 0.054 |
+| 9 | 0.00004 | -0.00011 | -0.00018 | 0.00021 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_382f69a7-f59f-4aee-9354-7de6e49df753.md b/gap_reports/gap_382f69a7-f59f-4aee-9354-7de6e49df753.md
new file mode 100644
index 0000000000000000000000000000000000000000..425d8ac2775147d556b5b5de8e23639d7732b08a
--- /dev/null
+++ b/gap_reports/gap_382f69a7-f59f-4aee-9354-7de6e49df753.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/382f69a7-f59f-4aee-9354-7de6e49df753.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/382f69a7-f59f-4aee-9354-7de6e49df753.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2431 |
+| Sim rows | 218 |
+| Real episode_id | `382f69a7-f59f-4aee-9354-7de6e49df753` |
+| Sim episode_id | `382f69a7-f59f-4aee-9354-7de6e49df753` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 205 | 18 | 2.224 | 12.85 | 22.26 | 1928.08 | 0.6103 |
+| 1 | descend | 303 | 27 | 0.667 | 4.65 | 8.06 | 3624.63 | 0.7540 |
+| 2 | settle | 377 | 33 | 0.028 | 0.98 | 1.70 | 3624.55 | 0.7580 |
+| 3 | close | 106 | 10 | 0.402 | 3.05 | 5.28 | 3624.96 | 1.0649 |
+| 4 | lift | 307 | 27 | 2.321 | 14.20 | 24.59 | 2082.27 | 1.0999 |
+| 5 | move_xy | 323 | 29 | 4.692 | 29.06 | 50.33 | 2660.42 | 0.9078 |
+| 6 | lower | 401 | 35 | 0.094 | 1.69 | 2.94 | 3624.95 | 1.1291 |
+| 7 | open | 104 | 10 | 0.367 | 2.63 | 4.55 | 3624.68 | 0.7374 |
+| 8 | retract | 305 | 27 | 2.294 | 14.07 | 24.36 | 2254.57 | 0.7351 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.065 |
+| TCP position RMSE (mm, per-axis) | 12.70 |
+| EE position RMS L2 (mm) | 23.27 |
+| TCP rotvec (mrad) | 3089.56 |
+| W1 effort mean (A) | 0.8547 |
+| W1 effort per joint (A) | j0=0.2259, j1=1.5564, j2=1.6790, j3=0.7782, j4=0.2930, j5=0.5957 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00083 | -0.00053 | -0.00069 | 0.00120 | 0.033 |
+| 1 | 0.00075 | -0.00086 | -0.00126 | 0.00170 | 0.058 |
+| 2 | 0.00078 | -0.00087 | -0.00124 | 0.00171 | 0.059 |
+| 3 | 0.00118 | -0.00083 | -0.00082 | 0.00166 | 0.087 |
+| 4 | 0.00050 | -0.00028 | -0.00058 | 0.00082 | 0.146 |
+| 5 | 0.00194 | -0.00131 | -0.00246 | 0.00340 | 0.159 |
+| 6 | 0.00245 | -0.00142 | -0.00214 | 0.00355 | 0.221 |
+| 7 | 0.00054 | -0.00066 | -0.00104 | 0.00134 | 0.054 |
+| 8 | -0.00014 | -0.00022 | -0.00019 | 0.00032 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_384e4f29-1ea1-4160-9dca-222f47531516.md b/gap_reports/gap_384e4f29-1ea1-4160-9dca-222f47531516.md
new file mode 100644
index 0000000000000000000000000000000000000000..fba19f238a2697c68512659747b7e4220efe5f59
--- /dev/null
+++ b/gap_reports/gap_384e4f29-1ea1-4160-9dca-222f47531516.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/384e4f29-1ea1-4160-9dca-222f47531516.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/384e4f29-1ea1-4160-9dca-222f47531516.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2466 |
+| Sim rows | 247 |
+| Real episode_id | `384e4f29-1ea1-4160-9dca-222f47531516` |
+| Sim episode_id | `384e4f29-1ea1-4160-9dca-222f47531516` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 251 | 25 | 3.516 | 18.28 | 31.65 | 2020.66 | 0.6177 |
+| 1 | descend | 291 | 29 | 1.029 | 7.23 | 12.52 | 3624.75 | 0.8068 |
+| 2 | settle | 324 | 32 | 0.026 | 0.97 | 1.68 | 3624.57 | 0.7028 |
+| 3 | close | 117 | 12 | 1.023 | 6.89 | 11.93 | 3625.41 | 1.0260 |
+| 4 | lift | 288 | 29 | 2.999 | 16.27 | 28.18 | 2397.79 | 1.1406 |
+| 5 | move_xy | 443 | 43 | 6.415 | 36.77 | 63.69 | 2782.34 | 0.9394 |
+| 6 | lower | 348 | 34 | 0.101 | 1.79 | 3.11 | 3625.05 | 1.0454 |
+| 7 | open | 116 | 12 | 0.929 | 6.46 | 11.18 | 3624.77 | 0.7420 |
+| 8 | retract | 288 | 29 | 3.177 | 17.35 | 30.05 | 2426.05 | 0.7532 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.898 |
+| TCP position RMSE (mm, per-axis) | 16.32 |
+| EE position RMS L2 (mm) | 32.58 |
+| TCP rotvec (mrad) | 3147.48 |
+| W1 effort mean (A) | 0.8486 |
+| W1 effort per joint (A) | j0=0.2191, j1=1.4560, j2=1.7035, j3=0.7928, j4=0.2906, j5=0.6296 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00091 | -0.00032 | -0.00085 | 0.00128 | 0.032 |
+| 1 | 0.00094 | -0.00074 | -0.00118 | 0.00168 | 0.053 |
+| 2 | 0.00094 | -0.00074 | -0.00118 | 0.00168 | 0.051 |
+| 3 | 0.00127 | -0.00047 | -0.00094 | 0.00164 | 0.074 |
+| 4 | -0.00000 | -0.00057 | -0.00058 | 0.00082 | 0.097 |
+| 5 | 0.00248 | -0.00106 | -0.00204 | 0.00339 | 0.210 |
+| 6 | 0.00212 | -0.00105 | -0.00172 | 0.00292 | 0.150 |
+| 7 | 0.00067 | -0.00040 | -0.00100 | 0.00126 | 0.063 |
+| 8 | -0.00011 | -0.00015 | -0.00015 | 0.00024 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3865658a-3d45-4669-9bba-bdc0ed6bd696.md b/gap_reports/gap_3865658a-3d45-4669-9bba-bdc0ed6bd696.md
new file mode 100644
index 0000000000000000000000000000000000000000..393b07efdf012195b9ca482e4dc4d3aebfbfc3a7
--- /dev/null
+++ b/gap_reports/gap_3865658a-3d45-4669-9bba-bdc0ed6bd696.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3865658a-3d45-4669-9bba-bdc0ed6bd696.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3865658a-3d45-4669-9bba-bdc0ed6bd696.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2816 |
+| Sim rows | 249 |
+| Real episode_id | `3865658a-3d45-4669-9bba-bdc0ed6bd696` |
+| Sim episode_id | `3865658a-3d45-4669-9bba-bdc0ed6bd696` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 228 | 20 | 2.414 | 11.27 | 19.52 | 2.78 | 0.5770 |
+| 1 | descend | 381 | 33 | 1.388 | 9.10 | 15.76 | 3.78 | 0.7665 |
+| 2 | settle | 384 | 33 | 0.025 | 0.92 | 1.59 | 4.00 | 0.6903 |
+| 3 | close | 167 | 15 | 0.968 | 6.20 | 10.74 | 5.55 | 0.9615 |
+| 4 | lift | 325 | 29 | 2.558 | 12.18 | 21.10 | 3.69 | 1.0840 |
+| 5 | move_xy | 433 | 38 | 5.454 | 29.42 | 50.95 | 4.97 | 0.9096 |
+| 6 | lower | 406 | 35 | 0.090 | 1.55 | 2.69 | 6.24 | 1.0039 |
+| 7 | open | 166 | 15 | 0.967 | 6.06 | 10.49 | 3.97 | 0.6620 |
+| 8 | retract | 326 | 29 | 2.651 | 12.75 | 22.08 | 2.88 | 0.7201 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.426 |
+| TCP position RMSE (mm, per-axis) | 12.76 |
+| EE position RMS L2 (mm) | 24.21 |
+| TCP rotvec (mrad) | 4.35 |
+| W1 effort mean (A) | 0.7987 |
+| W1 effort per joint (A) | j0=0.2781, j1=1.3220, j2=1.4846, j3=0.6571, j4=0.4375, j5=0.6127 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00071 | -0.00065 | -0.00071 | 0.00120 | 0.039 |
+| 1 | 0.00071 | -0.00100 | -0.00103 | 0.00160 | 0.049 |
+| 2 | 0.00070 | -0.00100 | -0.00099 | 0.00157 | 0.044 |
+| 3 | 0.00091 | -0.00108 | -0.00177 | 0.00226 | 0.193 |
+| 4 | 0.00035 | -0.00005 | -0.00027 | 0.00044 | 0.094 |
+| 5 | 0.00166 | -0.00137 | -0.00199 | 0.00293 | 0.138 |
+| 6 | 0.00179 | -0.00119 | -0.00181 | 0.00281 | 0.164 |
+| 7 | 0.00056 | -0.00075 | -0.00076 | 0.00121 | 0.049 |
+| 8 | -0.00008 | -0.00015 | -0.00016 | 0.00023 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_387ce8d8-6896-4e94-8e21-b3b840b00a99.md b/gap_reports/gap_387ce8d8-6896-4e94-8e21-b3b840b00a99.md
new file mode 100644
index 0000000000000000000000000000000000000000..c3e9b944a51b74f4847524f2beabb39478076454
--- /dev/null
+++ b/gap_reports/gap_387ce8d8-6896-4e94-8e21-b3b840b00a99.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/387ce8d8-6896-4e94-8e21-b3b840b00a99.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/387ce8d8-6896-4e94-8e21-b3b840b00a99.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2451 |
+| Sim rows | 245 |
+| Real episode_id | `387ce8d8-6896-4e94-8e21-b3b840b00a99` |
+| Sim episode_id | `387ce8d8-6896-4e94-8e21-b3b840b00a99` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.684 | 14.15 | 24.51 | 1977.04 | 0.5678 |
+| 1 | descend | 301 | 30 | 0.952 | 5.82 | 10.09 | 3626.02 | 0.6280 |
+| 2 | settle | 322 | 32 | 0.022 | 0.68 | 1.18 | 3626.04 | 0.6506 |
+| 3 | close | 109 | 11 | 0.579 | 3.53 | 6.11 | 932.03 | 0.9098 |
+| 4 | lift | 333 | 33 | 3.828 | 16.13 | 27.93 | 1745.54 | 1.0705 |
+| 5 | move_xy | 378 | 37 | 8.073 | 35.15 | 60.87 | 1945.07 | 0.8348 |
+| 6 | lower | 349 | 34 | 0.082 | 1.24 | 2.14 | 1895.16 | 0.9170 |
+| 7 | open | 108 | 11 | 0.635 | 3.73 | 6.45 | 3626.22 | 0.5790 |
+| 8 | retract | 329 | 33 | 3.874 | 16.39 | 28.39 | 2287.87 | 0.6826 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.497 |
+| TCP position RMSE (mm, per-axis) | 15.01 |
+| EE position RMS L2 (mm) | 29.27 |
+| TCP rotvec (mrad) | 2579.39 |
+| W1 effort mean (A) | 0.7517 |
+| W1 effort per joint (A) | j0=0.2289, j1=1.1591, j2=1.4350, j3=0.6856, j4=0.3680, j5=0.6335 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00067 | -0.00034 | -0.00053 | 0.00092 | 0.029 |
+| 1 | 0.00069 | -0.00060 | -0.00072 | 0.00116 | 0.039 |
+| 2 | 0.00072 | -0.00057 | -0.00075 | 0.00118 | 0.036 |
+| 3 | 0.00103 | -0.00055 | -0.00027 | 0.00119 | 0.086 |
+| 4 | 0.00033 | -0.00006 | -0.00018 | 0.00038 | 0.112 |
+| 5 | 0.00134 | -0.00085 | -0.00051 | 0.00167 | 0.112 |
+| 6 | 0.00144 | -0.00079 | -0.00051 | 0.00172 | 0.112 |
+| 7 | 0.00051 | -0.00034 | -0.00055 | 0.00082 | 0.034 |
+| 8 | -0.00007 | -0.00013 | -0.00016 | 0.00022 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_38849aae-6472-44ca-aadb-575689687314.md b/gap_reports/gap_38849aae-6472-44ca-aadb-575689687314.md
new file mode 100644
index 0000000000000000000000000000000000000000..dfc8f342e062f2f0fc621c4c8a01ac1b15c88676
--- /dev/null
+++ b/gap_reports/gap_38849aae-6472-44ca-aadb-575689687314.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/38849aae-6472-44ca-aadb-575689687314.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/38849aae-6472-44ca-aadb-575689687314.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 533 |
+| Sim rows | 69 |
+| Real episode_id | `38849aae-6472-44ca-aadb-575689687314` |
+| Sim episode_id | `38849aae-6472-44ca-aadb-575689687314` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 323 | 32 | 4.238 | 19.39 | 33.59 | 699.86 | 0.7995 |
+| 1 | descend | 210 | 21 | 0.023 | 1.00 | 1.74 | 2.11 | 0.7692 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.997 |
+| TCP position RMSE (mm, per-axis) | 13.73 |
+| EE position RMS L2 (mm) | 26.17 |
+| TCP rotvec (mrad) | 494.88 |
+| W1 effort mean (A) | 0.7869 |
+| W1 effort per joint (A) | j0=0.1953, j1=1.6741, j2=1.7811, j3=0.8233, j4=0.1172, j5=0.1304 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00147 | 0.00097 | 0.00061 | 0.00186 | 0.049 |
+| 1 | -0.00127 | 0.00101 | 0.00061 | 0.00174 | 0.046 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_38a7c22b-4408-46ce-83f9-00e31018b23e.md b/gap_reports/gap_38a7c22b-4408-46ce-83f9-00e31018b23e.md
new file mode 100644
index 0000000000000000000000000000000000000000..ace463de763f899f3960e730bf6f93a4de6ea67d
--- /dev/null
+++ b/gap_reports/gap_38a7c22b-4408-46ce-83f9-00e31018b23e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/38a7c22b-4408-46ce-83f9-00e31018b23e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/38a7c22b-4408-46ce-83f9-00e31018b23e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2852 |
+| Sim rows | 252 |
+| Real episode_id | `38a7c22b-4408-46ce-83f9-00e31018b23e` |
+| Sim episode_id | `38a7c22b-4408-46ce-83f9-00e31018b23e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.346 | 17.52 | 30.34 | 1864.96 | 0.6189 |
+| 1 | descend | 310 | 27 | 0.584 | 4.17 | 7.22 | 3624.69 | 0.8282 |
+| 2 | settle | 385 | 34 | 0.028 | 0.97 | 1.69 | 3624.57 | 0.7247 |
+| 3 | close | 169 | 15 | 0.712 | 5.08 | 8.79 | 3625.31 | 1.0527 |
+| 4 | lift | 380 | 33 | 3.086 | 16.93 | 29.33 | 2388.97 | 1.1449 |
+| 5 | move_xy | 434 | 38 | 6.922 | 40.01 | 69.30 | 2805.66 | 0.9462 |
+| 6 | lower | 387 | 34 | 0.094 | 1.73 | 2.99 | 3625.06 | 1.0466 |
+| 7 | open | 169 | 15 | 0.716 | 4.99 | 8.65 | 3624.75 | 0.7385 |
+| 8 | retract | 380 | 33 | 3.148 | 17.28 | 29.92 | 2388.55 | 0.7483 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.980 |
+| TCP position RMSE (mm, per-axis) | 16.88 |
+| EE position RMS L2 (mm) | 32.52 |
+| TCP rotvec (mrad) | 3135.12 |
+| W1 effort mean (A) | 0.8597 |
+| W1 effort per joint (A) | j0=0.2214, j1=1.4866, j2=1.6844, j3=0.8152, j4=0.3516, j5=0.5988 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00091 | -0.00037 | -0.00077 | 0.00125 | 0.029 |
+| 1 | 0.00101 | -0.00072 | -0.00126 | 0.00177 | 0.056 |
+| 2 | 0.00090 | -0.00074 | -0.00121 | 0.00168 | 0.058 |
+| 3 | 0.00214 | -0.00043 | -0.00162 | 0.00271 | 0.198 |
+| 4 | 0.00002 | -0.00046 | -0.00035 | 0.00057 | 0.108 |
+| 5 | 0.00242 | -0.00103 | -0.00180 | 0.00318 | 0.199 |
+| 6 | 0.00228 | -0.00110 | -0.00202 | 0.00324 | 0.174 |
+| 7 | 0.00077 | -0.00040 | -0.00097 | 0.00130 | 0.043 |
+| 8 | -0.00012 | -0.00018 | -0.00019 | 0.00029 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_38be1ca7-f4ba-4a0b-a085-2da3564959de.md b/gap_reports/gap_38be1ca7-f4ba-4a0b-a085-2da3564959de.md
new file mode 100644
index 0000000000000000000000000000000000000000..2713648d6177483c1543d0023edf6cc7713a4764
--- /dev/null
+++ b/gap_reports/gap_38be1ca7-f4ba-4a0b-a085-2da3564959de.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/38be1ca7-f4ba-4a0b-a085-2da3564959de.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/38be1ca7-f4ba-4a0b-a085-2da3564959de.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2642 |
+| Sim rows | 232 |
+| Real episode_id | `38be1ca7-f4ba-4a0b-a085-2da3564959de` |
+| Sim episode_id | `38be1ca7-f4ba-4a0b-a085-2da3564959de` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 206 | 18 | 3.497 | 13.58 | 23.52 | 2005.21 | 0.5812 |
+| 1 | descend | 342 | 30 | 0.693 | 4.15 | 7.19 | 3626.02 | 0.6770 |
+| 2 | settle | 364 | 32 | 0.021 | 0.67 | 1.17 | 3625.95 | 0.6414 |
+| 3 | close | 124 | 11 | 0.766 | 4.52 | 7.83 | 2283.43 | 0.9709 |
+| 4 | lift | 359 | 31 | 3.475 | 14.17 | 24.54 | 2008.84 | 1.0814 |
+| 5 | move_xy | 361 | 31 | 7.938 | 34.54 | 59.82 | 2006.31 | 0.8737 |
+| 6 | lower | 407 | 35 | 0.081 | 1.21 | 2.10 | 1241.58 | 0.8684 |
+| 7 | open | 119 | 11 | 0.715 | 4.16 | 7.21 | 3626.22 | 0.5673 |
+| 8 | retract | 360 | 31 | 3.506 | 14.59 | 25.27 | 2293.14 | 0.7036 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.353 |
+| TCP position RMSE (mm, per-axis) | 14.33 |
+| EE position RMS L2 (mm) | 26.72 |
+| TCP rotvec (mrad) | 2657.08 |
+| W1 effort mean (A) | 0.7661 |
+| W1 effort per joint (A) | j0=0.2294, j1=1.1876, j2=1.4900, j3=0.6956, j4=0.3942, 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 | 0.00068 | -0.00024 | -0.00052 | 0.00089 | 0.033 |
+| 1 | 0.00069 | -0.00053 | -0.00080 | 0.00118 | 0.042 |
+| 2 | 0.00069 | -0.00056 | -0.00074 | 0.00116 | 0.036 |
+| 3 | 0.00107 | -0.00019 | -0.00139 | 0.00177 | 0.115 |
+| 4 | 0.00034 | 0.00012 | -0.00015 | 0.00039 | 0.079 |
+| 5 | 0.00208 | -0.00079 | -0.00187 | 0.00290 | 0.201 |
+| 6 | 0.00133 | -0.00076 | -0.00154 | 0.00217 | 0.134 |
+| 7 | 0.00045 | -0.00026 | -0.00058 | 0.00078 | 0.037 |
+| 8 | -0.00011 | -0.00013 | -0.00017 | 0.00024 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_38e05c89-9ea1-4543-9801-1b1556b4302e.md b/gap_reports/gap_38e05c89-9ea1-4543-9801-1b1556b4302e.md
new file mode 100644
index 0000000000000000000000000000000000000000..cf5cf21401106e206cd7fe6ac962e6d65040aff8
--- /dev/null
+++ b/gap_reports/gap_38e05c89-9ea1-4543-9801-1b1556b4302e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/38e05c89-9ea1-4543-9801-1b1556b4302e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/38e05c89-9ea1-4543-9801-1b1556b4302e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2573 |
+| Sim rows | 226 |
+| Real episode_id | `38e05c89-9ea1-4543-9801-1b1556b4302e` |
+| Sim episode_id | `38e05c89-9ea1-4543-9801-1b1556b4302e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 212 | 19 | 3.359 | 14.46 | 25.04 | 1960.59 | 0.6006 |
+| 1 | descend | 291 | 25 | 1.323 | 8.68 | 15.04 | 3625.32 | 0.6534 |
+| 2 | settle | 392 | 34 | 0.024 | 0.82 | 1.41 | 3625.26 | 0.6716 |
+| 3 | close | 132 | 12 | 0.812 | 5.31 | 9.20 | 2373.90 | 0.9389 |
+| 4 | lift | 335 | 29 | 3.628 | 16.70 | 28.92 | 2426.11 | 1.1458 |
+| 5 | move_xy | 359 | 31 | 8.175 | 39.48 | 68.37 | 2679.34 | 0.9023 |
+| 6 | lower | 385 | 33 | 0.092 | 1.51 | 2.61 | 3549.83 | 0.9007 |
+| 7 | open | 130 | 12 | 0.771 | 4.93 | 8.54 | 3625.49 | 0.6282 |
+| 8 | retract | 337 | 29 | 3.580 | 16.43 | 28.46 | 2418.68 | 0.7381 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.450 |
+| TCP position RMSE (mm, per-axis) | 16.49 |
+| EE position RMS L2 (mm) | 30.88 |
+| TCP rotvec (mrad) | 2989.34 |
+| W1 effort mean (A) | 0.7899 |
+| W1 effort per joint (A) | j0=0.2374, j1=1.3327, j2=1.4891, j3=0.7168, j4=0.3803, j5=0.5834 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00084 | -0.00024 | -0.00053 | 0.00103 | 0.032 |
+| 1 | 0.00088 | -0.00056 | -0.00096 | 0.00142 | 0.049 |
+| 2 | 0.00087 | -0.00057 | -0.00095 | 0.00141 | 0.048 |
+| 3 | 0.00138 | -0.00029 | -0.00115 | 0.00182 | 0.104 |
+| 4 | 0.00003 | -0.00035 | -0.00031 | 0.00047 | 0.081 |
+| 5 | 0.00205 | -0.00073 | -0.00253 | 0.00334 | 0.195 |
+| 6 | 0.00176 | -0.00083 | -0.00111 | 0.00224 | 0.119 |
+| 7 | 0.00061 | -0.00025 | -0.00069 | 0.00095 | 0.036 |
+| 8 | -0.00013 | -0.00017 | -0.00018 | 0.00029 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_38e0e3e3-1164-40a7-8f9e-a641c91b9ebf.md b/gap_reports/gap_38e0e3e3-1164-40a7-8f9e-a641c91b9ebf.md
new file mode 100644
index 0000000000000000000000000000000000000000..64effb45c13b5df5a453d47dfbeb70caab2b166b
--- /dev/null
+++ b/gap_reports/gap_38e0e3e3-1164-40a7-8f9e-a641c91b9ebf.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/38e0e3e3-1164-40a7-8f9e-a641c91b9ebf.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/38e0e3e3-1164-40a7-8f9e-a641c91b9ebf.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3140 |
+| Sim rows | 276 |
+| Real episode_id | `38e0e3e3-1164-40a7-8f9e-a641c91b9ebf` |
+| Sim episode_id | `38e0e3e3-1164-40a7-8f9e-a641c91b9ebf` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 247 | 22 | 3.634 | 13.54 | 23.46 | 1957.67 | 0.5724 |
+| 1 | descend | 364 | 32 | 1.563 | 9.42 | 16.32 | 3626.10 | 0.6291 |
+| 2 | settle | 416 | 36 | 0.018 | 0.65 | 1.13 | 3625.91 | 0.5509 |
+| 3 | close | 193 | 17 | 1.163 | 6.55 | 11.35 | 1280.86 | 0.8770 |
+| 4 | lift | 427 | 37 | 3.971 | 16.00 | 27.71 | 2077.98 | 1.1044 |
+| 5 | move_xy | 451 | 39 | 8.398 | 36.84 | 63.80 | 2159.74 | 0.8466 |
+| 6 | lower | 427 | 37 | 0.079 | 1.19 | 2.05 | 1208.10 | 0.8907 |
+| 7 | open | 188 | 17 | 1.129 | 6.34 | 10.99 | 3626.09 | 0.6423 |
+| 8 | retract | 427 | 37 | 4.094 | 16.62 | 28.78 | 2393.00 | 0.6873 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.672 |
+| TCP position RMSE (mm, per-axis) | 15.80 |
+| EE position RMS L2 (mm) | 29.86 |
+| TCP rotvec (mrad) | 2605.25 |
+| W1 effort mean (A) | 0.7487 |
+| W1 effort per joint (A) | j0=0.2047, j1=1.1964, j2=1.4883, j3=0.7270, j4=0.2696, j5=0.6064 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00064 | -0.00019 | -0.00041 | 0.00078 | 0.031 |
+| 1 | 0.00067 | -0.00058 | -0.00071 | 0.00114 | 0.033 |
+| 2 | 0.00067 | -0.00057 | -0.00072 | 0.00114 | 0.035 |
+| 3 | 0.00102 | -0.00026 | -0.00070 | 0.00127 | 0.070 |
+| 4 | 0.00022 | 0.00006 | -0.00016 | 0.00028 | 0.065 |
+| 5 | 0.00155 | -0.00066 | -0.00166 | 0.00236 | 0.125 |
+| 6 | 0.00134 | -0.00073 | -0.00122 | 0.00195 | 0.118 |
+| 7 | 0.00050 | -0.00027 | -0.00048 | 0.00074 | 0.036 |
+| 8 | -0.00007 | -0.00007 | -0.00011 | 0.00015 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3911a0d2-e4f1-4ef8-b8d5-cc89fb00115e.md b/gap_reports/gap_3911a0d2-e4f1-4ef8-b8d5-cc89fb00115e.md
new file mode 100644
index 0000000000000000000000000000000000000000..ff798cd8b6335771e9b25c2f00b3539747970c6e
--- /dev/null
+++ b/gap_reports/gap_3911a0d2-e4f1-4ef8-b8d5-cc89fb00115e.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3911a0d2-e4f1-4ef8-b8d5-cc89fb00115e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3911a0d2-e4f1-4ef8-b8d5-cc89fb00115e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1038 |
+| Sim rows | 110 |
+| Real episode_id | `3911a0d2-e4f1-4ef8-b8d5-cc89fb00115e` |
+| Sim episode_id | `3911a0d2-e4f1-4ef8-b8d5-cc89fb00115e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 12.326 | 11.26 | 19.51 | 1006.60 | 0.6834 |
+| 1 | descend | 92 | 10 | 22.457 | 4.40 | 7.62 | 863.57 | 0.8303 |
+| 2 | settle | 17 | 3 | 22.429 | 2.63 | 4.56 | 863.73 | 0.8522 |
+| 3 | close | 33 | 4 | 22.429 | 2.87 | 4.98 | 865.04 | 1.3024 |
+| 4 | lift | 94 | 10 | 22.455 | 4.89 | 8.48 | 864.79 | 1.3739 |
+| 5 | move_xy | 187 | 19 | 13.326 | 18.41 | 31.89 | 1456.89 | 1.2439 |
+| 6 | lower | 91 | 10 | 0.886 | 4.04 | 7.00 | 3047.12 | 0.9510 |
+| 7 | open | 74 | 8 | 0.031 | 2.73 | 4.73 | 4.59 | 0.5209 |
+| 8 | retract | 90 | 10 | 0.984 | 4.23 | 7.33 | 3.98 | 0.6162 |
+| 9 | return | 192 | 19 | 2.788 | 11.67 | 20.22 | 928.37 | 0.5651 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 15.342 |
+| TCP position RMSE (mm, per-axis) | 8.38 |
+| EE position RMS L2 (mm) | 18.54 |
+| TCP rotvec (mrad) | 1275.56 |
+| W1 effort mean (A) | 0.8308 |
+| W1 effort per joint (A) | j0=0.1908, j1=1.2261, j2=1.5534, j3=0.8272, j4=0.3732, j5=0.8143 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00190 | -0.00397 | -0.00018 | 0.00441 | 54.986 |
+| 1 | 0.00230 | -0.00392 | -0.00033 | 0.00455 | 54.940 |
+| 2 | 0.00229 | -0.00393 | -0.00040 | 0.00457 | 54.941 |
+| 3 | 0.00294 | -0.00329 | -0.00250 | 0.00507 | 54.940 |
+| 4 | 0.00250 | -0.00387 | -0.00245 | 0.00522 | 55.007 |
+| 5 | 0.00190 | -0.00368 | -0.00130 | 0.00434 | 0.153 |
+| 6 | 0.00278 | -0.00388 | -0.00146 | 0.00499 | 0.192 |
+| 7 | 0.00209 | -0.00424 | -0.00036 | 0.00474 | 0.026 |
+| 8 | 0.00162 | -0.00375 | -0.00053 | 0.00412 | 0.049 |
+| 9 | -0.00016 | -0.00009 | -0.00024 | 0.00030 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3914570d-47e1-46b7-af06-e25d11fdcdec.md b/gap_reports/gap_3914570d-47e1-46b7-af06-e25d11fdcdec.md
new file mode 100644
index 0000000000000000000000000000000000000000..417965353602b8e005b5825449b72c48d47bba1c
--- /dev/null
+++ b/gap_reports/gap_3914570d-47e1-46b7-af06-e25d11fdcdec.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3914570d-47e1-46b7-af06-e25d11fdcdec.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3914570d-47e1-46b7-af06-e25d11fdcdec.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1568 |
+| Sim rows | 159 |
+| Real episode_id | `3914570d-47e1-46b7-af06-e25d11fdcdec` |
+| Sim episode_id | `3914570d-47e1-46b7-af06-e25d11fdcdec` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.692 | 12.24 | 21.20 | 1139.91 | 0.7264 |
+| 1 | descend | 97 | 10 | 0.911 | 4.33 | 7.49 | 4.17 | 0.6035 |
+| 2 | settle | 32 | 4 | 0.019 | 2.79 | 4.82 | 4.87 | 0.6118 |
+| 3 | close | 327 | 32 | 0.073 | 2.70 | 4.68 | 4.83 | 1.1397 |
+| 4 | lift | 95 | 10 | 0.922 | 4.47 | 7.74 | 4.31 | 1.2584 |
+| 5 | move_xy | 203 | 21 | 9.753 | 31.66 | 54.84 | 206.30 | 1.1367 |
+| 6 | lower | 96 | 10 | 13.792 | 4.25 | 7.35 | 534.25 | 1.2091 |
+| 7 | open | 262 | 26 | 13.750 | 2.39 | 4.14 | 533.98 | 0.7235 |
+| 8 | retract | 96 | 10 | 13.795 | 4.88 | 8.45 | 533.66 | 0.8265 |
+| 9 | return | 205 | 20 | 7.704 | 16.70 | 28.92 | 971.28 | 0.8676 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 8.561 |
+| TCP position RMSE (mm, per-axis) | 12.38 |
+| EE position RMS L2 (mm) | 23.79 |
+| TCP rotvec (mrad) | 560.43 |
+| W1 effort mean (A) | 0.9260 |
+| W1 effort per joint (A) | j0=0.2059, j1=1.4940, j2=1.5715, j3=0.8432, j4=0.5277, j5=0.9138 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00171 | -0.00380 | -0.00077 | 0.00424 | 0.036 |
+| 1 | 0.00211 | -0.00429 | -0.00065 | 0.00483 | 0.043 |
+| 2 | 0.00209 | -0.00429 | -0.00075 | 0.00483 | 0.032 |
+| 3 | 0.00215 | -0.00384 | -0.00135 | 0.00460 | 0.086 |
+| 4 | 0.00149 | -0.00328 | -0.00171 | 0.00399 | 0.139 |
+| 5 | 0.00184 | -0.00351 | -0.00102 | 0.00409 | 33.766 |
+| 6 | 0.00246 | -0.00237 | -0.00170 | 0.00382 | 33.689 |
+| 7 | 0.00226 | -0.00346 | -0.00018 | 0.00414 | 33.683 |
+| 8 | 0.00193 | -0.00374 | -0.00032 | 0.00422 | 33.755 |
+| 9 | -0.00001 | -0.00015 | -0.00028 | 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.
diff --git a/gap_reports/gap_39281ce9-ee33-42f5-9849-54cf69f5b8eb.md b/gap_reports/gap_39281ce9-ee33-42f5-9849-54cf69f5b8eb.md
new file mode 100644
index 0000000000000000000000000000000000000000..559152be73f33af4d36daed6f3555e04f62427f9
--- /dev/null
+++ b/gap_reports/gap_39281ce9-ee33-42f5-9849-54cf69f5b8eb.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/39281ce9-ee33-42f5-9849-54cf69f5b8eb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/39281ce9-ee33-42f5-9849-54cf69f5b8eb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2756 |
+| Sim rows | 247 |
+| Real episode_id | `39281ce9-ee33-42f5-9849-54cf69f5b8eb` |
+| Sim episode_id | `39281ce9-ee33-42f5-9849-54cf69f5b8eb` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.234 | 10.33 | 17.90 | 1966.16 | 0.5758 |
+| 1 | descend | 375 | 33 | 1.109 | 7.23 | 12.52 | 3625.36 | 0.7129 |
+| 2 | settle | 360 | 32 | 0.025 | 0.76 | 1.32 | 3625.13 | 0.6330 |
+| 3 | close | 170 | 15 | 0.758 | 4.94 | 8.56 | 3625.65 | 0.9845 |
+| 4 | lift | 374 | 33 | 2.583 | 12.71 | 22.01 | 2334.23 | 1.0943 |
+| 5 | move_xy | 347 | 31 | 4.718 | 25.93 | 44.91 | 2866.89 | 0.9153 |
+| 6 | lower | 400 | 35 | 0.084 | 1.30 | 2.25 | 3625.92 | 1.0329 |
+| 7 | open | 170 | 16 | 0.774 | 4.96 | 8.59 | 3625.31 | 0.7347 |
+| 8 | retract | 373 | 33 | 2.460 | 12.19 | 21.11 | 2275.92 | 0.7171 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.170 |
+| TCP position RMSE (mm, per-axis) | 11.51 |
+| EE position RMS L2 (mm) | 20.81 |
+| TCP rotvec (mrad) | 3134.64 |
+| W1 effort mean (A) | 0.8137 |
+| W1 effort per joint (A) | j0=0.2380, j1=1.3601, j2=1.6261, j3=0.7627, j4=0.2556, j5=0.6394 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00043 | -0.00038 | -0.00076 | 0.00095 | 0.042 |
+| 1 | 0.00041 | -0.00073 | -0.00100 | 0.00131 | 0.048 |
+| 2 | 0.00040 | -0.00072 | -0.00103 | 0.00132 | 0.050 |
+| 3 | 0.00096 | -0.00077 | -0.00227 | 0.00258 | 0.206 |
+| 4 | 0.00019 | -0.00020 | -0.00021 | 0.00035 | 0.097 |
+| 5 | 0.00126 | -0.00102 | -0.00150 | 0.00221 | 0.113 |
+| 6 | 0.00109 | -0.00121 | -0.00167 | 0.00233 | 0.143 |
+| 7 | 0.00029 | -0.00046 | -0.00078 | 0.00095 | 0.040 |
+| 8 | -0.00009 | -0.00011 | -0.00014 | 0.00020 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3937185c-dab6-42a7-842c-7f443d65123d.md b/gap_reports/gap_3937185c-dab6-42a7-842c-7f443d65123d.md
new file mode 100644
index 0000000000000000000000000000000000000000..ebd45cf5da6ef4bb09bb1f74402795353f0298a0
--- /dev/null
+++ b/gap_reports/gap_3937185c-dab6-42a7-842c-7f443d65123d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3937185c-dab6-42a7-842c-7f443d65123d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3937185c-dab6-42a7-842c-7f443d65123d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3079 |
+| Sim rows | 272 |
+| Real episode_id | `3937185c-dab6-42a7-842c-7f443d65123d` |
+| Sim episode_id | `3937185c-dab6-42a7-842c-7f443d65123d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 252 | 22 | 3.853 | 16.46 | 28.51 | 1990.93 | 0.5869 |
+| 1 | descend | 603 | 52 | 0.899 | 5.96 | 10.33 | 3610.35 | 0.7493 |
+| 2 | settle | 382 | 34 | 0.025 | 0.82 | 1.41 | 3625.23 | 0.6189 |
+| 3 | close | 154 | 14 | 1.135 | 7.01 | 12.15 | 3286.50 | 0.9895 |
+| 4 | lift | 339 | 30 | 3.494 | 16.08 | 27.85 | 2165.46 | 1.1115 |
+| 5 | move_xy | 463 | 40 | 8.643 | 42.34 | 73.34 | 2663.71 | 0.8800 |
+| 6 | lower | 390 | 34 | 0.094 | 1.54 | 2.67 | 3277.80 | 0.9250 |
+| 7 | open | 155 | 14 | 0.897 | 5.83 | 10.09 | 3625.53 | 0.6378 |
+| 8 | retract | 341 | 30 | 3.509 | 16.09 | 27.86 | 2444.20 | 0.7386 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.605 |
+| TCP position RMSE (mm, per-axis) | 17.33 |
+| EE position RMS L2 (mm) | 32.88 |
+| TCP rotvec (mrad) | 3029.28 |
+| W1 effort mean (A) | 0.7741 |
+| W1 effort per joint (A) | j0=0.2578, j1=1.3061, j2=1.4618, j3=0.7232, j4=0.2999, j5=0.5958 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00084 | -0.00017 | -0.00063 | 0.00107 | 0.032 |
+| 1 | 0.00055 | -0.00062 | -0.00097 | 0.00128 | 0.071 |
+| 2 | 0.00087 | -0.00059 | -0.00096 | 0.00142 | 0.048 |
+| 3 | 0.00132 | -0.00015 | -0.00134 | 0.00189 | 0.123 |
+| 4 | 0.00020 | -0.00022 | -0.00026 | 0.00040 | 0.108 |
+| 5 | 0.00169 | -0.00081 | -0.00078 | 0.00203 | 0.125 |
+| 6 | 0.00230 | -0.00078 | -0.00228 | 0.00333 | 0.212 |
+| 7 | 0.00068 | -0.00023 | -0.00080 | 0.00107 | 0.058 |
+| 8 | -0.00011 | -0.00019 | -0.00020 | 0.00030 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_393b7fb0-75fb-4e5b-9329-e5e2b3cfd1a0.md b/gap_reports/gap_393b7fb0-75fb-4e5b-9329-e5e2b3cfd1a0.md
new file mode 100644
index 0000000000000000000000000000000000000000..d3ad2f627b35363999bf23d2e06bf390060b1163
--- /dev/null
+++ b/gap_reports/gap_393b7fb0-75fb-4e5b-9329-e5e2b3cfd1a0.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/393b7fb0-75fb-4e5b-9329-e5e2b3cfd1a0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/393b7fb0-75fb-4e5b-9329-e5e2b3cfd1a0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1638 |
+| Sim rows | 167 |
+| Real episode_id | `393b7fb0-75fb-4e5b-9329-e5e2b3cfd1a0` |
+| Sim episode_id | `393b7fb0-75fb-4e5b-9329-e5e2b3cfd1a0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 141 | 14 | 2.256 | 11.20 | 19.40 | 1433.64 | 0.7086 |
+| 1 | descend | 71 | 8 | 0.868 | 4.46 | 7.73 | 4.90 | 0.6003 |
+| 2 | settle | 31 | 4 | 0.018 | 2.97 | 5.14 | 5.07 | 0.5931 |
+| 3 | close | 382 | 37 | 0.093 | 3.45 | 5.97 | 1254.61 | 0.9978 |
+| 4 | lift | 71 | 8 | 0.887 | 4.36 | 7.54 | 1112.75 | 1.1345 |
+| 5 | move_xy | 185 | 19 | 6.161 | 37.07 | 64.20 | 252.26 | 1.0830 |
+| 6 | lower | 72 | 8 | 0.703 | 3.89 | 6.73 | 5.49 | 1.0540 |
+| 7 | open | 375 | 37 | 0.029 | 2.21 | 3.84 | 5.55 | 0.7492 |
+| 8 | retract | 71 | 8 | 0.627 | 3.72 | 6.44 | 5.01 | 0.8298 |
+| 9 | return | 239 | 24 | 2.911 | 19.88 | 34.44 | 896.10 | 0.7135 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.323 |
+| TCP position RMSE (mm, per-axis) | 14.10 |
+| EE position RMS L2 (mm) | 26.31 |
+| TCP rotvec (mrad) | 757.26 |
+| W1 effort mean (A) | 0.8334 |
+| W1 effort per joint (A) | j0=0.1799, j1=1.6608, j2=1.5015, j3=0.7616, j4=0.3726, 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 | 0.00143 | -0.00446 | -0.00070 | 0.00473 | 0.032 |
+| 1 | 0.00168 | -0.00483 | -0.00062 | 0.00515 | 0.062 |
+| 2 | 0.00167 | -0.00481 | -0.00078 | 0.00515 | 0.034 |
+| 3 | 0.00235 | -0.00510 | -0.00165 | 0.00585 | 0.147 |
+| 4 | 0.00190 | -0.00479 | -0.00143 | 0.00535 | 0.173 |
+| 5 | 0.00179 | -0.00283 | -0.00087 | 0.00346 | 0.195 |
+| 6 | 0.00208 | -0.00246 | -0.00172 | 0.00365 | 0.155 |
+| 7 | 0.00247 | -0.00290 | -0.00044 | 0.00383 | 0.061 |
+| 8 | 0.00224 | -0.00319 | -0.00061 | 0.00395 | 0.071 |
+| 9 | -0.00004 | -0.00016 | -0.00035 | 0.00039 | 0.043 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_395aa0ac-c875-41a6-b71e-7481cc5f0198.md b/gap_reports/gap_395aa0ac-c875-41a6-b71e-7481cc5f0198.md
new file mode 100644
index 0000000000000000000000000000000000000000..967576cda464ec0616790c57b67d3343c38d20ed
--- /dev/null
+++ b/gap_reports/gap_395aa0ac-c875-41a6-b71e-7481cc5f0198.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/395aa0ac-c875-41a6-b71e-7481cc5f0198.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/395aa0ac-c875-41a6-b71e-7481cc5f0198.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 470 |
+| Sim rows | 63 |
+| Real episode_id | `395aa0ac-c875-41a6-b71e-7481cc5f0198` |
+| Sim episode_id | `395aa0ac-c875-41a6-b71e-7481cc5f0198` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 259 | 26 | 3.521 | 18.55 | 32.13 | 10.69 | 0.7417 |
+| 1 | descend | 211 | 21 | 0.025 | 0.40 | 0.69 | 2.14 | 0.8005 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.490 |
+| TCP position RMSE (mm, per-axis) | 13.12 |
+| EE position RMS L2 (mm) | 23.86 |
+| TCP rotvec (mrad) | 7.71 |
+| W1 effort mean (A) | 0.7680 |
+| W1 effort per joint (A) | j0=0.1537, j1=1.6445, j2=1.6934, j3=0.8712, j4=0.0965, j5=0.1484 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00024 | -0.00008 | 0.00080 | 0.00084 | 0.047 |
+| 1 | 0.00003 | -0.00012 | 0.00065 | 0.00067 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_397f4881-cfaf-4df2-b953-cfa5bc53045c.md b/gap_reports/gap_397f4881-cfaf-4df2-b953-cfa5bc53045c.md
new file mode 100644
index 0000000000000000000000000000000000000000..32aef4ba1dce16a47183c5adbb0c49f9edfa4edd
--- /dev/null
+++ b/gap_reports/gap_397f4881-cfaf-4df2-b953-cfa5bc53045c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/397f4881-cfaf-4df2-b953-cfa5bc53045c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/397f4881-cfaf-4df2-b953-cfa5bc53045c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3069 |
+| Sim rows | 269 |
+| Real episode_id | `397f4881-cfaf-4df2-b953-cfa5bc53045c` |
+| Sim episode_id | `397f4881-cfaf-4df2-b953-cfa5bc53045c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 260 | 23 | 3.094 | 14.77 | 25.58 | 1840.17 | 0.6480 |
+| 1 | descend | 539 | 47 | 0.657 | 4.80 | 8.31 | 3624.76 | 0.8736 |
+| 2 | settle | 372 | 32 | 0.027 | 1.02 | 1.77 | 3624.60 | 0.7016 |
+| 3 | close | 155 | 14 | 1.030 | 7.02 | 12.15 | 3625.21 | 1.0489 |
+| 4 | lift | 360 | 31 | 2.811 | 14.49 | 25.10 | 2454.55 | 1.1649 |
+| 5 | move_xy | 461 | 40 | 8.169 | 45.05 | 78.03 | 2769.01 | 0.9682 |
+| 6 | lower | 406 | 35 | 0.087 | 1.70 | 2.95 | 3625.17 | 1.0771 |
+| 7 | open | 156 | 14 | 1.022 | 6.98 | 12.08 | 3624.74 | 0.7907 |
+| 8 | retract | 360 | 31 | 2.878 | 14.91 | 25.83 | 2454.06 | 0.7779 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.249 |
+| TCP position RMSE (mm, per-axis) | 17.65 |
+| EE position RMS L2 (mm) | 33.92 |
+| TCP rotvec (mrad) | 3141.13 |
+| W1 effort mean (A) | 0.8796 |
+| W1 effort per joint (A) | j0=0.2636, j1=1.6659, j2=1.6716, j3=0.7843, j4=0.2836, j5=0.6083 |
+
+## Phase-end anchor (sim - 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 | -0.00022 | -0.00078 | 0.00134 | 0.032 |
+| 1 | 0.00110 | -0.00064 | -0.00119 | 0.00175 | 0.056 |
+| 2 | 0.00116 | -0.00068 | -0.00115 | 0.00177 | 0.053 |
+| 3 | 0.00199 | -0.00024 | -0.00190 | 0.00276 | 0.167 |
+| 4 | 0.00020 | -0.00022 | -0.00028 | 0.00041 | 0.098 |
+| 5 | 0.00245 | -0.00098 | -0.00196 | 0.00329 | 0.186 |
+| 6 | 0.00228 | -0.00098 | -0.00161 | 0.00296 | 0.158 |
+| 7 | 0.00088 | -0.00027 | -0.00100 | 0.00136 | 0.064 |
+| 8 | -0.00011 | -0.00019 | -0.00018 | 0.00029 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_399b476e-7ca3-4b03-a900-21ab69e011a7.md b/gap_reports/gap_399b476e-7ca3-4b03-a900-21ab69e011a7.md
new file mode 100644
index 0000000000000000000000000000000000000000..f2cd75044360c3943a98b0285de282de4dc14e94
--- /dev/null
+++ b/gap_reports/gap_399b476e-7ca3-4b03-a900-21ab69e011a7.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/399b476e-7ca3-4b03-a900-21ab69e011a7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/399b476e-7ca3-4b03-a900-21ab69e011a7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1675 |
+| Sim rows | 170 |
+| Real episode_id | `399b476e-7ca3-4b03-a900-21ab69e011a7` |
+| Sim episode_id | `399b476e-7ca3-4b03-a900-21ab69e011a7` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 173 | 17 | 5.688 | 15.70 | 27.20 | 1417.80 | 0.7987 |
+| 1 | descend | 79 | 8 | 0.528 | 3.17 | 5.50 | 4.28 | 0.6001 |
+| 2 | settle | 29 | 4 | 0.021 | 2.53 | 4.38 | 4.91 | 0.6013 |
+| 3 | close | 392 | 39 | 0.120 | 2.31 | 4.01 | 6.65 | 1.0745 |
+| 4 | lift | 81 | 9 | 0.807 | 3.91 | 6.78 | 5.66 | 1.1369 |
+| 5 | move_xy | 193 | 19 | 8.508 | 30.95 | 53.60 | 102.96 | 1.1272 |
+| 6 | lower | 79 | 9 | 0.849 | 4.25 | 7.36 | 7.86 | 1.1182 |
+| 7 | open | 373 | 36 | 0.027 | 2.26 | 3.91 | 4.83 | 0.6141 |
+| 8 | retract | 81 | 9 | 0.842 | 4.29 | 7.44 | 4.00 | 0.7011 |
+| 9 | return | 195 | 20 | 2.509 | 14.32 | 24.80 | 764.10 | 0.7847 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.368 |
+| TCP position RMSE (mm, per-axis) | 12.20 |
+| EE position RMS L2 (mm) | 22.26 |
+| TCP rotvec (mrad) | 510.37 |
+| W1 effort mean (A) | 0.8593 |
+| W1 effort per joint (A) | j0=0.1873, j1=1.5283, j2=1.5570, j3=1.0876, j4=0.2056, j5=0.5898 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00126 | -0.00359 | -0.00091 | 0.00391 | 0.048 |
+| 1 | 0.00155 | -0.00399 | -0.00077 | 0.00435 | 0.040 |
+| 2 | 0.00154 | -0.00399 | -0.00093 | 0.00438 | 0.035 |
+| 3 | 0.00048 | -0.00403 | -0.00020 | 0.00407 | 0.204 |
+| 4 | 0.00021 | -0.00352 | -0.00071 | 0.00359 | 0.193 |
+| 5 | 0.00153 | -0.00257 | -0.00046 | 0.00303 | 0.213 |
+| 6 | 0.00211 | -0.00169 | -0.00185 | 0.00327 | 0.299 |
+| 7 | 0.00228 | -0.00315 | -0.00014 | 0.00389 | 0.041 |
+| 8 | 0.00184 | -0.00344 | -0.00025 | 0.00391 | 0.053 |
+| 9 | -0.00000 | -0.00015 | -0.00028 | 0.00032 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_39a0ac68-c05b-4978-a9ae-e2b14feca24a.md b/gap_reports/gap_39a0ac68-c05b-4978-a9ae-e2b14feca24a.md
new file mode 100644
index 0000000000000000000000000000000000000000..ce29104d8e9bad79e624b4feb586f74056829771
--- /dev/null
+++ b/gap_reports/gap_39a0ac68-c05b-4978-a9ae-e2b14feca24a.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/39a0ac68-c05b-4978-a9ae-e2b14feca24a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/39a0ac68-c05b-4978-a9ae-e2b14feca24a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 477 |
+| Sim rows | 64 |
+| Real episode_id | `39a0ac68-c05b-4978-a9ae-e2b14feca24a` |
+| Sim episode_id | `39a0ac68-c05b-4978-a9ae-e2b14feca24a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 267 | 27 | 4.182 | 20.18 | 34.95 | 1162.68 | 0.7913 |
+| 1 | descend | 210 | 21 | 0.026 | 6.13 | 10.63 | 1.63 | 0.7852 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.957 |
+| TCP position RMSE (mm, per-axis) | 14.91 |
+| EE position RMS L2 (mm) | 27.08 |
+| TCP rotvec (mrad) | 822.14 |
+| W1 effort mean (A) | 0.7869 |
+| W1 effort per joint (A) | j0=0.1792, j1=1.7712, j2=1.6391, j3=0.7947, j4=0.2083, j5=0.1287 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00873 | -0.00609 | -0.00037 | 0.01065 | 0.048 |
+| 1 | -0.00861 | -0.00619 | -0.00050 | 0.01061 | 0.050 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_39cd9b7c-0fc3-43db-8cf1-fe637823aa61.md b/gap_reports/gap_39cd9b7c-0fc3-43db-8cf1-fe637823aa61.md
new file mode 100644
index 0000000000000000000000000000000000000000..57d450e0f7877d2e2fd7e78d0dbd7f2fd0af8abc
--- /dev/null
+++ b/gap_reports/gap_39cd9b7c-0fc3-43db-8cf1-fe637823aa61.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/39cd9b7c-0fc3-43db-8cf1-fe637823aa61.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/39cd9b7c-0fc3-43db-8cf1-fe637823aa61.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2160 |
+| Sim rows | 219 |
+| Real episode_id | `39cd9b7c-0fc3-43db-8cf1-fe637823aa61` |
+| Sim episode_id | `39cd9b7c-0fc3-43db-8cf1-fe637823aa61` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 164 | 17 | 2.607 | 13.78 | 23.86 | 1919.83 | 0.6298 |
+| 1 | descend | 252 | 25 | 0.988 | 6.93 | 12.01 | 3624.72 | 0.8150 |
+| 2 | settle | 314 | 31 | 0.026 | 0.97 | 1.68 | 3624.60 | 0.7095 |
+| 3 | close | 134 | 14 | 0.746 | 5.09 | 8.82 | 3625.30 | 1.0124 |
+| 4 | lift | 272 | 27 | 1.978 | 10.73 | 18.58 | 2273.96 | 1.1323 |
+| 5 | move_xy | 278 | 28 | 6.046 | 34.94 | 60.51 | 2784.28 | 0.8983 |
+| 6 | lower | 339 | 34 | 0.092 | 1.68 | 2.91 | 3625.21 | 1.0216 |
+| 7 | open | 132 | 14 | 0.740 | 5.18 | 8.97 | 3624.69 | 0.7612 |
+| 8 | retract | 275 | 27 | 2.246 | 12.51 | 21.67 | 2292.60 | 0.7513 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.458 |
+| TCP position RMSE (mm, per-axis) | 14.09 |
+| EE position RMS L2 (mm) | 25.42 |
+| TCP rotvec (mrad) | 3119.20 |
+| W1 effort mean (A) | 0.8452 |
+| W1 effort per joint (A) | j0=0.2146, j1=1.5664, j2=1.7088, j3=0.7645, j4=0.2507, j5=0.5662 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00094 | -0.00035 | -0.00075 | 0.00125 | 0.036 |
+| 1 | 0.00089 | -0.00073 | -0.00120 | 0.00166 | 0.057 |
+| 2 | 0.00095 | -0.00076 | -0.00118 | 0.00170 | 0.055 |
+| 3 | 0.00187 | -0.00048 | -0.00132 | 0.00234 | 0.130 |
+| 4 | 0.00037 | 0.00026 | -0.00009 | 0.00046 | 0.096 |
+| 5 | 0.00185 | -0.00107 | -0.00147 | 0.00260 | 0.117 |
+| 6 | 0.00222 | -0.00116 | -0.00173 | 0.00304 | 0.168 |
+| 7 | 0.00081 | -0.00042 | -0.00095 | 0.00132 | 0.040 |
+| 8 | -0.00015 | -0.00024 | -0.00023 | 0.00036 | 0.043 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_39d76331-f04b-4270-9157-813a93025e83.md b/gap_reports/gap_39d76331-f04b-4270-9157-813a93025e83.md
new file mode 100644
index 0000000000000000000000000000000000000000..b61d1f7a30128b31a437cd9cd6e2fe1d0198a303
--- /dev/null
+++ b/gap_reports/gap_39d76331-f04b-4270-9157-813a93025e83.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/39d76331-f04b-4270-9157-813a93025e83.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/39d76331-f04b-4270-9157-813a93025e83.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 651 |
+| Sim rows | 80 |
+| Real episode_id | `39d76331-f04b-4270-9157-813a93025e83` |
+| Sim episode_id | `39d76331-f04b-4270-9157-813a93025e83` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 440 | 43 | 2.408 | 11.95 | 20.69 | 6.02 | 0.8210 |
+| 1 | descend | 211 | 21 | 0.024 | 2.23 | 3.86 | 2.13 | 0.6839 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.703 |
+| TCP position RMSE (mm, per-axis) | 8.59 |
+| EE position RMS L2 (mm) | 17.15 |
+| TCP rotvec (mrad) | 4.51 |
+| W1 effort mean (A) | 0.7765 |
+| W1 effort per joint (A) | j0=0.1838, j1=1.7088, j2=1.6564, j3=0.8030, j4=0.1198, j5=0.1875 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00340 | 0.00151 | 0.00041 | 0.00374 | 0.064 |
+| 1 | 0.00352 | 0.00153 | 0.00055 | 0.00387 | 0.047 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3a051d52-086f-4943-bd53-28a5fdfb32d1.md b/gap_reports/gap_3a051d52-086f-4943-bd53-28a5fdfb32d1.md
new file mode 100644
index 0000000000000000000000000000000000000000..3f834929bc1d58e24019260af7bd228d64ef6768
--- /dev/null
+++ b/gap_reports/gap_3a051d52-086f-4943-bd53-28a5fdfb32d1.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a051d52-086f-4943-bd53-28a5fdfb32d1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a051d52-086f-4943-bd53-28a5fdfb32d1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2863 |
+| Sim rows | 253 |
+| Real episode_id | `3a051d52-086f-4943-bd53-28a5fdfb32d1` |
+| Sim episode_id | `3a051d52-086f-4943-bd53-28a5fdfb32d1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.950 | 11.55 | 20.00 | 2.85 | 0.5663 |
+| 1 | descend | 330 | 29 | 1.335 | 8.11 | 14.05 | 4.27 | 0.7666 |
+| 2 | settle | 372 | 32 | 0.023 | 0.79 | 1.37 | 4.41 | 0.6806 |
+| 3 | close | 138 | 13 | 0.821 | 5.01 | 8.68 | 5.89 | 0.8843 |
+| 4 | lift | 400 | 35 | 3.041 | 12.38 | 21.44 | 4.49 | 1.0831 |
+| 5 | move_xy | 442 | 38 | 6.792 | 30.72 | 53.21 | 4.94 | 0.9142 |
+| 6 | lower | 408 | 35 | 0.089 | 1.37 | 2.37 | 6.78 | 0.9506 |
+| 7 | open | 139 | 13 | 0.872 | 5.29 | 9.16 | 4.53 | 0.6255 |
+| 8 | retract | 400 | 35 | 3.077 | 12.58 | 21.78 | 3.03 | 0.6904 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.921 |
+| TCP position RMSE (mm, per-axis) | 12.95 |
+| EE position RMS L2 (mm) | 25.14 |
+| TCP rotvec (mrad) | 4.72 |
+| W1 effort mean (A) | 0.7882 |
+| W1 effort per joint (A) | j0=0.2901, j1=1.1542, j2=1.4565, j3=0.6923, j4=0.5371, j5=0.5988 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00066 | -0.00060 | -0.00047 | 0.00101 | 0.025 |
+| 1 | 0.00072 | -0.00084 | -0.00075 | 0.00133 | 0.034 |
+| 2 | 0.00072 | -0.00088 | -0.00074 | 0.00136 | 0.036 |
+| 3 | 0.00113 | -0.00070 | -0.00059 | 0.00145 | 0.092 |
+| 4 | 0.00011 | -0.00045 | -0.00066 | 0.00081 | 0.095 |
+| 5 | 0.00159 | -0.00106 | -0.00150 | 0.00242 | 0.124 |
+| 6 | 0.00159 | -0.00112 | -0.00120 | 0.00228 | 0.131 |
+| 7 | 0.00051 | -0.00058 | -0.00052 | 0.00093 | 0.036 |
+| 8 | -0.00006 | -0.00005 | -0.00011 | 0.00013 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3a231070-293e-4bc7-8bc2-156fd32a4e96.md b/gap_reports/gap_3a231070-293e-4bc7-8bc2-156fd32a4e96.md
new file mode 100644
index 0000000000000000000000000000000000000000..65979ca3dbe6be3ca39f0b11283e9a46a85ee51c
--- /dev/null
+++ b/gap_reports/gap_3a231070-293e-4bc7-8bc2-156fd32a4e96.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a231070-293e-4bc7-8bc2-156fd32a4e96.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a231070-293e-4bc7-8bc2-156fd32a4e96.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2681 |
+| Sim rows | 238 |
+| Real episode_id | `3a231070-293e-4bc7-8bc2-156fd32a4e96` |
+| Sim episode_id | `3a231070-293e-4bc7-8bc2-156fd32a4e96` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 218 | 19 | 2.740 | 15.17 | 26.27 | 1964.06 | 0.6105 |
+| 1 | descend | 338 | 30 | 1.071 | 7.38 | 12.78 | 3624.71 | 0.7583 |
+| 2 | settle | 376 | 33 | 0.027 | 0.97 | 1.68 | 3624.52 | 0.7742 |
+| 3 | close | 162 | 15 | 1.101 | 7.55 | 13.09 | 3625.13 | 1.0417 |
+| 4 | lift | 307 | 27 | 2.454 | 13.85 | 23.99 | 2412.75 | 1.1143 |
+| 5 | move_xy | 406 | 35 | 5.723 | 34.52 | 59.78 | 2838.69 | 0.9762 |
+| 6 | lower | 404 | 35 | 0.097 | 1.72 | 2.97 | 3625.11 | 1.0480 |
+| 7 | open | 162 | 15 | 1.178 | 8.08 | 13.99 | 3624.73 | 0.7491 |
+| 8 | retract | 308 | 27 | 2.388 | 13.67 | 23.68 | 2399.91 | 0.7539 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.489 |
+| TCP position RMSE (mm, per-axis) | 14.84 |
+| EE position RMS L2 (mm) | 27.79 |
+| TCP rotvec (mrad) | 3148.09 |
+| W1 effort mean (A) | 0.8606 |
+| W1 effort per joint (A) | j0=0.2326, j1=1.6070, j2=1.6762, j3=0.7638, j4=0.2905, j5=0.5936 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00077 | -0.00043 | -0.00066 | 0.00110 | 0.026 |
+| 1 | 0.00077 | -0.00088 | -0.00124 | 0.00170 | 0.058 |
+| 2 | 0.00080 | -0.00087 | -0.00120 | 0.00168 | 0.052 |
+| 3 | 0.00155 | -0.00041 | -0.00057 | 0.00170 | 0.127 |
+| 4 | 0.00038 | -0.00025 | -0.00035 | 0.00057 | 0.127 |
+| 5 | 0.00206 | -0.00109 | -0.00149 | 0.00276 | 0.185 |
+| 6 | 0.00276 | -0.00123 | -0.00175 | 0.00349 | 0.267 |
+| 7 | 0.00062 | -0.00054 | -0.00099 | 0.00128 | 0.064 |
+| 8 | -0.00012 | -0.00022 | -0.00021 | 0.00032 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3a2e5f83-a6fb-4c78-ad81-2202b76ff847.md b/gap_reports/gap_3a2e5f83-a6fb-4c78-ad81-2202b76ff847.md
new file mode 100644
index 0000000000000000000000000000000000000000..c7a849676f9583d27cc922fdffd611ae124c6617
--- /dev/null
+++ b/gap_reports/gap_3a2e5f83-a6fb-4c78-ad81-2202b76ff847.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a2e5f83-a6fb-4c78-ad81-2202b76ff847.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a2e5f83-a6fb-4c78-ad81-2202b76ff847.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1616 |
+| Sim rows | 162 |
+| Real episode_id | `3a2e5f83-a6fb-4c78-ad81-2202b76ff847` |
+| Sim episode_id | `3a2e5f83-a6fb-4c78-ad81-2202b76ff847` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 158 | 16 | 2.929 | 14.78 | 25.60 | 323.83 | 0.7012 |
+| 1 | descend | 76 | 8 | 0.589 | 3.60 | 6.23 | 4.59 | 0.6763 |
+| 2 | settle | 35 | 4 | 0.025 | 2.28 | 3.95 | 5.16 | 0.6675 |
+| 3 | close | 379 | 37 | 0.095 | 2.06 | 3.57 | 6.78 | 1.0749 |
+| 4 | lift | 75 | 8 | 0.587 | 3.38 | 5.85 | 6.22 | 1.2087 |
+| 5 | move_xy | 190 | 19 | 2.703 | 17.11 | 29.64 | 77.59 | 1.2071 |
+| 6 | lower | 76 | 8 | 0.588 | 4.50 | 7.80 | 8.44 | 1.1112 |
+| 7 | open | 359 | 35 | 0.031 | 3.16 | 5.47 | 6.11 | 0.7190 |
+| 8 | retract | 75 | 8 | 0.618 | 4.13 | 7.16 | 5.67 | 0.7843 |
+| 9 | return | 193 | 19 | 2.422 | 15.71 | 27.21 | 380.40 | 0.7702 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.523 |
+| TCP position RMSE (mm, per-axis) | 9.16 |
+| EE position RMS L2 (mm) | 16.57 |
+| TCP rotvec (mrad) | 159.96 |
+| W1 effort mean (A) | 0.8790 |
+| W1 effort per joint (A) | j0=0.1393, j1=1.8481, j2=1.6450, j3=0.8752, j4=0.1967, j5=0.5697 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00196 | -0.00323 | 0.00007 | 0.00378 | 0.053 |
+| 1 | 0.00246 | -0.00309 | -0.00017 | 0.00395 | 0.042 |
+| 2 | 0.00244 | -0.00312 | -0.00028 | 0.00397 | 0.056 |
+| 3 | 0.00256 | -0.00236 | -0.00099 | 0.00362 | 0.170 |
+| 4 | 0.00225 | -0.00270 | -0.00043 | 0.00354 | 0.155 |
+| 5 | 0.00270 | -0.00493 | -0.00122 | 0.00576 | 0.176 |
+| 6 | 0.00348 | -0.00486 | -0.00240 | 0.00644 | 0.228 |
+| 7 | 0.00218 | -0.00489 | -0.00125 | 0.00550 | 0.060 |
+| 8 | 0.00168 | -0.00474 | -0.00141 | 0.00522 | 0.070 |
+| 9 | -0.00020 | -0.00013 | -0.00030 | 0.00038 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3a2fec83-2fc8-4c7e-8b3d-5bf9cde873e4.md b/gap_reports/gap_3a2fec83-2fc8-4c7e-8b3d-5bf9cde873e4.md
new file mode 100644
index 0000000000000000000000000000000000000000..51faa2b5a8c65262f84a9debca08cd1253223beb
--- /dev/null
+++ b/gap_reports/gap_3a2fec83-2fc8-4c7e-8b3d-5bf9cde873e4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a2fec83-2fc8-4c7e-8b3d-5bf9cde873e4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a2fec83-2fc8-4c7e-8b3d-5bf9cde873e4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2560 |
+| Sim rows | 229 |
+| Real episode_id | `3a2fec83-2fc8-4c7e-8b3d-5bf9cde873e4` |
+| Sim episode_id | `3a2fec83-2fc8-4c7e-8b3d-5bf9cde873e4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 185 | 17 | 2.561 | 11.56 | 20.02 | 1922.08 | 0.5883 |
+| 1 | descend | 317 | 28 | 1.431 | 9.28 | 16.08 | 3625.37 | 0.7474 |
+| 2 | settle | 371 | 33 | 0.023 | 0.76 | 1.32 | 3625.25 | 0.6620 |
+| 3 | close | 176 | 16 | 0.801 | 5.20 | 9.00 | 2858.84 | 0.9958 |
+| 4 | lift | 297 | 26 | 3.081 | 14.46 | 25.05 | 2122.32 | 1.1126 |
+| 5 | move_xy | 349 | 31 | 6.309 | 32.65 | 56.55 | 2533.78 | 0.8991 |
+| 6 | lower | 391 | 34 | 0.083 | 1.34 | 2.31 | 3552.01 | 1.0180 |
+| 7 | open | 177 | 16 | 0.775 | 4.95 | 8.58 | 3625.49 | 0.6616 |
+| 8 | retract | 297 | 26 | 3.041 | 14.35 | 24.86 | 2333.10 | 0.7358 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.757 |
+| TCP position RMSE (mm, per-axis) | 13.96 |
+| EE position RMS L2 (mm) | 25.56 |
+| TCP rotvec (mrad) | 2986.67 |
+| W1 effort mean (A) | 0.8144 |
+| W1 effort per joint (A) | j0=0.2155, j1=1.3626, j2=1.6081, j3=0.7770, j4=0.3288, j5=0.5940 |
+
+## Phase-end anchor (sim - 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 | -0.00023 | -0.00063 | 0.00092 | 0.041 |
+| 1 | 0.00061 | -0.00063 | -0.00095 | 0.00130 | 0.044 |
+| 2 | 0.00065 | -0.00066 | -0.00094 | 0.00132 | 0.043 |
+| 3 | 0.00117 | -0.00039 | -0.00063 | 0.00138 | 0.115 |
+| 4 | 0.00056 | 0.00003 | -0.00017 | 0.00059 | 0.146 |
+| 5 | 0.00146 | -0.00096 | -0.00119 | 0.00211 | 0.113 |
+| 6 | 0.00147 | -0.00088 | -0.00197 | 0.00261 | 0.136 |
+| 7 | 0.00051 | -0.00033 | -0.00073 | 0.00095 | 0.034 |
+| 8 | -0.00011 | -0.00017 | -0.00018 | 0.00027 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3a34c922-4abf-48e6-ad13-4c0239460684.md b/gap_reports/gap_3a34c922-4abf-48e6-ad13-4c0239460684.md
new file mode 100644
index 0000000000000000000000000000000000000000..682888ae3ec0332a1042f1314f2d95b2f91fa821
--- /dev/null
+++ b/gap_reports/gap_3a34c922-4abf-48e6-ad13-4c0239460684.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a34c922-4abf-48e6-ad13-4c0239460684.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a34c922-4abf-48e6-ad13-4c0239460684.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2897 |
+| Sim rows | 255 |
+| Real episode_id | `3a34c922-4abf-48e6-ad13-4c0239460684` |
+| Sim episode_id | `3a34c922-4abf-48e6-ad13-4c0239460684` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 196 | 18 | 2.480 | 9.57 | 16.57 | 1972.46 | 0.5681 |
+| 1 | descend | 594 | 51 | 0.980 | 5.81 | 10.06 | 3626.05 | 0.7056 |
+| 2 | settle | 364 | 32 | 0.022 | 0.57 | 0.98 | 3625.94 | 0.7041 |
+| 3 | close | 151 | 14 | 0.979 | 5.82 | 10.08 | 1649.30 | 0.9322 |
+| 4 | lift | 325 | 28 | 2.721 | 11.00 | 19.05 | 1887.52 | 1.0694 |
+| 5 | move_xy | 383 | 33 | 5.476 | 25.32 | 43.85 | 2112.94 | 0.8857 |
+| 6 | lower | 406 | 35 | 0.081 | 1.02 | 1.76 | 1828.53 | 1.0031 |
+| 7 | open | 153 | 14 | 1.147 | 6.70 | 11.61 | 3626.19 | 0.6005 |
+| 8 | retract | 325 | 28 | 2.690 | 10.92 | 18.92 | 2302.02 | 0.6965 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.450 |
+| TCP position RMSE (mm, per-axis) | 10.99 |
+| EE position RMS L2 (mm) | 19.68 |
+| TCP rotvec (mrad) | 2639.99 |
+| W1 effort mean (A) | 0.7816 |
+| W1 effort per joint (A) | j0=0.2585, j1=1.1477, j2=1.5822, j3=0.7382, j4=0.3979, j5=0.5649 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00012 | -0.00036 | -0.00046 | 0.00059 | 0.025 |
+| 1 | 0.00016 | -0.00056 | -0.00076 | 0.00095 | 0.040 |
+| 2 | 0.00018 | -0.00056 | -0.00077 | 0.00097 | 0.037 |
+| 3 | 0.00048 | -0.00061 | -0.00138 | 0.00159 | 0.147 |
+| 4 | 0.00029 | -0.00027 | -0.00041 | 0.00057 | 0.108 |
+| 5 | 0.00078 | -0.00090 | -0.00128 | 0.00175 | 0.108 |
+| 6 | 0.00067 | -0.00085 | -0.00146 | 0.00182 | 0.103 |
+| 7 | -0.00005 | -0.00041 | -0.00052 | 0.00066 | 0.035 |
+| 8 | -0.00006 | -0.00008 | -0.00014 | 0.00017 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3a486efe-1229-41b5-b5b4-48fa4899657d.md b/gap_reports/gap_3a486efe-1229-41b5-b5b4-48fa4899657d.md
new file mode 100644
index 0000000000000000000000000000000000000000..8d5fe5c4e69d5bd2aacf3c351623a1fbf4b44305
--- /dev/null
+++ b/gap_reports/gap_3a486efe-1229-41b5-b5b4-48fa4899657d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a486efe-1229-41b5-b5b4-48fa4899657d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a486efe-1229-41b5-b5b4-48fa4899657d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2890 |
+| Sim rows | 255 |
+| Real episode_id | `3a486efe-1229-41b5-b5b4-48fa4899657d` |
+| Sim episode_id | `3a486efe-1229-41b5-b5b4-48fa4899657d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 249 | 22 | 3.241 | 11.58 | 20.06 | 1949.86 | 0.5787 |
+| 1 | descend | 399 | 35 | 0.856 | 5.30 | 9.18 | 3626.02 | 0.6612 |
+| 2 | settle | 366 | 32 | 0.021 | 0.66 | 1.15 | 3625.97 | 0.6462 |
+| 3 | close | 117 | 11 | 0.863 | 5.12 | 8.86 | 1978.15 | 0.9467 |
+| 4 | lift | 407 | 35 | 2.404 | 10.04 | 17.39 | 1865.64 | 1.0944 |
+| 5 | move_xy | 434 | 38 | 7.679 | 33.52 | 58.06 | 1971.92 | 0.8675 |
+| 6 | lower | 392 | 34 | 0.082 | 1.22 | 2.12 | 1461.68 | 0.8690 |
+| 7 | open | 118 | 11 | 0.676 | 3.94 | 6.82 | 3626.18 | 0.5787 |
+| 8 | retract | 408 | 35 | 2.674 | 10.93 | 18.93 | 2220.40 | 0.7082 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.061 |
+| TCP position RMSE (mm, per-axis) | 13.12 |
+| EE position RMS L2 (mm) | 25.53 |
+| TCP rotvec (mrad) | 2616.10 |
+| W1 effort mean (A) | 0.7629 |
+| W1 effort per joint (A) | j0=0.2372, j1=1.1693, j2=1.4962, j3=0.6951, j4=0.3751, j5=0.6045 |
+
+## Phase-end anchor (sim - 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 | -0.00026 | -0.00042 | 0.00082 | 0.030 |
+| 1 | 0.00067 | -0.00054 | -0.00076 | 0.00114 | 0.040 |
+| 2 | 0.00068 | -0.00057 | -0.00072 | 0.00114 | 0.037 |
+| 3 | 0.00089 | -0.00034 | -0.00023 | 0.00098 | 0.091 |
+| 4 | 0.00046 | 0.00002 | -0.00035 | 0.00058 | 0.120 |
+| 5 | 0.00197 | -0.00062 | -0.00164 | 0.00264 | 0.184 |
+| 6 | 0.00125 | -0.00075 | -0.00104 | 0.00179 | 0.090 |
+| 7 | 0.00043 | -0.00025 | -0.00048 | 0.00069 | 0.033 |
+| 8 | -0.00009 | -0.00011 | -0.00014 | 0.00020 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3a5c494d-a9ac-405b-a718-168b806238cc.md b/gap_reports/gap_3a5c494d-a9ac-405b-a718-168b806238cc.md
new file mode 100644
index 0000000000000000000000000000000000000000..b40b42781d8a2d9df4a910fee9837b9274bd6d83
--- /dev/null
+++ b/gap_reports/gap_3a5c494d-a9ac-405b-a718-168b806238cc.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a5c494d-a9ac-405b-a718-168b806238cc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a5c494d-a9ac-405b-a718-168b806238cc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2291 |
+| Sim rows | 229 |
+| Real episode_id | `3a5c494d-a9ac-405b-a718-168b806238cc` |
+| Sim episode_id | `3a5c494d-a9ac-405b-a718-168b806238cc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 185 | 19 | 2.752 | 12.23 | 21.18 | 1922.09 | 0.5870 |
+| 1 | descend | 264 | 26 | 1.271 | 8.22 | 14.24 | 3625.36 | 0.6870 |
+| 2 | settle | 322 | 32 | 0.025 | 0.77 | 1.34 | 3625.26 | 0.7434 |
+| 3 | close | 135 | 14 | 1.097 | 6.80 | 11.77 | 3625.42 | 1.0655 |
+| 4 | lift | 277 | 28 | 3.267 | 15.28 | 26.47 | 2182.48 | 1.1013 |
+| 5 | move_xy | 330 | 32 | 6.508 | 32.93 | 57.04 | 2843.33 | 0.9161 |
+| 6 | lower | 358 | 35 | 0.085 | 1.37 | 2.38 | 3554.26 | 1.0117 |
+| 7 | open | 142 | 14 | 1.000 | 6.28 | 10.88 | 3625.47 | 0.6498 |
+| 8 | retract | 278 | 27 | 3.027 | 14.21 | 24.61 | 2311.40 | 0.7300 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.860 |
+| TCP position RMSE (mm, per-axis) | 14.24 |
+| EE position RMS L2 (mm) | 26.52 |
+| TCP rotvec (mrad) | 3110.75 |
+| W1 effort mean (A) | 0.8160 |
+| W1 effort per joint (A) | j0=0.2233, j1=1.3585, j2=1.6066, j3=0.7433, j4=0.3636, j5=0.6007 |
+
+## Phase-end anchor (sim - 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 | -0.00025 | -0.00067 | 0.00096 | 0.041 |
+| 1 | 0.00062 | -0.00064 | -0.00097 | 0.00132 | 0.047 |
+| 2 | 0.00068 | -0.00063 | -0.00101 | 0.00137 | 0.047 |
+| 3 | 0.00137 | -0.00035 | -0.00049 | 0.00150 | 0.124 |
+| 4 | 0.00022 | -0.00021 | -0.00056 | 0.00064 | 0.116 |
+| 5 | 0.00189 | -0.00076 | -0.00084 | 0.00220 | 0.187 |
+| 6 | 0.00168 | -0.00088 | -0.00173 | 0.00256 | 0.145 |
+| 7 | 0.00058 | -0.00034 | -0.00075 | 0.00100 | 0.037 |
+| 8 | -0.00012 | -0.00017 | -0.00019 | 0.00028 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3a66ca07-0f1a-46cb-bae6-f30c75d681f6.md b/gap_reports/gap_3a66ca07-0f1a-46cb-bae6-f30c75d681f6.md
new file mode 100644
index 0000000000000000000000000000000000000000..1dfa9a23d4f4bfa748cab8ee477b6ad75068214f
--- /dev/null
+++ b/gap_reports/gap_3a66ca07-0f1a-46cb-bae6-f30c75d681f6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a66ca07-0f1a-46cb-bae6-f30c75d681f6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a66ca07-0f1a-46cb-bae6-f30c75d681f6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2737 |
+| Sim rows | 244 |
+| Real episode_id | `3a66ca07-0f1a-46cb-bae6-f30c75d681f6` |
+| Sim episode_id | `3a66ca07-0f1a-46cb-bae6-f30c75d681f6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 199 | 18 | 2.884 | 12.30 | 21.31 | 1923.21 | 0.5918 |
+| 1 | descend | 314 | 28 | 1.364 | 8.68 | 15.04 | 3625.39 | 0.7213 |
+| 2 | settle | 376 | 33 | 0.024 | 0.77 | 1.34 | 3625.24 | 0.7148 |
+| 3 | close | 189 | 17 | 1.025 | 6.57 | 11.38 | 3472.20 | 1.0049 |
+| 4 | lift | 346 | 30 | 2.494 | 11.33 | 19.62 | 2180.74 | 1.1314 |
+| 5 | move_xy | 387 | 34 | 7.037 | 36.50 | 63.23 | 2639.31 | 0.9018 |
+| 6 | lower | 393 | 35 | 0.084 | 1.34 | 2.33 | 3406.35 | 1.0392 |
+| 7 | open | 188 | 17 | 1.082 | 6.83 | 11.83 | 3625.50 | 0.6719 |
+| 8 | retract | 345 | 30 | 2.491 | 11.39 | 19.72 | 2358.47 | 0.7359 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.874 |
+| TCP position RMSE (mm, per-axis) | 14.57 |
+| EE position RMS L2 (mm) | 27.23 |
+| TCP rotvec (mrad) | 3056.36 |
+| W1 effort mean (A) | 0.8272 |
+| W1 effort per joint (A) | j0=0.2399, j1=1.3720, j2=1.6409, j3=0.7706, j4=0.3498, j5=0.5899 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00057 | -0.00022 | -0.00065 | 0.00089 | 0.037 |
+| 1 | 0.00059 | -0.00061 | -0.00099 | 0.00130 | 0.046 |
+| 2 | 0.00064 | -0.00064 | -0.00098 | 0.00134 | 0.045 |
+| 3 | 0.00161 | -0.00034 | -0.00083 | 0.00185 | 0.155 |
+| 4 | 0.00036 | 0.00000 | -0.00036 | 0.00051 | 0.097 |
+| 5 | 0.00174 | -0.00081 | -0.00130 | 0.00232 | 0.146 |
+| 6 | 0.00173 | -0.00086 | -0.00039 | 0.00197 | 0.153 |
+| 7 | 0.00048 | -0.00035 | -0.00076 | 0.00097 | 0.055 |
+| 8 | -0.00010 | -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.
diff --git a/gap_reports/gap_3a68b6c9-1c42-467f-9961-7476dbc19fc4.md b/gap_reports/gap_3a68b6c9-1c42-467f-9961-7476dbc19fc4.md
new file mode 100644
index 0000000000000000000000000000000000000000..15a355d23f75f6f84d3314bda487d0870a664b98
--- /dev/null
+++ b/gap_reports/gap_3a68b6c9-1c42-467f-9961-7476dbc19fc4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a68b6c9-1c42-467f-9961-7476dbc19fc4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a68b6c9-1c42-467f-9961-7476dbc19fc4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2642 |
+| Sim rows | 233 |
+| Real episode_id | `3a68b6c9-1c42-467f-9961-7476dbc19fc4` |
+| Sim episode_id | `3a68b6c9-1c42-467f-9961-7476dbc19fc4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 186 | 17 | 2.268 | 11.72 | 20.30 | 3.05 | 0.6286 |
+| 1 | descend | 368 | 32 | 0.873 | 6.14 | 10.63 | 4.22 | 0.7977 |
+| 2 | settle | 359 | 31 | 0.028 | 1.15 | 2.00 | 4.43 | 0.7513 |
+| 3 | close | 157 | 14 | 0.781 | 5.55 | 9.61 | 6.40 | 1.0187 |
+| 4 | lift | 331 | 29 | 2.461 | 14.16 | 24.53 | 4.42 | 1.0877 |
+| 5 | move_xy | 344 | 30 | 5.469 | 33.42 | 57.88 | 4.84 | 0.9693 |
+| 6 | lower | 405 | 35 | 0.098 | 1.91 | 3.31 | 6.52 | 1.0434 |
+| 7 | open | 159 | 14 | 0.991 | 6.80 | 11.77 | 4.31 | 0.6990 |
+| 8 | retract | 333 | 29 | 2.576 | 14.91 | 25.83 | 3.14 | 0.7433 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.360 |
+| TCP position RMSE (mm, per-axis) | 14.13 |
+| EE position RMS L2 (mm) | 25.62 |
+| TCP rotvec (mrad) | 4.73 |
+| W1 effort mean (A) | 0.8539 |
+| W1 effort per joint (A) | j0=0.2690, j1=1.5908, j2=1.5622, j3=0.6837, j4=0.3908, j5=0.6269 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00105 | -0.00073 | -0.00075 | 0.00148 | 0.029 |
+| 1 | 0.00105 | -0.00116 | -0.00123 | 0.00199 | 0.059 |
+| 2 | 0.00108 | -0.00116 | -0.00120 | 0.00199 | 0.056 |
+| 3 | 0.00170 | -0.00113 | -0.00234 | 0.00311 | 0.209 |
+| 4 | 0.00002 | -0.00042 | -0.00041 | 0.00059 | 0.088 |
+| 5 | 0.00205 | -0.00143 | -0.00141 | 0.00287 | 0.119 |
+| 6 | 0.00168 | -0.00165 | -0.00292 | 0.00375 | 0.222 |
+| 7 | 0.00091 | -0.00082 | -0.00099 | 0.00157 | 0.052 |
+| 8 | -0.00012 | -0.00018 | -0.00018 | 0.00028 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3a6c004b-dc29-4a41-a917-93f1701d77b6.md b/gap_reports/gap_3a6c004b-dc29-4a41-a917-93f1701d77b6.md
new file mode 100644
index 0000000000000000000000000000000000000000..465321d289f27690312e14d954ab1a895cae7d60
--- /dev/null
+++ b/gap_reports/gap_3a6c004b-dc29-4a41-a917-93f1701d77b6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a6c004b-dc29-4a41-a917-93f1701d77b6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a6c004b-dc29-4a41-a917-93f1701d77b6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2939 |
+| Sim rows | 259 |
+| Real episode_id | `3a6c004b-dc29-4a41-a917-93f1701d77b6` |
+| Sim episode_id | `3a6c004b-dc29-4a41-a917-93f1701d77b6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 222 | 20 | 3.305 | 14.66 | 25.38 | 1976.71 | 0.5957 |
+| 1 | descend | 349 | 30 | 0.523 | 3.74 | 6.48 | 3625.42 | 0.7106 |
+| 2 | settle | 387 | 34 | 0.022 | 0.76 | 1.31 | 3625.29 | 0.6486 |
+| 3 | close | 115 | 11 | 0.413 | 3.09 | 5.36 | 3377.92 | 0.9647 |
+| 4 | lift | 492 | 42 | 3.626 | 16.81 | 29.12 | 2256.16 | 1.1050 |
+| 5 | move_xy | 364 | 32 | 8.096 | 39.06 | 67.66 | 2568.01 | 0.8762 |
+| 6 | lower | 407 | 35 | 0.082 | 1.36 | 2.35 | 3406.26 | 0.9772 |
+| 7 | open | 114 | 11 | 0.413 | 2.75 | 4.76 | 3625.43 | 0.6698 |
+| 8 | retract | 489 | 42 | 3.627 | 16.94 | 29.35 | 2324.21 | 0.7184 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.389 |
+| TCP position RMSE (mm, per-axis) | 16.14 |
+| EE position RMS L2 (mm) | 30.15 |
+| TCP rotvec (mrad) | 3044.80 |
+| W1 effort mean (A) | 0.8002 |
+| W1 effort per joint (A) | j0=0.2295, j1=1.3051, j2=1.5684, j3=0.7781, j4=0.2736, j5=0.6466 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00086 | -0.00035 | -0.00064 | 0.00113 | 0.034 |
+| 1 | 0.00082 | -0.00054 | -0.00089 | 0.00132 | 0.047 |
+| 2 | 0.00083 | -0.00051 | -0.00087 | 0.00131 | 0.043 |
+| 3 | 0.00173 | -0.00040 | -0.00140 | 0.00226 | 0.124 |
+| 4 | 0.00024 | 0.00008 | -0.00014 | 0.00029 | 0.070 |
+| 5 | 0.00213 | -0.00067 | -0.00162 | 0.00276 | 0.190 |
+| 6 | 0.00191 | -0.00057 | -0.00153 | 0.00251 | 0.147 |
+| 7 | 0.00069 | -0.00032 | -0.00079 | 0.00109 | 0.040 |
+| 8 | -0.00008 | -0.00009 | -0.00012 | 0.00017 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3a6d8499-d9b2-48c1-bc86-5aab2f67bbda.md b/gap_reports/gap_3a6d8499-d9b2-48c1-bc86-5aab2f67bbda.md
new file mode 100644
index 0000000000000000000000000000000000000000..867081568a50d015b54932f1b0633e0d75e3dd8e
--- /dev/null
+++ b/gap_reports/gap_3a6d8499-d9b2-48c1-bc86-5aab2f67bbda.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a6d8499-d9b2-48c1-bc86-5aab2f67bbda.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a6d8499-d9b2-48c1-bc86-5aab2f67bbda.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 539 |
+| Sim rows | 69 |
+| Real episode_id | `3a6d8499-d9b2-48c1-bc86-5aab2f67bbda` |
+| Sim episode_id | `3a6d8499-d9b2-48c1-bc86-5aab2f67bbda` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 329 | 32 | 2.350 | 11.28 | 19.53 | 5.67 | 0.7811 |
+| 1 | descend | 210 | 21 | 0.025 | 1.27 | 2.21 | 2.17 | 0.8454 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.662 |
+| TCP position RMSE (mm, per-axis) | 8.03 |
+| EE position RMS L2 (mm) | 15.32 |
+| TCP rotvec (mrad) | 4.30 |
+| W1 effort mean (A) | 0.8061 |
+| W1 effort per joint (A) | j0=0.1069, j1=1.7825, j2=1.7314, j3=0.9089, j4=0.1834, j5=0.1234 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00184 | -0.00058 | 0.00083 | 0.00210 | 0.036 |
+| 1 | 0.00205 | -0.00071 | 0.00060 | 0.00225 | 0.046 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3a7f9585-03d2-495f-8226-b1af16a3fd71.md b/gap_reports/gap_3a7f9585-03d2-495f-8226-b1af16a3fd71.md
new file mode 100644
index 0000000000000000000000000000000000000000..6fdd2e17df16497e0e607c74d68918fdf93f3bce
--- /dev/null
+++ b/gap_reports/gap_3a7f9585-03d2-495f-8226-b1af16a3fd71.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a7f9585-03d2-495f-8226-b1af16a3fd71.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a7f9585-03d2-495f-8226-b1af16a3fd71.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1086 |
+| Sim rows | 113 |
+| Real episode_id | `3a7f9585-03d2-495f-8226-b1af16a3fd71` |
+| Sim episode_id | `3a7f9585-03d2-495f-8226-b1af16a3fd71` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 157 | 16 | 5.451 | 30.64 | 53.07 | 1462.27 | 0.7229 |
+| 1 | descend | 78 | 8 | 0.941 | 4.29 | 7.43 | 5.56 | 0.8156 |
+| 2 | settle | 19 | 3 | 0.031 | 2.13 | 3.70 | 6.25 | 0.7808 |
+| 3 | close | 32 | 4 | 0.250 | 1.81 | 3.13 | 11.35 | 1.3094 |
+| 4 | lift | 79 | 9 | 0.883 | 3.93 | 6.82 | 10.53 | 1.2353 |
+| 5 | move_xy | 195 | 20 | 7.856 | 36.51 | 63.24 | 57.31 | 1.2453 |
+| 6 | lower | 77 | 8 | 0.882 | 3.85 | 6.67 | 8.16 | 1.0196 |
+| 7 | open | 76 | 8 | 0.021 | 2.70 | 4.67 | 4.81 | 0.5723 |
+| 8 | retract | 76 | 8 | 1.028 | 4.60 | 7.96 | 4.06 | 0.6737 |
+| 9 | return | 297 | 29 | 4.069 | 17.11 | 29.64 | 1108.56 | 0.6738 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.340 |
+| TCP position RMSE (mm, per-axis) | 16.28 |
+| EE position RMS L2 (mm) | 37.18 |
+| TCP rotvec (mrad) | 580.59 |
+| W1 effort mean (A) | 0.8218 |
+| W1 effort per joint (A) | j0=0.2059, j1=1.5405, j2=1.6675, j3=0.7801, j4=0.3651, j5=0.3717 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00251 | -0.00271 | -0.00037 | 0.00371 | 0.110 |
+| 1 | 0.00269 | -0.00249 | -0.00020 | 0.00367 | 0.044 |
+| 2 | 0.00268 | -0.00250 | -0.00048 | 0.00370 | 0.067 |
+| 3 | 0.00046 | -0.00298 | -0.00085 | 0.00313 | 0.545 |
+| 4 | 0.00119 | -0.00302 | -0.00080 | 0.00334 | 0.379 |
+| 5 | 0.00077 | -0.00215 | -0.00023 | 0.00229 | 0.451 |
+| 6 | 0.00089 | -0.00265 | 0.00025 | 0.00281 | 0.310 |
+| 7 | 0.00196 | -0.00417 | -0.00081 | 0.00468 | 0.031 |
+| 8 | 0.00145 | -0.00363 | -0.00097 | 0.00403 | 0.054 |
+| 9 | -0.00013 | -0.00007 | -0.00023 | 0.00027 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3a8116a2-488f-4fc0-81f0-e0fe4d5497a9.md b/gap_reports/gap_3a8116a2-488f-4fc0-81f0-e0fe4d5497a9.md
new file mode 100644
index 0000000000000000000000000000000000000000..7e1feb8c7ba974830d546ce444a63ec9ea94a954
--- /dev/null
+++ b/gap_reports/gap_3a8116a2-488f-4fc0-81f0-e0fe4d5497a9.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a8116a2-488f-4fc0-81f0-e0fe4d5497a9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a8116a2-488f-4fc0-81f0-e0fe4d5497a9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1870 |
+| Sim rows | 188 |
+| Real episode_id | `3a8116a2-488f-4fc0-81f0-e0fe4d5497a9` |
+| Sim episode_id | `3a8116a2-488f-4fc0-81f0-e0fe4d5497a9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 207 | 21 | 3.120 | 17.19 | 29.78 | 835.95 | 0.7453 |
+| 1 | descend | 84 | 9 | 0.472 | 4.00 | 6.93 | 6.62 | 0.8132 |
+| 2 | settle | 36 | 4 | 0.034 | 3.49 | 6.04 | 7.00 | 0.8402 |
+| 3 | close | 373 | 37 | 0.152 | 4.43 | 7.66 | 12.32 | 1.2200 |
+| 4 | lift | 85 | 9 | 0.442 | 4.54 | 7.87 | 11.38 | 1.3899 |
+| 5 | move_xy | 232 | 23 | 10.678 | 24.38 | 42.22 | 311.47 | 1.1731 |
+| 6 | lower | 84 | 9 | 18.750 | 3.33 | 5.77 | 725.19 | 1.1386 |
+| 7 | open | 380 | 37 | 18.735 | 2.51 | 4.34 | 724.22 | 0.8072 |
+| 8 | retract | 85 | 9 | 18.745 | 3.09 | 5.35 | 723.92 | 0.8208 |
+| 9 | return | 304 | 30 | 10.549 | 15.19 | 26.30 | 1200.38 | 0.8345 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 11.355 |
+| TCP position RMSE (mm, per-axis) | 11.03 |
+| EE position RMS L2 (mm) | 21.35 |
+| TCP rotvec (mrad) | 617.38 |
+| W1 effort mean (A) | 0.9545 |
+| W1 effort per joint (A) | j0=0.2211, j1=1.8445, j2=1.5621, j3=0.7500, j4=0.4348, j5=0.9144 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00250 | -0.00503 | -0.00133 | 0.00578 | 0.075 |
+| 1 | 0.00274 | -0.00512 | -0.00144 | 0.00598 | 0.066 |
+| 2 | 0.00275 | -0.00517 | -0.00151 | 0.00604 | 0.073 |
+| 3 | 0.00372 | -0.00520 | -0.00382 | 0.00745 | 0.252 |
+| 4 | 0.00307 | -0.00550 | -0.00401 | 0.00747 | 0.232 |
+| 5 | 0.00226 | -0.00326 | -0.00152 | 0.00425 | 45.916 |
+| 6 | 0.00258 | -0.00283 | -0.00197 | 0.00431 | 45.894 |
+| 7 | 0.00212 | -0.00379 | -0.00018 | 0.00435 | 45.891 |
+| 8 | 0.00182 | -0.00392 | -0.00025 | 0.00433 | 45.923 |
+| 9 | -0.00007 | -0.00010 | -0.00026 | 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.
diff --git a/gap_reports/gap_3a8482e9-e9ca-48a7-83cd-41bdc24ba16b.md b/gap_reports/gap_3a8482e9-e9ca-48a7-83cd-41bdc24ba16b.md
new file mode 100644
index 0000000000000000000000000000000000000000..fd77fd1b22c4801adaf2b701197f4d05b99e66f5
--- /dev/null
+++ b/gap_reports/gap_3a8482e9-e9ca-48a7-83cd-41bdc24ba16b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a8482e9-e9ca-48a7-83cd-41bdc24ba16b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a8482e9-e9ca-48a7-83cd-41bdc24ba16b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2638 |
+| Sim rows | 234 |
+| Real episode_id | `3a8482e9-e9ca-48a7-83cd-41bdc24ba16b` |
+| Sim episode_id | `3a8482e9-e9ca-48a7-83cd-41bdc24ba16b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 232 | 21 | 2.501 | 10.22 | 17.70 | 2.54 | 0.5534 |
+| 1 | descend | 389 | 34 | 1.608 | 9.64 | 16.69 | 3.55 | 0.7705 |
+| 2 | settle | 384 | 33 | 0.024 | 0.74 | 1.28 | 3.70 | 0.7117 |
+| 3 | close | 130 | 12 | 0.847 | 5.21 | 9.02 | 5.51 | 0.8833 |
+| 4 | lift | 261 | 23 | 2.484 | 10.28 | 17.81 | 3.86 | 1.0713 |
+| 5 | move_xy | 434 | 38 | 4.708 | 22.47 | 38.92 | 4.26 | 0.9186 |
+| 6 | lower | 413 | 36 | 0.084 | 1.24 | 2.15 | 5.90 | 0.9955 |
+| 7 | open | 134 | 12 | 0.962 | 5.62 | 9.74 | 3.70 | 0.6323 |
+| 8 | retract | 261 | 23 | 2.410 | 10.09 | 17.48 | 2.69 | 0.6921 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.227 |
+| TCP position RMSE (mm, per-axis) | 10.38 |
+| EE position RMS L2 (mm) | 19.73 |
+| TCP rotvec (mrad) | 4.11 |
+| W1 effort mean (A) | 0.7903 |
+| W1 effort per joint (A) | j0=0.3044, j1=1.0857, j2=1.5243, j3=0.7067, j4=0.5544, j5=0.5664 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00044 | -0.00066 | -0.00051 | 0.00094 | 0.028 |
+| 1 | 0.00049 | -0.00089 | -0.00074 | 0.00126 | 0.034 |
+| 2 | 0.00049 | -0.00087 | -0.00079 | 0.00127 | 0.038 |
+| 3 | 0.00107 | -0.00071 | -0.00119 | 0.00175 | 0.125 |
+| 4 | 0.00021 | -0.00042 | -0.00058 | 0.00075 | 0.108 |
+| 5 | 0.00169 | -0.00104 | -0.00100 | 0.00222 | 0.165 |
+| 6 | 0.00172 | -0.00127 | -0.00185 | 0.00283 | 0.191 |
+| 7 | 0.00026 | -0.00064 | -0.00055 | 0.00088 | 0.040 |
+| 8 | -0.00008 | -0.00014 | -0.00016 | 0.00023 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3a8d0e09-3ef4-4f06-b3bd-e4817b8d0734.md b/gap_reports/gap_3a8d0e09-3ef4-4f06-b3bd-e4817b8d0734.md
new file mode 100644
index 0000000000000000000000000000000000000000..56206f3addbb91a901f56311ab122e275e504697
--- /dev/null
+++ b/gap_reports/gap_3a8d0e09-3ef4-4f06-b3bd-e4817b8d0734.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a8d0e09-3ef4-4f06-b3bd-e4817b8d0734.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a8d0e09-3ef4-4f06-b3bd-e4817b8d0734.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3055 |
+| Sim rows | 270 |
+| Real episode_id | `3a8d0e09-3ef4-4f06-b3bd-e4817b8d0734` |
+| Sim episode_id | `3a8d0e09-3ef4-4f06-b3bd-e4817b8d0734` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 224 | 20 | 2.553 | 13.89 | 24.06 | 1967.63 | 0.6144 |
+| 1 | descend | 815 | 70 | 0.416 | 2.84 | 4.92 | 3624.72 | 0.7574 |
+| 2 | settle | 369 | 32 | 0.028 | 0.97 | 1.68 | 3624.52 | 0.7817 |
+| 3 | close | 152 | 14 | 0.946 | 6.36 | 11.02 | 3625.23 | 1.0450 |
+| 4 | lift | 262 | 23 | 2.307 | 13.13 | 22.73 | 2391.34 | 1.1195 |
+| 5 | move_xy | 423 | 37 | 5.533 | 33.52 | 58.06 | 2788.73 | 0.9637 |
+| 6 | lower | 395 | 35 | 0.095 | 1.69 | 2.92 | 3625.06 | 1.1052 |
+| 7 | open | 154 | 14 | 1.230 | 8.45 | 14.63 | 3624.75 | 0.7459 |
+| 8 | retract | 261 | 23 | 2.258 | 12.88 | 22.31 | 2437.40 | 0.7583 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.360 |
+| TCP position RMSE (mm, per-axis) | 14.06 |
+| EE position RMS L2 (mm) | 24.91 |
+| TCP rotvec (mrad) | 3144.77 |
+| W1 effort mean (A) | 0.8448 |
+| W1 effort per joint (A) | j0=0.2624, j1=1.5865, j2=1.7066, j3=0.7106, j4=0.2649, j5=0.5378 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00073 | -0.00042 | -0.00072 | 0.00110 | 0.029 |
+| 1 | 0.00074 | -0.00087 | -0.00124 | 0.00169 | 0.059 |
+| 2 | 0.00078 | -0.00086 | -0.00125 | 0.00170 | 0.058 |
+| 3 | 0.00196 | -0.00071 | -0.00241 | 0.00318 | 0.218 |
+| 4 | 0.00053 | -0.00014 | -0.00028 | 0.00062 | 0.170 |
+| 5 | 0.00161 | -0.00130 | -0.00225 | 0.00306 | 0.158 |
+| 6 | 0.00220 | -0.00135 | -0.00248 | 0.00358 | 0.207 |
+| 7 | 0.00056 | -0.00052 | -0.00100 | 0.00126 | 0.061 |
+| 8 | -0.00011 | -0.00021 | -0.00021 | 0.00032 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3a9e9a97-3523-4126-8869-dbbf8fbd556e.md b/gap_reports/gap_3a9e9a97-3523-4126-8869-dbbf8fbd556e.md
new file mode 100644
index 0000000000000000000000000000000000000000..16ce56c520ca302827f65cec14627f156285ed71
--- /dev/null
+++ b/gap_reports/gap_3a9e9a97-3523-4126-8869-dbbf8fbd556e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3a9e9a97-3523-4126-8869-dbbf8fbd556e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3a9e9a97-3523-4126-8869-dbbf8fbd556e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2660 |
+| Sim rows | 238 |
+| Real episode_id | `3a9e9a97-3523-4126-8869-dbbf8fbd556e` |
+| Sim episode_id | `3a9e9a97-3523-4126-8869-dbbf8fbd556e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 236 | 21 | 3.519 | 14.73 | 25.51 | 2043.75 | 0.5950 |
+| 1 | descend | 309 | 27 | 1.055 | 7.00 | 12.13 | 3625.38 | 0.7093 |
+| 2 | settle | 360 | 32 | 0.022 | 0.81 | 1.41 | 3625.25 | 0.6746 |
+| 3 | close | 127 | 12 | 0.928 | 6.05 | 10.48 | 3159.45 | 1.0313 |
+| 4 | lift | 354 | 31 | 3.601 | 16.71 | 28.94 | 2282.67 | 1.0859 |
+| 5 | move_xy | 417 | 37 | 8.201 | 39.95 | 69.19 | 2748.20 | 0.8973 |
+| 6 | lower | 378 | 33 | 0.091 | 1.52 | 2.63 | 3508.41 | 0.9357 |
+| 7 | open | 131 | 12 | 0.912 | 5.83 | 10.10 | 3625.52 | 0.6293 |
+| 8 | retract | 348 | 31 | 3.780 | 17.41 | 30.15 | 2427.30 | 0.7291 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.491 |
+| TCP position RMSE (mm, per-axis) | 16.72 |
+| EE position RMS L2 (mm) | 32.67 |
+| TCP rotvec (mrad) | 3065.09 |
+| W1 effort mean (A) | 0.7985 |
+| W1 effort per joint (A) | j0=0.2369, j1=1.3435, j2=1.5167, j3=0.7476, j4=0.3283, j5=0.6180 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00081 | -0.00023 | -0.00058 | 0.00103 | 0.030 |
+| 1 | 0.00086 | -0.00057 | -0.00100 | 0.00143 | 0.049 |
+| 2 | 0.00087 | -0.00059 | -0.00094 | 0.00142 | 0.043 |
+| 3 | 0.00144 | -0.00023 | -0.00142 | 0.00204 | 0.121 |
+| 4 | 0.00058 | -0.00003 | -0.00027 | 0.00064 | 0.146 |
+| 5 | 0.00169 | -0.00088 | -0.00109 | 0.00219 | 0.119 |
+| 6 | 0.00172 | -0.00088 | -0.00052 | 0.00200 | 0.121 |
+| 7 | 0.00064 | -0.00024 | -0.00072 | 0.00099 | 0.035 |
+| 8 | -0.00014 | -0.00020 | -0.00021 | 0.00032 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3aa19d3a-5d47-4d3f-b605-6a5689708868.md b/gap_reports/gap_3aa19d3a-5d47-4d3f-b605-6a5689708868.md
new file mode 100644
index 0000000000000000000000000000000000000000..32b278770b576699bc7481ec81024567144ad1a1
--- /dev/null
+++ b/gap_reports/gap_3aa19d3a-5d47-4d3f-b605-6a5689708868.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3aa19d3a-5d47-4d3f-b605-6a5689708868.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3aa19d3a-5d47-4d3f-b605-6a5689708868.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2227 |
+| Sim rows | 225 |
+| Real episode_id | `3aa19d3a-5d47-4d3f-b605-6a5689708868` |
+| Sim episode_id | `3aa19d3a-5d47-4d3f-b605-6a5689708868` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 221 | 22 | 2.695 | 12.96 | 22.45 | 1981.13 | 0.5572 |
+| 1 | descend | 240 | 24 | 1.104 | 7.13 | 12.34 | 3625.32 | 0.7074 |
+| 2 | settle | 328 | 33 | 0.023 | 0.73 | 1.26 | 3625.25 | 0.6620 |
+| 3 | close | 111 | 12 | 0.695 | 4.56 | 7.89 | 3161.63 | 0.9864 |
+| 4 | lift | 240 | 24 | 2.251 | 11.18 | 19.37 | 2220.33 | 1.1363 |
+| 5 | move_xy | 384 | 38 | 4.394 | 23.84 | 41.30 | 2726.68 | 0.8676 |
+| 6 | lower | 353 | 35 | 0.079 | 1.23 | 2.13 | 3625.97 | 0.9685 |
+| 7 | open | 110 | 11 | 0.729 | 4.73 | 8.20 | 3625.48 | 0.6547 |
+| 8 | retract | 240 | 24 | 2.201 | 10.98 | 19.02 | 2244.60 | 0.7176 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.074 |
+| TCP position RMSE (mm, per-axis) | 10.94 |
+| EE position RMS L2 (mm) | 21.15 |
+| TCP rotvec (mrad) | 3053.25 |
+| W1 effort mean (A) | 0.7888 |
+| W1 effort per joint (A) | j0=0.2219, j1=1.3018, j2=1.5544, j3=0.7440, j4=0.3132, j5=0.5973 |
+
+## Phase-end anchor (sim - 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 | -0.00046 | -0.00075 | 0.00099 | 0.034 |
+| 1 | 0.00043 | -0.00073 | -0.00101 | 0.00132 | 0.050 |
+| 2 | 0.00042 | -0.00071 | -0.00092 | 0.00123 | 0.037 |
+| 3 | 0.00119 | -0.00049 | -0.00129 | 0.00182 | 0.133 |
+| 4 | 0.00028 | -0.00004 | -0.00018 | 0.00033 | 0.073 |
+| 5 | 0.00165 | -0.00107 | -0.00174 | 0.00263 | 0.172 |
+| 6 | 0.00130 | -0.00090 | -0.00100 | 0.00187 | 0.111 |
+| 7 | 0.00021 | -0.00044 | -0.00083 | 0.00097 | 0.049 |
+| 8 | -0.00013 | -0.00018 | -0.00019 | 0.00029 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3ab0feaa-c302-469e-80a2-5628286f84ec.md b/gap_reports/gap_3ab0feaa-c302-469e-80a2-5628286f84ec.md
new file mode 100644
index 0000000000000000000000000000000000000000..c5225a890f9fdaf2765dd972a1359f478218d612
--- /dev/null
+++ b/gap_reports/gap_3ab0feaa-c302-469e-80a2-5628286f84ec.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3ab0feaa-c302-469e-80a2-5628286f84ec.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3ab0feaa-c302-469e-80a2-5628286f84ec.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 567 |
+| Sim rows | 73 |
+| Real episode_id | `3ab0feaa-c302-469e-80a2-5628286f84ec` |
+| Sim episode_id | `3ab0feaa-c302-469e-80a2-5628286f84ec` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 359 | 36 | 3.470 | 19.52 | 33.81 | 648.62 | 0.7848 |
+| 1 | descend | 208 | 21 | 0.021 | 1.45 | 2.52 | 2.11 | 0.7795 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.454 |
+| TCP position RMSE (mm, per-axis) | 13.84 |
+| EE position RMS L2 (mm) | 26.95 |
+| TCP rotvec (mrad) | 458.65 |
+| W1 effort mean (A) | 0.7828 |
+| W1 effort per joint (A) | j0=0.1904, j1=1.6910, j2=1.7062, j3=0.8285, j4=0.1203, j5=0.1603 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00255 | -0.00035 | 0.00074 | 0.00268 | 0.031 |
+| 1 | -0.00240 | -0.00030 | 0.00060 | 0.00250 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3ad94821-5609-494e-bed4-8df384a41727.md b/gap_reports/gap_3ad94821-5609-494e-bed4-8df384a41727.md
new file mode 100644
index 0000000000000000000000000000000000000000..e872433f3d5c3c800818ba620337f05a8256999c
--- /dev/null
+++ b/gap_reports/gap_3ad94821-5609-494e-bed4-8df384a41727.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3ad94821-5609-494e-bed4-8df384a41727.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3ad94821-5609-494e-bed4-8df384a41727.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2757 |
+| Sim rows | 245 |
+| Real episode_id | `3ad94821-5609-494e-bed4-8df384a41727` |
+| Sim episode_id | `3ad94821-5609-494e-bed4-8df384a41727` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.342 | 10.76 | 18.64 | 1921.45 | 0.5858 |
+| 1 | descend | 465 | 41 | 0.932 | 5.96 | 10.32 | 3625.36 | 1.0014 |
+| 2 | settle | 359 | 32 | 0.024 | 0.74 | 1.29 | 3625.23 | 0.9398 |
+| 3 | close | 142 | 13 | 0.991 | 6.30 | 10.92 | 3257.31 | 1.1581 |
+| 4 | lift | 357 | 31 | 2.622 | 12.77 | 22.12 | 2326.65 | 1.2619 |
+| 5 | move_xy | 356 | 31 | 5.540 | 30.31 | 52.49 | 2939.41 | 1.0873 |
+| 6 | lower | 400 | 35 | 0.082 | 1.29 | 2.23 | 3554.09 | 1.4264 |
+| 7 | open | 142 | 13 | 1.028 | 6.56 | 11.36 | 3625.47 | 0.8492 |
+| 8 | retract | 358 | 31 | 2.422 | 11.90 | 20.61 | 2323.16 | 0.8528 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.400 |
+| TCP position RMSE (mm, per-axis) | 12.73 |
+| EE position RMS L2 (mm) | 22.99 |
+| TCP rotvec (mrad) | 3087.85 |
+| W1 effort mean (A) | 1.0430 |
+| W1 effort per joint (A) | j0=0.6752, j1=1.3446, j2=1.8156, j3=1.0893, j4=0.7241, j5=0.6090 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00043 | -0.00035 | -0.00073 | 0.00092 | 0.044 |
+| 1 | 0.00037 | -0.00071 | -0.00098 | 0.00127 | 0.045 |
+| 2 | 0.00042 | -0.00072 | -0.00097 | 0.00128 | 0.044 |
+| 3 | 0.00088 | -0.00068 | -0.00146 | 0.00184 | 0.131 |
+| 4 | 0.00028 | -0.00009 | -0.00019 | 0.00035 | 0.074 |
+| 5 | 0.00164 | -0.00082 | -0.00028 | 0.00186 | 0.163 |
+| 6 | 0.00154 | -0.00096 | -0.00140 | 0.00229 | 0.166 |
+| 7 | 0.00030 | -0.00044 | -0.00078 | 0.00095 | 0.040 |
+| 8 | -0.00009 | -0.00015 | -0.00015 | 0.00023 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3ad9ece9-8956-4550-9b2a-eb5db57feeca.md b/gap_reports/gap_3ad9ece9-8956-4550-9b2a-eb5db57feeca.md
new file mode 100644
index 0000000000000000000000000000000000000000..321db1657ecb05645ec974b34214d4a84ad86fb9
--- /dev/null
+++ b/gap_reports/gap_3ad9ece9-8956-4550-9b2a-eb5db57feeca.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3ad9ece9-8956-4550-9b2a-eb5db57feeca.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3ad9ece9-8956-4550-9b2a-eb5db57feeca.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2554 |
+| Sim rows | 255 |
+| Real episode_id | `3ad9ece9-8956-4550-9b2a-eb5db57feeca` |
+| Sim episode_id | `3ad9ece9-8956-4550-9b2a-eb5db57feeca` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 202 | 21 | 3.879 | 19.19 | 33.24 | 1958.97 | 0.6312 |
+| 1 | descend | 430 | 42 | 0.366 | 2.89 | 5.01 | 3624.73 | 0.8334 |
+| 2 | settle | 335 | 33 | 0.029 | 1.02 | 1.77 | 3624.53 | 0.6123 |
+| 3 | close | 143 | 15 | 0.691 | 5.01 | 8.68 | 3625.21 | 1.0421 |
+| 4 | lift | 309 | 30 | 3.250 | 17.38 | 30.10 | 2405.06 | 1.1353 |
+| 5 | move_xy | 349 | 34 | 7.267 | 40.09 | 69.44 | 2737.08 | 0.9175 |
+| 6 | lower | 339 | 33 | 0.092 | 1.76 | 3.05 | 3624.98 | 1.0703 |
+| 7 | open | 140 | 15 | 0.823 | 5.63 | 9.76 | 3624.74 | 0.7347 |
+| 8 | retract | 307 | 30 | 3.129 | 16.75 | 29.02 | 2394.80 | 0.7558 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.154 |
+| TCP position RMSE (mm, per-axis) | 17.09 |
+| EE position RMS L2 (mm) | 31.18 |
+| TCP rotvec (mrad) | 3136.63 |
+| W1 effort mean (A) | 0.8405 |
+| W1 effort per joint (A) | j0=0.2495, j1=1.5570, j2=1.6010, j3=0.7639, j4=0.2670, j5=0.6047 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00113 | -0.00024 | -0.00075 | 0.00138 | 0.038 |
+| 1 | 0.00113 | -0.00063 | -0.00120 | 0.00176 | 0.058 |
+| 2 | 0.00114 | -0.00064 | -0.00120 | 0.00177 | 0.057 |
+| 3 | 0.00174 | -0.00035 | -0.00119 | 0.00214 | 0.106 |
+| 4 | 0.00036 | -0.00018 | -0.00019 | 0.00045 | 0.126 |
+| 5 | 0.00241 | -0.00082 | -0.00150 | 0.00295 | 0.181 |
+| 6 | 0.00256 | -0.00093 | -0.00119 | 0.00297 | 0.195 |
+| 7 | 0.00101 | -0.00029 | -0.00096 | 0.00142 | 0.042 |
+| 8 | -0.00015 | -0.00022 | -0.00020 | 0.00033 | 0.037 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3afd8705-4047-42bc-bd90-564f58500702.md b/gap_reports/gap_3afd8705-4047-42bc-bd90-564f58500702.md
new file mode 100644
index 0000000000000000000000000000000000000000..bfb53861d954642106f0a8bbf963e170ed907d49
--- /dev/null
+++ b/gap_reports/gap_3afd8705-4047-42bc-bd90-564f58500702.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3afd8705-4047-42bc-bd90-564f58500702.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3afd8705-4047-42bc-bd90-564f58500702.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2962 |
+| Sim rows | 261 |
+| Real episode_id | `3afd8705-4047-42bc-bd90-564f58500702` |
+| Sim episode_id | `3afd8705-4047-42bc-bd90-564f58500702` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.281 | 14.06 | 24.35 | 2022.13 | 0.6002 |
+| 1 | descend | 429 | 37 | 0.509 | 3.58 | 6.20 | 3625.30 | 0.7425 |
+| 2 | settle | 371 | 33 | 0.026 | 0.83 | 1.44 | 3625.28 | 0.6781 |
+| 3 | close | 150 | 14 | 0.519 | 3.44 | 5.96 | 3286.41 | 0.9892 |
+| 4 | lift | 442 | 38 | 3.426 | 16.07 | 27.83 | 2313.74 | 1.1093 |
+| 5 | move_xy | 364 | 32 | 7.209 | 35.28 | 61.10 | 2642.52 | 0.8862 |
+| 6 | lower | 392 | 34 | 0.098 | 1.60 | 2.77 | 3551.66 | 0.9485 |
+| 7 | open | 149 | 13 | 0.540 | 3.69 | 6.39 | 3625.47 | 0.6300 |
+| 8 | retract | 440 | 38 | 3.671 | 17.03 | 29.49 | 2279.69 | 0.7208 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.141 |
+| TCP position RMSE (mm, per-axis) | 15.03 |
+| EE position RMS L2 (mm) | 27.56 |
+| TCP rotvec (mrad) | 3063.52 |
+| W1 effort mean (A) | 0.8032 |
+| W1 effort per joint (A) | j0=0.2533, j1=1.3416, j2=1.5274, j3=0.7047, j4=0.4004, j5=0.5921 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00084 | -0.00039 | -0.00064 | 0.00113 | 0.030 |
+| 1 | 0.00085 | -0.00058 | -0.00095 | 0.00140 | 0.045 |
+| 2 | 0.00088 | -0.00058 | -0.00098 | 0.00144 | 0.048 |
+| 3 | 0.00190 | -0.00041 | -0.00089 | 0.00214 | 0.154 |
+| 4 | 0.00040 | 0.00018 | 0.00000 | 0.00044 | 0.072 |
+| 5 | 0.00171 | -0.00071 | -0.00171 | 0.00252 | 0.123 |
+| 6 | 0.00206 | -0.00079 | -0.00155 | 0.00270 | 0.154 |
+| 7 | 0.00076 | -0.00033 | -0.00075 | 0.00112 | 0.039 |
+| 8 | -0.00009 | -0.00012 | -0.00014 | 0.00020 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3b0a7c09-1057-482c-8cc0-fb1b8b5c5bbc.md b/gap_reports/gap_3b0a7c09-1057-482c-8cc0-fb1b8b5c5bbc.md
new file mode 100644
index 0000000000000000000000000000000000000000..4963e5459d48c8ec1dfedec94458b28546c851ed
--- /dev/null
+++ b/gap_reports/gap_3b0a7c09-1057-482c-8cc0-fb1b8b5c5bbc.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3b0a7c09-1057-482c-8cc0-fb1b8b5c5bbc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3b0a7c09-1057-482c-8cc0-fb1b8b5c5bbc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2225 |
+| Sim rows | 224 |
+| Real episode_id | `3b0a7c09-1057-482c-8cc0-fb1b8b5c5bbc` |
+| Sim episode_id | `3b0a7c09-1057-482c-8cc0-fb1b8b5c5bbc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 226 | 23 | 3.795 | 18.48 | 32.01 | 1898.55 | 0.6273 |
+| 1 | descend | 201 | 20 | 0.918 | 6.63 | 11.48 | 3624.68 | 0.7304 |
+| 2 | settle | 335 | 33 | 0.028 | 1.03 | 1.78 | 3624.57 | 0.7317 |
+| 3 | close | 104 | 11 | 0.578 | 4.25 | 7.37 | 3624.96 | 1.0363 |
+| 4 | lift | 270 | 27 | 3.505 | 19.07 | 33.03 | 2355.82 | 1.1397 |
+| 5 | move_xy | 355 | 35 | 7.455 | 40.84 | 70.74 | 2693.16 | 0.9439 |
+| 6 | lower | 357 | 35 | 0.091 | 1.74 | 3.02 | 3625.03 | 1.0311 |
+| 7 | open | 106 | 11 | 0.590 | 4.12 | 7.14 | 3624.72 | 0.7368 |
+| 8 | retract | 271 | 27 | 3.392 | 18.45 | 31.96 | 2371.51 | 0.7573 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.254 |
+| TCP position RMSE (mm, per-axis) | 17.63 |
+| EE position RMS L2 (mm) | 34.32 |
+| TCP rotvec (mrad) | 3122.09 |
+| W1 effort mean (A) | 0.8456 |
+| W1 effort per joint (A) | j0=0.2220, j1=1.5345, j2=1.5895, j3=0.7976, j4=0.3064, j5=0.6238 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00113 | -0.00036 | -0.00080 | 0.00143 | 0.030 |
+| 1 | 0.00113 | -0.00066 | -0.00121 | 0.00179 | 0.062 |
+| 2 | 0.00115 | -0.00064 | -0.00121 | 0.00179 | 0.058 |
+| 3 | 0.00214 | -0.00039 | -0.00084 | 0.00233 | 0.143 |
+| 4 | 0.00006 | -0.00030 | -0.00024 | 0.00039 | 0.090 |
+| 5 | 0.00249 | -0.00085 | -0.00240 | 0.00356 | 0.158 |
+| 6 | 0.00234 | -0.00091 | -0.00087 | 0.00265 | 0.145 |
+| 7 | 0.00089 | -0.00034 | -0.00096 | 0.00135 | 0.041 |
+| 8 | -0.00018 | -0.00026 | -0.00025 | 0.00040 | 0.045 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3b133070-8cda-436c-ad8b-d1a3a0ffe421.md b/gap_reports/gap_3b133070-8cda-436c-ad8b-d1a3a0ffe421.md
new file mode 100644
index 0000000000000000000000000000000000000000..c67b9d2f39a8a4e24679e794d270a59b35297e79
--- /dev/null
+++ b/gap_reports/gap_3b133070-8cda-436c-ad8b-d1a3a0ffe421.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3b133070-8cda-436c-ad8b-d1a3a0ffe421.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3b133070-8cda-436c-ad8b-d1a3a0ffe421.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1862 |
+| Sim rows | 187 |
+| Real episode_id | `3b133070-8cda-436c-ad8b-d1a3a0ffe421` |
+| Sim episode_id | `3b133070-8cda-436c-ad8b-d1a3a0ffe421` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 204 | 21 | 3.208 | 18.85 | 32.65 | 1232.28 | 0.7416 |
+| 1 | descend | 83 | 9 | 0.436 | 4.03 | 6.98 | 6.58 | 0.8060 |
+| 2 | settle | 37 | 4 | 0.033 | 3.48 | 6.02 | 6.98 | 0.8367 |
+| 3 | close | 364 | 36 | 0.150 | 4.39 | 7.61 | 12.16 | 1.2355 |
+| 4 | lift | 84 | 9 | 0.451 | 4.50 | 7.79 | 11.81 | 1.4386 |
+| 5 | move_xy | 232 | 23 | 10.713 | 26.28 | 45.51 | 303.31 | 1.1674 |
+| 6 | lower | 88 | 9 | 18.750 | 3.25 | 5.64 | 725.31 | 1.1740 |
+| 7 | open | 382 | 37 | 18.737 | 2.51 | 4.34 | 724.29 | 0.8027 |
+| 8 | retract | 84 | 9 | 18.748 | 3.44 | 5.95 | 723.93 | 0.8170 |
+| 9 | return | 304 | 30 | 10.687 | 16.36 | 28.34 | 1250.84 | 0.8315 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 11.375 |
+| TCP position RMSE (mm, per-axis) | 11.87 |
+| EE position RMS L2 (mm) | 23.02 |
+| TCP rotvec (mrad) | 689.22 |
+| W1 effort mean (A) | 0.9574 |
+| W1 effort per joint (A) | j0=0.2526, j1=1.8430, j2=1.5481, j3=0.7510, j4=0.4220, j5=0.9275 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00251 | -0.00505 | -0.00108 | 0.00574 | 0.061 |
+| 1 | 0.00275 | -0.00513 | -0.00145 | 0.00600 | 0.065 |
+| 2 | 0.00275 | -0.00515 | -0.00154 | 0.00604 | 0.075 |
+| 3 | 0.00367 | -0.00526 | -0.00434 | 0.00775 | 0.265 |
+| 4 | 0.00330 | -0.00551 | -0.00387 | 0.00750 | 0.271 |
+| 5 | 0.00218 | -0.00328 | -0.00174 | 0.00430 | 45.920 |
+| 6 | 0.00265 | -0.00275 | -0.00201 | 0.00432 | 45.896 |
+| 7 | 0.00211 | -0.00378 | -0.00017 | 0.00434 | 45.895 |
+| 8 | 0.00183 | -0.00389 | -0.00026 | 0.00431 | 45.924 |
+| 9 | -0.00006 | -0.00011 | -0.00026 | 0.00029 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3b1e724f-4d76-4333-97b0-ce8528a7b10b.md b/gap_reports/gap_3b1e724f-4d76-4333-97b0-ce8528a7b10b.md
new file mode 100644
index 0000000000000000000000000000000000000000..e93b406478cf3dcc330fd42816bb5944226e5223
--- /dev/null
+++ b/gap_reports/gap_3b1e724f-4d76-4333-97b0-ce8528a7b10b.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3b1e724f-4d76-4333-97b0-ce8528a7b10b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3b1e724f-4d76-4333-97b0-ce8528a7b10b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2970 |
+| Sim rows | 151 |
+| Real episode_id | `3b1e724f-4d76-4333-97b0-ce8528a7b10b` |
+| Sim episode_id | `3b1e724f-4d76-4333-97b0-ce8528a7b10b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 302 | 15 | 4.569 | 15.62 | 27.06 | 1703.21 | 0.8276 |
+| 1 | descend | 132 | 7 | 0.447 | 3.42 | 5.93 | 4.63 | 0.6499 |
+| 2 | settle | 42 | 3 | 0.023 | 2.66 | 4.60 | 5.16 | 0.7180 |
+| 3 | close | 790 | 39 | 0.114 | 1.98 | 3.43 | 4.95 | 1.0709 |
+| 4 | lift | 180 | 9 | 0.893 | 4.66 | 8.07 | 4.30 | 1.0703 |
+| 5 | move_xy | 542 | 27 | 12.428 | 39.30 | 68.07 | 273.83 | 1.0230 |
+| 6 | lower | 170 | 9 | 15.458 | 3.55 | 6.15 | 599.38 | 1.2474 |
+| 7 | open | 180 | 10 | 15.431 | 2.38 | 4.13 | 598.17 | 0.9156 |
+| 8 | retract | 172 | 9 | 15.451 | 3.38 | 5.85 | 598.01 | 0.9240 |
+| 9 | return | 460 | 23 | 9.211 | 28.39 | 49.17 | 827.55 | 0.8289 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 9.884 |
+| TCP position RMSE (mm, per-axis) | 16.34 |
+| EE position RMS L2 (mm) | 36.17 |
+| TCP rotvec (mrad) | 688.15 |
+| W1 effort mean (A) | 0.9528 |
+| W1 effort per joint (A) | j0=0.2381, j1=1.8710, j2=1.6296, j3=0.8079, j4=0.3575, j5=0.8125 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00158 | -0.00387 | -0.00113 | 0.00433 | 0.049 |
+| 1 | 0.00179 | -0.00409 | -0.00098 | 0.00457 | 0.051 |
+| 2 | 0.00179 | -0.00408 | -0.00115 | 0.00461 | 0.043 |
+| 3 | 0.00063 | -0.00309 | -0.00056 | 0.00320 | 0.148 |
+| 4 | 0.00055 | -0.00300 | -0.00151 | 0.00340 | 0.195 |
+| 5 | 0.00310 | -0.00211 | -0.00167 | 0.00411 | 37.878 |
+| 6 | 0.00299 | -0.00182 | -0.00244 | 0.00426 | 37.801 |
+| 7 | 0.00277 | -0.00303 | -0.00049 | 0.00414 | 37.797 |
+| 8 | 0.00275 | -0.00321 | -0.00054 | 0.00426 | 37.871 |
+| 9 | -0.00005 | -0.00020 | -0.00032 | 0.00038 | 0.047 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3b2eb3b8-20a0-423c-8b11-0fdae9ba0772.md b/gap_reports/gap_3b2eb3b8-20a0-423c-8b11-0fdae9ba0772.md
new file mode 100644
index 0000000000000000000000000000000000000000..c669a69a27543e0165b281609db50ed8f27c2edf
--- /dev/null
+++ b/gap_reports/gap_3b2eb3b8-20a0-423c-8b11-0fdae9ba0772.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3b2eb3b8-20a0-423c-8b11-0fdae9ba0772.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3b2eb3b8-20a0-423c-8b11-0fdae9ba0772.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2695 |
+| Sim rows | 239 |
+| Real episode_id | `3b2eb3b8-20a0-423c-8b11-0fdae9ba0772` |
+| Sim episode_id | `3b2eb3b8-20a0-423c-8b11-0fdae9ba0772` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 192 | 17 | 2.148 | 11.69 | 20.24 | 1940.10 | 0.6162 |
+| 1 | descend | 463 | 40 | 0.408 | 2.97 | 5.14 | 3624.66 | 0.8478 |
+| 2 | settle | 370 | 32 | 0.028 | 0.97 | 1.68 | 3624.48 | 0.7115 |
+| 3 | close | 140 | 13 | 0.680 | 5.06 | 8.77 | 3624.98 | 1.0356 |
+| 4 | lift | 339 | 30 | 2.420 | 14.83 | 25.69 | 2262.09 | 1.1545 |
+| 5 | move_xy | 332 | 29 | 4.735 | 29.66 | 51.38 | 2742.22 | 0.9629 |
+| 6 | lower | 393 | 34 | 0.097 | 1.75 | 3.02 | 3624.93 | 1.1600 |
+| 7 | open | 129 | 12 | 0.527 | 3.67 | 6.35 | 3624.54 | 0.7916 |
+| 8 | retract | 337 | 30 | 2.430 | 14.89 | 25.78 | 2251.25 | 0.7392 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.101 |
+| TCP position RMSE (mm, per-axis) | 12.95 |
+| EE position RMS L2 (mm) | 23.08 |
+| TCP rotvec (mrad) | 3112.02 |
+| W1 effort mean (A) | 0.8778 |
+| W1 effort per joint (A) | j0=0.2469, j1=1.5319, j2=1.7968, j3=0.8116, j4=0.2517, j5=0.6280 |
+
+## Phase-end anchor (sim - 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 | -0.00054 | -0.00077 | 0.00125 | 0.036 |
+| 1 | 0.00076 | -0.00088 | -0.00120 | 0.00167 | 0.053 |
+| 2 | 0.00077 | -0.00089 | -0.00120 | 0.00168 | 0.054 |
+| 3 | 0.00146 | -0.00090 | -0.00147 | 0.00225 | 0.105 |
+| 4 | 0.00044 | -0.00014 | -0.00027 | 0.00053 | 0.149 |
+| 5 | 0.00233 | -0.00121 | -0.00139 | 0.00297 | 0.199 |
+| 6 | 0.00243 | -0.00139 | -0.00226 | 0.00360 | 0.210 |
+| 7 | 0.00064 | -0.00066 | -0.00104 | 0.00139 | 0.049 |
+| 8 | -0.00013 | -0.00019 | -0.00017 | 0.00028 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3b30294a-7de5-47f1-81e4-5d07bfa94145.md b/gap_reports/gap_3b30294a-7de5-47f1-81e4-5d07bfa94145.md
new file mode 100644
index 0000000000000000000000000000000000000000..f8f2ffa6a288bfc4b2307d0e14ca4c37d6f2a51a
--- /dev/null
+++ b/gap_reports/gap_3b30294a-7de5-47f1-81e4-5d07bfa94145.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3b30294a-7de5-47f1-81e4-5d07bfa94145.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3b30294a-7de5-47f1-81e4-5d07bfa94145.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3003 |
+| Sim rows | 265 |
+| Real episode_id | `3b30294a-7de5-47f1-81e4-5d07bfa94145` |
+| Sim episode_id | `3b30294a-7de5-47f1-81e4-5d07bfa94145` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.634 | 16.07 | 27.84 | 1999.37 | 0.6044 |
+| 1 | descend | 364 | 32 | 1.092 | 7.25 | 12.56 | 3625.33 | 0.7790 |
+| 2 | settle | 384 | 34 | 0.027 | 0.84 | 1.46 | 3625.20 | 0.6490 |
+| 3 | close | 156 | 14 | 0.613 | 4.20 | 7.27 | 3234.95 | 0.9535 |
+| 4 | lift | 472 | 41 | 3.699 | 17.19 | 29.77 | 2342.30 | 1.1012 |
+| 5 | move_xy | 369 | 32 | 7.982 | 39.01 | 67.57 | 2683.37 | 0.8981 |
+| 6 | lower | 411 | 36 | 0.082 | 1.41 | 2.44 | 3485.30 | 1.0181 |
+| 7 | open | 157 | 14 | 0.519 | 3.38 | 5.85 | 3625.29 | 0.7678 |
+| 8 | retract | 473 | 41 | 3.544 | 16.63 | 28.80 | 2339.56 | 0.7258 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.416 |
+| TCP position RMSE (mm, per-axis) | 16.45 |
+| EE position RMS L2 (mm) | 30.20 |
+| TCP rotvec (mrad) | 3058.65 |
+| W1 effort mean (A) | 0.8295 |
+| W1 effort per joint (A) | j0=0.2604, j1=1.4008, j2=1.5697, j3=0.8158, j4=0.2931, j5=0.6371 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00084 | -0.00034 | -0.00063 | 0.00111 | 0.030 |
+| 1 | 0.00087 | -0.00062 | -0.00093 | 0.00142 | 0.044 |
+| 2 | 0.00086 | -0.00060 | -0.00099 | 0.00144 | 0.051 |
+| 3 | 0.00143 | -0.00037 | -0.00176 | 0.00230 | 0.157 |
+| 4 | 0.00046 | -0.00011 | -0.00029 | 0.00055 | 0.109 |
+| 5 | 0.00162 | -0.00087 | -0.00079 | 0.00200 | 0.122 |
+| 6 | 0.00203 | -0.00086 | -0.00222 | 0.00313 | 0.182 |
+| 7 | 0.00073 | -0.00030 | -0.00076 | 0.00109 | 0.041 |
+| 8 | -0.00007 | -0.00008 | -0.00012 | 0.00016 | 0.021 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3b51c211-ed36-4b05-8ae7-a2efe04bf6a5.md b/gap_reports/gap_3b51c211-ed36-4b05-8ae7-a2efe04bf6a5.md
new file mode 100644
index 0000000000000000000000000000000000000000..966fadc8d71e265b9578bc55fa3c15b61a0bd86c
--- /dev/null
+++ b/gap_reports/gap_3b51c211-ed36-4b05-8ae7-a2efe04bf6a5.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3b51c211-ed36-4b05-8ae7-a2efe04bf6a5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3b51c211-ed36-4b05-8ae7-a2efe04bf6a5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 496 |
+| Sim rows | 65 |
+| Real episode_id | `3b51c211-ed36-4b05-8ae7-a2efe04bf6a5` |
+| Sim episode_id | `3b51c211-ed36-4b05-8ae7-a2efe04bf6a5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 284 | 28 | 3.096 | 16.22 | 28.09 | 8.67 | 0.8252 |
+| 1 | descend | 212 | 21 | 0.027 | 1.16 | 2.02 | 2.10 | 0.8485 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.189 |
+| TCP position RMSE (mm, per-axis) | 11.50 |
+| EE position RMS L2 (mm) | 21.30 |
+| TCP rotvec (mrad) | 6.31 |
+| W1 effort mean (A) | 0.8350 |
+| W1 effort per joint (A) | j0=0.1763, j1=1.8470, j2=1.7445, j3=0.8619, j4=0.1677, j5=0.2127 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00142 | 0.00062 | 0.00075 | 0.00172 | 0.049 |
+| 1 | 0.00190 | 0.00059 | 0.00060 | 0.00207 | 0.046 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3b719b1e-b765-4760-9773-2b06629ec6e8.md b/gap_reports/gap_3b719b1e-b765-4760-9773-2b06629ec6e8.md
new file mode 100644
index 0000000000000000000000000000000000000000..659503bd470438bcffcc3fd47755e2a4e933e126
--- /dev/null
+++ b/gap_reports/gap_3b719b1e-b765-4760-9773-2b06629ec6e8.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3b719b1e-b765-4760-9773-2b06629ec6e8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3b719b1e-b765-4760-9773-2b06629ec6e8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2641 |
+| Sim rows | 235 |
+| Real episode_id | `3b719b1e-b765-4760-9773-2b06629ec6e8` |
+| Sim episode_id | `3b719b1e-b765-4760-9773-2b06629ec6e8` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 194 | 17 | 1.962 | 8.20 | 14.21 | 1999.63 | 0.5505 |
+| 1 | descend | 345 | 30 | 1.042 | 6.21 | 10.76 | 3626.05 | 0.7102 |
+| 2 | settle | 432 | 38 | 0.020 | 0.55 | 0.96 | 3625.87 | 0.6464 |
+| 3 | close | 144 | 13 | 0.555 | 3.40 | 5.89 | 1203.99 | 0.9194 |
+| 4 | lift | 300 | 26 | 2.256 | 9.45 | 16.37 | 1721.43 | 1.0695 |
+| 5 | move_xy | 349 | 31 | 5.216 | 24.81 | 42.97 | 2136.33 | 0.9052 |
+| 6 | lower | 429 | 38 | 0.078 | 1.01 | 1.75 | 1286.17 | 0.9676 |
+| 7 | open | 144 | 13 | 0.773 | 4.62 | 8.01 | 3626.02 | 0.6300 |
+| 8 | retract | 304 | 27 | 2.012 | 8.62 | 14.93 | 2100.30 | 0.6606 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.165 |
+| TCP position RMSE (mm, per-axis) | 10.11 |
+| EE position RMS L2 (mm) | 18.33 |
+| TCP rotvec (mrad) | 2549.16 |
+| W1 effort mean (A) | 0.7765 |
+| W1 effort per joint (A) | j0=0.1946, j1=1.1463, j2=1.6581, j3=0.8124, j4=0.2642, j5=0.5833 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00020 | -0.00042 | -0.00051 | 0.00069 | 0.027 |
+| 1 | 0.00015 | -0.00057 | -0.00076 | 0.00096 | 0.034 |
+| 2 | 0.00015 | -0.00056 | -0.00077 | 0.00096 | 0.037 |
+| 3 | 0.00104 | -0.00052 | -0.00111 | 0.00161 | 0.145 |
+| 4 | 0.00033 | 0.00007 | -0.00006 | 0.00034 | 0.072 |
+| 5 | 0.00106 | -0.00074 | -0.00115 | 0.00173 | 0.138 |
+| 6 | 0.00140 | -0.00093 | -0.00191 | 0.00255 | 0.193 |
+| 7 | 0.00005 | -0.00037 | -0.00061 | 0.00071 | 0.046 |
+| 8 | -0.00006 | -0.00008 | -0.00011 | 0.00015 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3b80301e-c26e-44af-8433-93b1b22fa480.md b/gap_reports/gap_3b80301e-c26e-44af-8433-93b1b22fa480.md
new file mode 100644
index 0000000000000000000000000000000000000000..4d5cad360c1c90ef3ca751de5741f29fb509b3f6
--- /dev/null
+++ b/gap_reports/gap_3b80301e-c26e-44af-8433-93b1b22fa480.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3b80301e-c26e-44af-8433-93b1b22fa480.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3b80301e-c26e-44af-8433-93b1b22fa480.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2847 |
+| Sim rows | 254 |
+| Real episode_id | `3b80301e-c26e-44af-8433-93b1b22fa480` |
+| Sim episode_id | `3b80301e-c26e-44af-8433-93b1b22fa480` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 202 | 18 | 2.927 | 11.45 | 19.84 | 1976.16 | 0.5798 |
+| 1 | descend | 372 | 33 | 1.459 | 8.30 | 14.38 | 3626.05 | 0.7093 |
+| 2 | settle | 366 | 32 | 0.022 | 0.60 | 1.04 | 3625.96 | 0.7167 |
+| 3 | close | 149 | 14 | 1.050 | 6.04 | 10.46 | 1918.08 | 0.9698 |
+| 4 | lift | 413 | 36 | 3.303 | 13.24 | 22.94 | 1987.63 | 1.0783 |
+| 5 | move_xy | 396 | 35 | 7.136 | 32.47 | 56.25 | 2011.15 | 0.8811 |
+| 6 | lower | 386 | 34 | 0.079 | 1.08 | 1.87 | 1151.23 | 0.9922 |
+| 7 | open | 151 | 14 | 1.205 | 7.03 | 12.17 | 3626.24 | 0.6119 |
+| 8 | retract | 412 | 36 | 3.372 | 13.62 | 23.59 | 2315.36 | 0.7004 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.099 |
+| TCP position RMSE (mm, per-axis) | 13.76 |
+| EE position RMS L2 (mm) | 25.81 |
+| TCP rotvec (mrad) | 2618.55 |
+| W1 effort mean (A) | 0.7986 |
+| W1 effort per joint (A) | j0=0.2565, j1=1.2102, j2=1.6060, j3=0.7013, j4=0.4087, j5=0.6091 |
+
+## Phase-end anchor (sim - 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 | -0.00022 | -0.00049 | 0.00065 | 0.034 |
+| 1 | 0.00037 | -0.00055 | -0.00079 | 0.00103 | 0.041 |
+| 2 | 0.00042 | -0.00055 | -0.00077 | 0.00104 | 0.035 |
+| 3 | 0.00111 | -0.00024 | -0.00101 | 0.00152 | 0.120 |
+| 4 | 0.00025 | -0.00009 | -0.00013 | 0.00029 | 0.108 |
+| 5 | 0.00124 | -0.00084 | -0.00132 | 0.00199 | 0.129 |
+| 6 | 0.00107 | -0.00077 | -0.00043 | 0.00139 | 0.119 |
+| 7 | 0.00024 | -0.00033 | -0.00053 | 0.00067 | 0.040 |
+| 8 | -0.00004 | -0.00006 | -0.00011 | 0.00013 | 0.021 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3b9062d2-0c5e-486a-abeb-b07377aa14d2.md b/gap_reports/gap_3b9062d2-0c5e-486a-abeb-b07377aa14d2.md
new file mode 100644
index 0000000000000000000000000000000000000000..c7bb4e00976d5c163ea8f8c5575e6d2687192fad
--- /dev/null
+++ b/gap_reports/gap_3b9062d2-0c5e-486a-abeb-b07377aa14d2.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3b9062d2-0c5e-486a-abeb-b07377aa14d2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3b9062d2-0c5e-486a-abeb-b07377aa14d2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 436 |
+| Sim rows | 60 |
+| Real episode_id | `3b9062d2-0c5e-486a-abeb-b07377aa14d2` |
+| Sim episode_id | `3b9062d2-0c5e-486a-abeb-b07377aa14d2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 227 | 23 | 2.812 | 10.90 | 18.87 | 5.81 | 0.7805 |
+| 1 | descend | 209 | 21 | 0.039 | 0.90 | 1.56 | 1.97 | 0.8073 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.989 |
+| TCP position RMSE (mm, per-axis) | 7.73 |
+| EE position RMS L2 (mm) | 13.66 |
+| TCP rotvec (mrad) | 4.34 |
+| W1 effort mean (A) | 0.7933 |
+| W1 effort per joint (A) | j0=0.1297, j1=1.6246, j2=1.7967, j3=0.8555, j4=0.1613, j5=0.1923 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00054 | 0.00118 | 0.00077 | 0.00151 | 0.068 |
+| 1 | 0.00060 | 0.00105 | 0.00063 | 0.00137 | 0.045 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3baf9188-0e36-45ee-89c8-3357a985e3b9.md b/gap_reports/gap_3baf9188-0e36-45ee-89c8-3357a985e3b9.md
new file mode 100644
index 0000000000000000000000000000000000000000..6d6c4ffbae95a570f292aaf00e0dd5d868b7605c
--- /dev/null
+++ b/gap_reports/gap_3baf9188-0e36-45ee-89c8-3357a985e3b9.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3baf9188-0e36-45ee-89c8-3357a985e3b9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3baf9188-0e36-45ee-89c8-3357a985e3b9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2624 |
+| Sim rows | 236 |
+| Real episode_id | `3baf9188-0e36-45ee-89c8-3357a985e3b9` |
+| Sim episode_id | `3baf9188-0e36-45ee-89c8-3357a985e3b9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 246 | 22 | 3.052 | 11.87 | 20.56 | 1975.21 | 0.5634 |
+| 1 | descend | 291 | 26 | 1.217 | 7.28 | 12.61 | 3626.06 | 0.6987 |
+| 2 | settle | 372 | 33 | 0.020 | 0.59 | 1.02 | 3625.94 | 0.6871 |
+| 3 | close | 114 | 11 | 0.749 | 4.46 | 7.73 | 1473.79 | 0.9326 |
+| 4 | lift | 338 | 30 | 3.143 | 12.88 | 22.30 | 1948.89 | 1.0555 |
+| 5 | move_xy | 421 | 37 | 5.944 | 26.34 | 45.62 | 2357.43 | 0.8751 |
+| 6 | lower | 391 | 34 | 0.081 | 1.12 | 1.95 | 1891.15 | 0.9752 |
+| 7 | open | 113 | 11 | 0.632 | 3.71 | 6.42 | 3626.05 | 0.6549 |
+| 8 | retract | 338 | 30 | 3.249 | 13.34 | 23.11 | 2265.86 | 0.6949 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.739 |
+| TCP position RMSE (mm, per-axis) | 11.86 |
+| EE position RMS L2 (mm) | 23.00 |
+| TCP rotvec (mrad) | 2657.98 |
+| W1 effort mean (A) | 0.7889 |
+| W1 effort per joint (A) | j0=0.2066, j1=1.1608, j2=1.6377, j3=0.8289, j4=0.2825, j5=0.6167 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00041 | -0.00032 | -0.00046 | 0.00070 | 0.030 |
+| 1 | 0.00037 | -0.00057 | -0.00075 | 0.00101 | 0.038 |
+| 2 | 0.00042 | -0.00055 | -0.00073 | 0.00101 | 0.035 |
+| 3 | 0.00111 | -0.00037 | -0.00142 | 0.00184 | 0.125 |
+| 4 | 0.00028 | -0.00003 | -0.00007 | 0.00029 | 0.110 |
+| 5 | 0.00159 | -0.00074 | -0.00135 | 0.00221 | 0.174 |
+| 6 | 0.00105 | -0.00067 | -0.00101 | 0.00161 | 0.085 |
+| 7 | 0.00021 | -0.00031 | -0.00058 | 0.00069 | 0.042 |
+| 8 | -0.00009 | -0.00009 | -0.00013 | 0.00018 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3bc76ba1-8ce1-425e-a8dc-ac0243c27704.md b/gap_reports/gap_3bc76ba1-8ce1-425e-a8dc-ac0243c27704.md
new file mode 100644
index 0000000000000000000000000000000000000000..306269b640784c51472da3f62a34105a125764f9
--- /dev/null
+++ b/gap_reports/gap_3bc76ba1-8ce1-425e-a8dc-ac0243c27704.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3bc76ba1-8ce1-425e-a8dc-ac0243c27704.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3bc76ba1-8ce1-425e-a8dc-ac0243c27704.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2598 |
+| Sim rows | 229 |
+| Real episode_id | `3bc76ba1-8ce1-425e-a8dc-ac0243c27704` |
+| Sim episode_id | `3bc76ba1-8ce1-425e-a8dc-ac0243c27704` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 200 | 18 | 2.536 | 11.71 | 20.29 | 1918.38 | 0.5675 |
+| 1 | descend | 326 | 28 | 0.752 | 4.83 | 8.37 | 3625.36 | 0.7059 |
+| 2 | settle | 388 | 34 | 0.023 | 0.73 | 1.27 | 3625.23 | 0.6610 |
+| 3 | close | 126 | 11 | 0.956 | 5.98 | 10.36 | 3496.51 | 0.9557 |
+| 4 | lift | 325 | 28 | 2.428 | 11.83 | 20.50 | 2266.69 | 1.0776 |
+| 5 | move_xy | 383 | 33 | 5.148 | 27.77 | 48.10 | 2678.96 | 0.9116 |
+| 6 | lower | 398 | 35 | 0.080 | 1.25 | 2.16 | 3625.91 | 0.9981 |
+| 7 | open | 127 | 12 | 0.904 | 5.78 | 10.01 | 3625.48 | 0.6503 |
+| 8 | retract | 325 | 28 | 2.624 | 12.93 | 22.39 | 2353.85 | 0.7174 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.310 |
+| TCP position RMSE (mm, per-axis) | 12.07 |
+| EE position RMS L2 (mm) | 22.54 |
+| TCP rotvec (mrad) | 3097.27 |
+| W1 effort mean (A) | 0.7996 |
+| W1 effort per joint (A) | j0=0.2219, j1=1.3495, j2=1.5655, j3=0.7565, j4=0.2951, j5=0.6089 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00043 | -0.00039 | -0.00075 | 0.00094 | 0.042 |
+| 1 | 0.00039 | -0.00069 | -0.00101 | 0.00128 | 0.047 |
+| 2 | 0.00043 | -0.00071 | -0.00095 | 0.00126 | 0.041 |
+| 3 | 0.00078 | -0.00051 | -0.00040 | 0.00102 | 0.093 |
+| 4 | 0.00036 | -0.00020 | -0.00035 | 0.00054 | 0.094 |
+| 5 | 0.00131 | -0.00120 | -0.00265 | 0.00319 | 0.211 |
+| 6 | 0.00118 | -0.00104 | -0.00145 | 0.00214 | 0.109 |
+| 7 | 0.00022 | -0.00043 | -0.00074 | 0.00088 | 0.039 |
+| 8 | -0.00010 | -0.00013 | -0.00015 | 0.00022 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3bcac72c-bc7f-41a9-8fb4-a4cd9ca5a4ed.md b/gap_reports/gap_3bcac72c-bc7f-41a9-8fb4-a4cd9ca5a4ed.md
new file mode 100644
index 0000000000000000000000000000000000000000..90019b73a471ecb426617df817ce4d6a2bd08194
--- /dev/null
+++ b/gap_reports/gap_3bcac72c-bc7f-41a9-8fb4-a4cd9ca5a4ed.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3bcac72c-bc7f-41a9-8fb4-a4cd9ca5a4ed.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3bcac72c-bc7f-41a9-8fb4-a4cd9ca5a4ed.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2695 |
+| Sim rows | 240 |
+| Real episode_id | `3bcac72c-bc7f-41a9-8fb4-a4cd9ca5a4ed` |
+| Sim episode_id | `3bcac72c-bc7f-41a9-8fb4-a4cd9ca5a4ed` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 247 | 22 | 3.701 | 15.58 | 26.99 | 2076.07 | 0.6046 |
+| 1 | descend | 302 | 27 | 0.706 | 4.74 | 8.21 | 3625.34 | 0.9729 |
+| 2 | settle | 380 | 33 | 0.024 | 0.83 | 1.43 | 3625.25 | 1.0078 |
+| 3 | close | 152 | 14 | 0.897 | 5.61 | 9.72 | 3286.40 | 1.1578 |
+| 4 | lift | 331 | 29 | 3.379 | 15.82 | 27.41 | 2199.71 | 1.3171 |
+| 5 | move_xy | 428 | 37 | 7.885 | 38.48 | 66.65 | 2636.59 | 1.0136 |
+| 6 | lower | 374 | 33 | 0.089 | 1.47 | 2.55 | 3331.49 | 1.2953 |
+| 7 | open | 152 | 14 | 0.852 | 5.40 | 9.35 | 3625.50 | 0.8126 |
+| 8 | retract | 329 | 29 | 3.204 | 15.00 | 25.98 | 2406.77 | 0.9008 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.326 |
+| TCP position RMSE (mm, per-axis) | 15.93 |
+| EE position RMS L2 (mm) | 31.08 |
+| TCP rotvec (mrad) | 3040.87 |
+| W1 effort mean (A) | 1.0168 |
+| W1 effort per joint (A) | j0=0.6194, j1=1.3587, j2=1.7970, j3=1.0656, j4=0.6692, j5=0.5912 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00086 | -0.00024 | -0.00064 | 0.00110 | 0.032 |
+| 1 | 0.00086 | -0.00055 | -0.00099 | 0.00142 | 0.046 |
+| 2 | 0.00088 | -0.00059 | -0.00097 | 0.00143 | 0.045 |
+| 3 | 0.00123 | -0.00037 | -0.00092 | 0.00158 | 0.094 |
+| 4 | 0.00004 | -0.00052 | -0.00045 | 0.00069 | 0.102 |
+| 5 | 0.00176 | -0.00075 | -0.00180 | 0.00263 | 0.123 |
+| 6 | 0.00202 | -0.00077 | -0.00094 | 0.00236 | 0.149 |
+| 7 | 0.00070 | -0.00024 | -0.00074 | 0.00104 | 0.040 |
+| 8 | -0.00015 | -0.00022 | -0.00021 | 0.00033 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3bef15c2-2ec6-414b-b96d-421ad046ece4.md b/gap_reports/gap_3bef15c2-2ec6-414b-b96d-421ad046ece4.md
new file mode 100644
index 0000000000000000000000000000000000000000..2361a203ea3efd28ac644e655d7db2504759e4ac
--- /dev/null
+++ b/gap_reports/gap_3bef15c2-2ec6-414b-b96d-421ad046ece4.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3bef15c2-2ec6-414b-b96d-421ad046ece4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3bef15c2-2ec6-414b-b96d-421ad046ece4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1528 |
+| Sim rows | 156 |
+| Real episode_id | `3bef15c2-2ec6-414b-b96d-421ad046ece4` |
+| Sim episode_id | `3bef15c2-2ec6-414b-b96d-421ad046ece4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.296 | 14.72 | 25.50 | 644.34 | 0.7390 |
+| 1 | descend | 73 | 8 | 0.675 | 4.40 | 7.62 | 5.68 | 0.7247 |
+| 2 | settle | 39 | 5 | 0.025 | 3.08 | 5.34 | 6.22 | 0.7498 |
+| 3 | close | 390 | 38 | 0.150 | 3.68 | 6.37 | 11.15 | 1.2093 |
+| 4 | lift | 74 | 8 | 0.767 | 4.54 | 7.86 | 10.51 | 1.3144 |
+| 5 | move_xy | 136 | 14 | 3.414 | 21.41 | 37.08 | 111.14 | 1.2069 |
+| 6 | lower | 74 | 8 | 0.966 | 4.44 | 7.68 | 7.49 | 1.0075 |
+| 7 | open | 352 | 35 | 0.020 | 2.28 | 3.94 | 4.47 | 0.5600 |
+| 8 | retract | 74 | 8 | 0.904 | 3.96 | 6.87 | 3.71 | 0.6174 |
+| 9 | return | 187 | 19 | 2.695 | 11.45 | 19.83 | 255.73 | 0.7219 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.643 |
+| TCP position RMSE (mm, per-axis) | 9.54 |
+| EE position RMS L2 (mm) | 15.84 |
+| TCP rotvec (mrad) | 222.11 |
+| W1 effort mean (A) | 0.8619 |
+| W1 effort per joint (A) | j0=0.1545, j1=1.5931, j2=1.6170, j3=0.7705, j4=0.5236, j5=0.5130 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00217 | -0.00440 | -0.00056 | 0.00494 | 0.039 |
+| 1 | 0.00259 | -0.00455 | -0.00092 | 0.00532 | 0.043 |
+| 2 | 0.00259 | -0.00456 | -0.00111 | 0.00536 | 0.061 |
+| 3 | 0.00336 | -0.00409 | -0.00367 | 0.00644 | 0.263 |
+| 4 | 0.00241 | -0.00442 | -0.00367 | 0.00623 | 0.276 |
+| 5 | 0.00132 | -0.00277 | -0.00181 | 0.00357 | 0.258 |
+| 6 | 0.00241 | -0.00201 | -0.00188 | 0.00366 | 0.285 |
+| 7 | 0.00212 | -0.00331 | 0.00002 | 0.00393 | 0.029 |
+| 8 | 0.00151 | -0.00339 | -0.00017 | 0.00371 | 0.061 |
+| 9 | -0.00002 | -0.00012 | -0.00019 | 0.00022 | 0.035 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3bfaf891-b591-4c2b-b52f-8ceaf7a7283e.md b/gap_reports/gap_3bfaf891-b591-4c2b-b52f-8ceaf7a7283e.md
new file mode 100644
index 0000000000000000000000000000000000000000..936ea15318bd46c57d7a56c69e574bb92ea548f8
--- /dev/null
+++ b/gap_reports/gap_3bfaf891-b591-4c2b-b52f-8ceaf7a7283e.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3bfaf891-b591-4c2b-b52f-8ceaf7a7283e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3bfaf891-b591-4c2b-b52f-8ceaf7a7283e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1380 |
+| Sim rows | 142 |
+| Real episode_id | `3bfaf891-b591-4c2b-b52f-8ceaf7a7283e` |
+| Sim episode_id | `3bfaf891-b591-4c2b-b52f-8ceaf7a7283e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 18 | 3.093 | 11.93 | 20.66 | 560.78 | 0.6531 |
+| 1 | descend | 82 | 9 | 0.540 | 3.15 | 5.46 | 4.23 | 0.5951 |
+| 2 | settle | 39 | 5 | 0.020 | 2.21 | 3.83 | 4.65 | 0.6006 |
+| 3 | close | 304 | 30 | 0.143 | 1.88 | 3.25 | 7.78 | 1.1851 |
+| 4 | lift | 85 | 9 | 0.570 | 3.02 | 5.22 | 7.61 | 1.3292 |
+| 5 | move_xy | 173 | 18 | 2.891 | 12.49 | 21.64 | 29.92 | 1.2399 |
+| 6 | lower | 84 | 9 | 0.570 | 3.32 | 5.76 | 1038.56 | 0.9687 |
+| 7 | open | 85 | 9 | 0.021 | 2.46 | 4.26 | 4.77 | 0.5765 |
+| 8 | retract | 84 | 9 | 0.589 | 3.35 | 5.80 | 4.23 | 0.6624 |
+| 9 | return | 262 | 26 | 3.982 | 11.20 | 19.41 | 1035.62 | 0.6891 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.873 |
+| TCP position RMSE (mm, per-axis) | 6.93 |
+| EE position RMS L2 (mm) | 14.07 |
+| TCP rotvec (mrad) | 496.66 |
+| W1 effort mean (A) | 0.8621 |
+| W1 effort per joint (A) | j0=0.1391, j1=1.4470, j2=1.5422, j3=0.8458, j4=0.5653, j5=0.6330 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00169 | -0.00319 | -0.00013 | 0.00361 | 0.034 |
+| 1 | 0.00213 | -0.00317 | -0.00010 | 0.00382 | 0.037 |
+| 2 | 0.00210 | -0.00321 | -0.00016 | 0.00384 | 0.039 |
+| 3 | 0.00122 | -0.00298 | -0.00025 | 0.00322 | 0.309 |
+| 4 | 0.00127 | -0.00292 | -0.00099 | 0.00334 | 0.277 |
+| 5 | 0.00148 | -0.00362 | -0.00106 | 0.00405 | 0.108 |
+| 6 | 0.00208 | -0.00370 | -0.00142 | 0.00448 | 0.144 |
+| 7 | 0.00195 | -0.00373 | -0.00071 | 0.00427 | 0.039 |
+| 8 | 0.00153 | -0.00355 | -0.00078 | 0.00394 | 0.048 |
+| 9 | -0.00009 | -0.00010 | -0.00027 | 0.00030 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3c17007a-45b1-4e06-9dc3-c0801509c008.md b/gap_reports/gap_3c17007a-45b1-4e06-9dc3-c0801509c008.md
new file mode 100644
index 0000000000000000000000000000000000000000..f9b790694acdd831722ca480ba270920a7ee1278
--- /dev/null
+++ b/gap_reports/gap_3c17007a-45b1-4e06-9dc3-c0801509c008.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3c17007a-45b1-4e06-9dc3-c0801509c008.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3c17007a-45b1-4e06-9dc3-c0801509c008.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1510 |
+| Sim rows | 153 |
+| Real episode_id | `3c17007a-45b1-4e06-9dc3-c0801509c008` |
+| Sim episode_id | `3c17007a-45b1-4e06-9dc3-c0801509c008` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 217 | 22 | 4.642 | 16.67 | 28.88 | 1618.50 | 0.7767 |
+| 1 | descend | 88 | 9 | 0.402 | 3.17 | 5.49 | 4.79 | 0.6292 |
+| 2 | settle | 13 | 2 | 0.022 | 2.69 | 4.65 | 5.22 | 0.6208 |
+| 3 | close | 377 | 37 | 0.129 | 1.85 | 3.20 | 5.67 | 0.9724 |
+| 4 | lift | 109 | 11 | 0.621 | 3.38 | 5.86 | 5.33 | 1.1784 |
+| 5 | move_xy | 179 | 18 | 4.502 | 20.36 | 35.26 | 39.22 | 0.9344 |
+| 6 | lower | 80 | 9 | 0.842 | 3.59 | 6.22 | 6.88 | 1.0300 |
+| 7 | open | 193 | 19 | 0.024 | 2.24 | 3.88 | 4.34 | 0.5457 |
+| 8 | retract | 79 | 8 | 0.751 | 3.47 | 6.02 | 3.75 | 0.6221 |
+| 9 | return | 175 | 18 | 2.661 | 11.94 | 20.68 | 1114.41 | 0.7266 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.252 |
+| TCP position RMSE (mm, per-axis) | 9.47 |
+| EE position RMS L2 (mm) | 18.16 |
+| TCP rotvec (mrad) | 621.55 |
+| W1 effort mean (A) | 0.8099 |
+| W1 effort per joint (A) | j0=0.2301, j1=1.4211, j2=1.5018, j3=0.7539, j4=0.5312, j5=0.4212 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00166 | -0.00389 | -0.00103 | 0.00435 | 0.031 |
+| 1 | 0.00194 | -0.00409 | -0.00101 | 0.00463 | 0.030 |
+| 2 | 0.00198 | -0.00408 | -0.00112 | 0.00467 | 0.041 |
+| 3 | 0.00057 | -0.00293 | -0.00076 | 0.00308 | 0.180 |
+| 4 | 0.00061 | -0.00271 | -0.00111 | 0.00300 | 0.220 |
+| 5 | 0.00047 | -0.00266 | -0.00071 | 0.00279 | 0.421 |
+| 6 | 0.00152 | -0.00241 | -0.00071 | 0.00293 | 0.274 |
+| 7 | 0.00209 | -0.00325 | 0.00009 | 0.00387 | 0.028 |
+| 8 | 0.00154 | -0.00336 | -0.00001 | 0.00370 | 0.046 |
+| 9 | 0.00004 | -0.00011 | -0.00019 | 0.00022 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3c211161-9880-449e-8256-1d0f62129c8a.md b/gap_reports/gap_3c211161-9880-449e-8256-1d0f62129c8a.md
new file mode 100644
index 0000000000000000000000000000000000000000..b3ce154674f73158527c521781e76c9394cedc65
--- /dev/null
+++ b/gap_reports/gap_3c211161-9880-449e-8256-1d0f62129c8a.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3c211161-9880-449e-8256-1d0f62129c8a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3c211161-9880-449e-8256-1d0f62129c8a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 972 |
+| Sim rows | 104 |
+| Real episode_id | `3c211161-9880-449e-8256-1d0f62129c8a` |
+| Sim episode_id | `3c211161-9880-449e-8256-1d0f62129c8a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 148 | 15 | 2.975 | 14.90 | 25.80 | 918.96 | 0.6973 |
+| 1 | descend | 60 | 7 | 0.361 | 2.95 | 5.12 | 5.27 | 0.7375 |
+| 2 | settle | 25 | 3 | 0.026 | 2.39 | 4.13 | 5.63 | 0.7565 |
+| 3 | close | 52 | 6 | 0.104 | 2.12 | 3.67 | 7.45 | 1.2542 |
+| 4 | lift | 64 | 7 | 0.317 | 2.57 | 4.45 | 6.88 | 1.2607 |
+| 5 | move_xy | 205 | 21 | 7.054 | 34.97 | 60.57 | 124.47 | 1.1640 |
+| 6 | lower | 60 | 7 | 0.389 | 3.11 | 5.39 | 7.72 | 1.0368 |
+| 7 | open | 92 | 10 | 0.022 | 2.98 | 5.16 | 5.21 | 0.5492 |
+| 8 | retract | 60 | 7 | 0.175 | 2.91 | 5.04 | 4.80 | 0.6289 |
+| 9 | return | 206 | 21 | 3.626 | 22.59 | 39.13 | 1010.39 | 0.6764 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.687 |
+| TCP position RMSE (mm, per-axis) | 14.17 |
+| EE position RMS L2 (mm) | 34.78 |
+| TCP rotvec (mrad) | 433.72 |
+| W1 effort mean (A) | 0.8224 |
+| W1 effort per joint (A) | j0=0.2013, j1=1.4885, j2=1.5981, j3=0.8191, j4=0.4080, j5=0.4195 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00236 | -0.00317 | -0.00035 | 0.00397 | 0.074 |
+| 1 | 0.00276 | -0.00306 | -0.00021 | 0.00413 | 0.040 |
+| 2 | 0.00273 | -0.00309 | -0.00042 | 0.00414 | 0.058 |
+| 3 | 0.00270 | -0.00260 | -0.00070 | 0.00381 | 0.137 |
+| 4 | 0.00250 | -0.00264 | -0.00072 | 0.00371 | 0.182 |
+| 5 | 0.00208 | -0.00422 | -0.00109 | 0.00483 | 0.250 |
+| 6 | 0.00219 | -0.00431 | -0.00101 | 0.00494 | 0.274 |
+| 7 | 0.00158 | -0.00483 | -0.00091 | 0.00516 | 0.031 |
+| 8 | 0.00142 | -0.00445 | -0.00108 | 0.00479 | 0.049 |
+| 9 | -0.00023 | -0.00009 | -0.00025 | 0.00035 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3c2a0c70-e255-4bec-a3fe-28ed6fc26d69.md b/gap_reports/gap_3c2a0c70-e255-4bec-a3fe-28ed6fc26d69.md
new file mode 100644
index 0000000000000000000000000000000000000000..a28445b0bfc5663beb41656525c362f1e6bb5e12
--- /dev/null
+++ b/gap_reports/gap_3c2a0c70-e255-4bec-a3fe-28ed6fc26d69.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3c2a0c70-e255-4bec-a3fe-28ed6fc26d69.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3c2a0c70-e255-4bec-a3fe-28ed6fc26d69.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2535 |
+| Sim rows | 224 |
+| Real episode_id | `3c2a0c70-e255-4bec-a3fe-28ed6fc26d69` |
+| Sim episode_id | `3c2a0c70-e255-4bec-a3fe-28ed6fc26d69` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 194 | 17 | 2.734 | 13.64 | 23.62 | 1912.46 | 0.6235 |
+| 1 | descend | 328 | 29 | 0.907 | 6.42 | 11.12 | 3624.68 | 0.7278 |
+| 2 | settle | 380 | 33 | 0.026 | 0.97 | 1.67 | 3624.58 | 0.7307 |
+| 3 | close | 121 | 11 | 0.514 | 4.11 | 7.12 | 3625.10 | 0.9799 |
+| 4 | lift | 333 | 29 | 2.103 | 11.41 | 19.77 | 2247.60 | 1.1528 |
+| 5 | move_xy | 319 | 28 | 6.327 | 37.04 | 64.15 | 2684.88 | 0.9106 |
+| 6 | lower | 408 | 35 | 0.088 | 1.63 | 2.82 | 3625.26 | 1.0336 |
+| 7 | open | 121 | 11 | 0.532 | 3.73 | 6.46 | 3624.68 | 0.7563 |
+| 8 | retract | 331 | 29 | 2.042 | 11.21 | 19.42 | 2236.42 | 0.7528 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.527 |
+| TCP position RMSE (mm, per-axis) | 14.49 |
+| EE position RMS L2 (mm) | 26.14 |
+| TCP rotvec (mrad) | 3102.28 |
+| W1 effort mean (A) | 0.8454 |
+| W1 effort per joint (A) | j0=0.2100, j1=1.5354, j2=1.7152, j3=0.7605, j4=0.2739, j5=0.5777 |
+
+## Phase-end anchor (sim - 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 | -0.00046 | -0.00074 | 0.00126 | 0.028 |
+| 1 | 0.00088 | -0.00075 | -0.00116 | 0.00164 | 0.049 |
+| 2 | 0.00093 | -0.00077 | -0.00119 | 0.00170 | 0.057 |
+| 3 | 0.00184 | -0.00048 | -0.00113 | 0.00221 | 0.114 |
+| 4 | 0.00012 | -0.00037 | -0.00031 | 0.00050 | 0.111 |
+| 5 | 0.00241 | -0.00101 | -0.00193 | 0.00325 | 0.180 |
+| 6 | 0.00200 | -0.00108 | -0.00293 | 0.00371 | 0.203 |
+| 7 | 0.00072 | -0.00048 | -0.00103 | 0.00134 | 0.044 |
+| 8 | -0.00014 | -0.00020 | -0.00019 | 0.00031 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3c2edbeb-fcf4-41f1-8041-fdc0af20e447.md b/gap_reports/gap_3c2edbeb-fcf4-41f1-8041-fdc0af20e447.md
new file mode 100644
index 0000000000000000000000000000000000000000..bbfd9a0f449be48a0d3a01167dbc3389705888dc
--- /dev/null
+++ b/gap_reports/gap_3c2edbeb-fcf4-41f1-8041-fdc0af20e447.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3c2edbeb-fcf4-41f1-8041-fdc0af20e447.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3c2edbeb-fcf4-41f1-8041-fdc0af20e447.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2866 |
+| Sim rows | 253 |
+| Real episode_id | `3c2edbeb-fcf4-41f1-8041-fdc0af20e447` |
+| Sim episode_id | `3c2edbeb-fcf4-41f1-8041-fdc0af20e447` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 194 | 17 | 3.197 | 11.68 | 20.24 | 1965.46 | 0.6013 |
+| 1 | descend | 544 | 47 | 0.855 | 5.19 | 9.00 | 3626.07 | 0.6650 |
+| 2 | settle | 380 | 33 | 0.024 | 0.67 | 1.17 | 3626.00 | 0.6379 |
+| 3 | close | 155 | 14 | 1.237 | 7.30 | 12.65 | 2250.48 | 0.9710 |
+| 4 | lift | 343 | 30 | 4.097 | 16.74 | 28.99 | 2265.75 | 1.0796 |
+| 5 | move_xy | 363 | 32 | 7.907 | 34.84 | 60.35 | 1798.69 | 0.8578 |
+| 6 | lower | 389 | 34 | 0.083 | 1.25 | 2.16 | 1856.03 | 0.9042 |
+| 7 | open | 156 | 14 | 1.189 | 6.97 | 12.08 | 3626.22 | 0.5904 |
+| 8 | retract | 342 | 30 | 3.982 | 16.33 | 28.29 | 2495.46 | 0.7137 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.481 |
+| TCP position RMSE (mm, per-axis) | 15.01 |
+| EE position RMS L2 (mm) | 26.79 |
+| TCP rotvec (mrad) | 2716.50 |
+| W1 effort mean (A) | 0.7548 |
+| W1 effort per joint (A) | j0=0.2706, j1=1.1513, j2=1.4587, j3=0.6857, j4=0.3845, j5=0.5782 |
+
+## Phase-end anchor (sim - 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 | -0.00012 | -0.00043 | 0.00078 | 0.043 |
+| 1 | 0.00069 | -0.00055 | -0.00072 | 0.00114 | 0.032 |
+| 2 | 0.00068 | -0.00056 | -0.00075 | 0.00116 | 0.038 |
+| 3 | 0.00126 | -0.00005 | -0.00149 | 0.00195 | 0.153 |
+| 4 | 0.00031 | -0.00010 | -0.00019 | 0.00038 | 0.098 |
+| 5 | 0.00139 | -0.00076 | -0.00058 | 0.00169 | 0.099 |
+| 6 | 0.00149 | -0.00073 | -0.00088 | 0.00187 | 0.109 |
+| 7 | 0.00050 | -0.00023 | -0.00055 | 0.00078 | 0.044 |
+| 8 | -0.00008 | -0.00012 | -0.00015 | 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.
diff --git a/gap_reports/gap_3c326f80-e192-40b6-a442-b69eecd480fc.md b/gap_reports/gap_3c326f80-e192-40b6-a442-b69eecd480fc.md
new file mode 100644
index 0000000000000000000000000000000000000000..4e8f44bf96cea03a99d6856e555ab08336e95837
--- /dev/null
+++ b/gap_reports/gap_3c326f80-e192-40b6-a442-b69eecd480fc.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3c326f80-e192-40b6-a442-b69eecd480fc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3c326f80-e192-40b6-a442-b69eecd480fc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2866 |
+| Sim rows | 253 |
+| Real episode_id | `3c326f80-e192-40b6-a442-b69eecd480fc` |
+| Sim episode_id | `3c326f80-e192-40b6-a442-b69eecd480fc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 209 | 19 | 2.525 | 10.22 | 17.70 | 1942.78 | 0.5648 |
+| 1 | descend | 368 | 32 | 1.248 | 7.42 | 12.85 | 3626.03 | 0.7319 |
+| 2 | settle | 384 | 33 | 0.022 | 0.57 | 0.99 | 3625.96 | 0.7088 |
+| 3 | close | 133 | 12 | 1.005 | 5.79 | 10.02 | 1665.13 | 0.9197 |
+| 4 | lift | 413 | 36 | 2.670 | 10.84 | 18.78 | 2012.13 | 1.0761 |
+| 5 | move_xy | 412 | 36 | 5.378 | 25.11 | 43.50 | 1973.68 | 0.9212 |
+| 6 | lower | 401 | 35 | 0.082 | 1.04 | 1.79 | 1719.61 | 1.0116 |
+| 7 | open | 134 | 12 | 0.946 | 5.50 | 9.53 | 3626.15 | 0.6337 |
+| 8 | retract | 412 | 36 | 2.861 | 11.77 | 20.38 | 2273.65 | 0.6821 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.451 |
+| TCP position RMSE (mm, per-axis) | 11.11 |
+| EE position RMS L2 (mm) | 20.88 |
+| TCP rotvec (mrad) | 2625.99 |
+| W1 effort mean (A) | 0.8035 |
+| W1 effort per joint (A) | j0=0.2357, j1=1.1771, j2=1.6175, j3=0.7599, j4=0.4186, j5=0.6121 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00014 | -0.00036 | -0.00051 | 0.00064 | 0.033 |
+| 1 | 0.00015 | -0.00058 | -0.00076 | 0.00097 | 0.034 |
+| 2 | 0.00018 | -0.00058 | -0.00080 | 0.00101 | 0.037 |
+| 3 | 0.00040 | -0.00044 | -0.00061 | 0.00086 | 0.093 |
+| 4 | 0.00043 | 0.00007 | -0.00025 | 0.00051 | 0.106 |
+| 5 | 0.00117 | -0.00075 | -0.00085 | 0.00163 | 0.149 |
+| 6 | 0.00079 | -0.00085 | -0.00185 | 0.00219 | 0.135 |
+| 7 | -0.00009 | -0.00036 | -0.00057 | 0.00068 | 0.040 |
+| 8 | -0.00008 | -0.00009 | -0.00013 | 0.00017 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3c3ef1c9-6392-418b-ad8e-c189c819d454.md b/gap_reports/gap_3c3ef1c9-6392-418b-ad8e-c189c819d454.md
new file mode 100644
index 0000000000000000000000000000000000000000..7fa1a2841fe02961d5ad3a9f546cf1b9d45c25d3
--- /dev/null
+++ b/gap_reports/gap_3c3ef1c9-6392-418b-ad8e-c189c819d454.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3c3ef1c9-6392-418b-ad8e-c189c819d454.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3c3ef1c9-6392-418b-ad8e-c189c819d454.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2534 |
+| Sim rows | 226 |
+| Real episode_id | `3c3ef1c9-6392-418b-ad8e-c189c819d454` |
+| Sim episode_id | `3c3ef1c9-6392-418b-ad8e-c189c819d454` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 186 | 17 | 2.235 | 9.01 | 15.60 | 1953.74 | 0.5678 |
+| 1 | descend | 354 | 31 | 1.315 | 7.84 | 13.58 | 3626.01 | 0.7352 |
+| 2 | settle | 379 | 33 | 0.020 | 0.56 | 0.97 | 3625.94 | 0.6698 |
+| 3 | close | 129 | 12 | 0.767 | 4.55 | 7.89 | 1663.72 | 0.9048 |
+| 4 | lift | 292 | 26 | 2.641 | 11.04 | 19.12 | 2029.64 | 1.0634 |
+| 5 | move_xy | 367 | 32 | 5.214 | 24.65 | 42.70 | 2076.34 | 0.8987 |
+| 6 | lower | 403 | 35 | 0.084 | 1.09 | 1.90 | 1832.71 | 0.9821 |
+| 7 | open | 130 | 12 | 0.785 | 4.70 | 8.15 | 3626.18 | 0.5962 |
+| 8 | retract | 294 | 26 | 2.541 | 10.57 | 18.31 | 2187.39 | 0.6815 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.323 |
+| TCP position RMSE (mm, per-axis) | 10.69 |
+| EE position RMS L2 (mm) | 19.90 |
+| TCP rotvec (mrad) | 2637.42 |
+| W1 effort mean (A) | 0.7853 |
+| W1 effort per joint (A) | j0=0.2267, j1=1.1265, j2=1.6129, j3=0.7559, j4=0.3654, j5=0.6246 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00018 | -0.00039 | -0.00047 | 0.00064 | 0.031 |
+| 1 | 0.00013 | -0.00057 | -0.00076 | 0.00096 | 0.034 |
+| 2 | 0.00017 | -0.00057 | -0.00073 | 0.00095 | 0.031 |
+| 3 | 0.00050 | -0.00047 | -0.00069 | 0.00097 | 0.100 |
+| 4 | 0.00014 | -0.00017 | -0.00011 | 0.00025 | 0.099 |
+| 5 | 0.00086 | -0.00108 | -0.00213 | 0.00254 | 0.186 |
+| 6 | 0.00100 | -0.00088 | -0.00156 | 0.00205 | 0.126 |
+| 7 | -0.00003 | -0.00037 | -0.00058 | 0.00068 | 0.040 |
+| 8 | -0.00009 | -0.00010 | -0.00015 | 0.00020 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3c47c17d-09c0-436c-97cc-18d1c88e2210.md b/gap_reports/gap_3c47c17d-09c0-436c-97cc-18d1c88e2210.md
new file mode 100644
index 0000000000000000000000000000000000000000..877dd565f5fb49b4e1921ce19a5a85a7850ba416
--- /dev/null
+++ b/gap_reports/gap_3c47c17d-09c0-436c-97cc-18d1c88e2210.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3c47c17d-09c0-436c-97cc-18d1c88e2210.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3c47c17d-09c0-436c-97cc-18d1c88e2210.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1616 |
+| Sim rows | 163 |
+| Real episode_id | `3c47c17d-09c0-436c-97cc-18d1c88e2210` |
+| Sim episode_id | `3c47c17d-09c0-436c-97cc-18d1c88e2210` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 197 | 20 | 5.988 | 20.37 | 35.27 | 1530.45 | 0.7897 |
+| 1 | descend | 97 | 10 | 0.895 | 4.35 | 7.53 | 4.43 | 0.5973 |
+| 2 | settle | 39 | 5 | 0.018 | 2.61 | 4.52 | 4.97 | 0.6475 |
+| 3 | close | 306 | 30 | 0.109 | 2.06 | 3.57 | 3.94 | 0.9524 |
+| 4 | lift | 98 | 10 | 0.999 | 4.60 | 7.97 | 2.94 | 1.1012 |
+| 5 | move_xy | 232 | 23 | 8.586 | 35.64 | 61.72 | 15.30 | 1.0617 |
+| 6 | lower | 98 | 10 | 1.040 | 4.42 | 7.65 | 7.90 | 1.0901 |
+| 7 | open | 286 | 28 | 0.030 | 2.04 | 3.53 | 4.76 | 0.4764 |
+| 8 | retract | 96 | 10 | 0.826 | 3.90 | 6.75 | 3.90 | 0.6514 |
+| 9 | return | 167 | 17 | 2.587 | 12.48 | 21.62 | 315.12 | 0.7599 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.462 |
+| TCP position RMSE (mm, per-axis) | 13.89 |
+| EE position RMS L2 (mm) | 27.67 |
+| TCP rotvec (mrad) | 494.16 |
+| W1 effort mean (A) | 0.7888 |
+| W1 effort per joint (A) | j0=0.2070, j1=1.3347, j2=1.5842, j3=0.9102, j4=0.2726, j5=0.4244 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00131 | -0.00364 | -0.00106 | 0.00401 | 0.032 |
+| 1 | 0.00152 | -0.00412 | -0.00100 | 0.00450 | 0.032 |
+| 2 | 0.00153 | -0.00411 | -0.00111 | 0.00452 | 0.035 |
+| 3 | 0.00059 | -0.00356 | -0.00073 | 0.00368 | 0.164 |
+| 4 | 0.00081 | -0.00312 | -0.00181 | 0.00370 | 0.195 |
+| 5 | -0.00022 | -0.00317 | -0.00054 | 0.00323 | 0.282 |
+| 6 | 0.00043 | -0.00217 | -0.00152 | 0.00268 | 0.282 |
+| 7 | 0.00183 | -0.00299 | 0.00004 | 0.00351 | 0.037 |
+| 8 | 0.00136 | -0.00319 | -0.00005 | 0.00347 | 0.045 |
+| 9 | 0.00004 | -0.00015 | -0.00024 | 0.00029 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3c4c4673-6c60-4ef9-abc4-7b28dad5c7d7.md b/gap_reports/gap_3c4c4673-6c60-4ef9-abc4-7b28dad5c7d7.md
new file mode 100644
index 0000000000000000000000000000000000000000..90aeeaa584696d751e5285ea3ab1ff67834f1a8e
--- /dev/null
+++ b/gap_reports/gap_3c4c4673-6c60-4ef9-abc4-7b28dad5c7d7.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3c4c4673-6c60-4ef9-abc4-7b28dad5c7d7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3c4c4673-6c60-4ef9-abc4-7b28dad5c7d7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1485 |
+| Sim rows | 153 |
+| Real episode_id | `3c4c4673-6c60-4ef9-abc4-7b28dad5c7d7` |
+| Sim episode_id | `3c4c4673-6c60-4ef9-abc4-7b28dad5c7d7` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.290 | 11.04 | 19.12 | 1040.73 | 0.7037 |
+| 1 | descend | 71 | 8 | 0.823 | 4.36 | 7.55 | 4.83 | 0.5986 |
+| 2 | settle | 31 | 4 | 0.086 | 2.95 | 5.10 | 5.10 | 0.5869 |
+| 3 | close | 315 | 31 | 0.096 | 3.45 | 5.97 | 1078.18 | 1.0258 |
+| 4 | lift | 71 | 8 | 0.737 | 4.05 | 7.02 | 843.67 | 1.1205 |
+| 5 | move_xy | 186 | 19 | 5.698 | 34.99 | 60.61 | 237.17 | 1.2043 |
+| 6 | lower | 71 | 8 | 0.704 | 4.00 | 6.92 | 7.28 | 1.1738 |
+| 7 | open | 290 | 29 | 0.034 | 2.22 | 3.84 | 5.65 | 0.6991 |
+| 8 | retract | 71 | 8 | 0.658 | 3.86 | 6.68 | 5.05 | 0.8084 |
+| 9 | return | 241 | 24 | 2.772 | 18.21 | 31.54 | 644.25 | 0.7145 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.181 |
+| TCP position RMSE (mm, per-axis) | 13.30 |
+| EE position RMS L2 (mm) | 26.00 |
+| TCP rotvec (mrad) | 585.56 |
+| W1 effort mean (A) | 0.8339 |
+| W1 effort per joint (A) | j0=0.1940, j1=1.6642, j2=1.5289, j3=0.7889, j4=0.3348, j5=0.4926 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00143 | -0.00443 | -0.00070 | 0.00471 | 0.034 |
+| 1 | 0.00165 | -0.00480 | -0.00061 | 0.00511 | 0.057 |
+| 2 | 0.00164 | -0.00475 | -0.00076 | 0.00509 | 0.034 |
+| 3 | 0.00258 | -0.00522 | -0.00193 | 0.00614 | 0.190 |
+| 4 | 0.00178 | -0.00470 | -0.00118 | 0.00517 | 0.135 |
+| 5 | 0.00161 | -0.00305 | 0.00077 | 0.00354 | 0.109 |
+| 6 | 0.00210 | -0.00260 | -0.00042 | 0.00337 | 0.086 |
+| 7 | 0.00247 | -0.00291 | -0.00045 | 0.00384 | 0.068 |
+| 8 | 0.00222 | -0.00319 | -0.00061 | 0.00393 | 0.072 |
+| 9 | -0.00005 | -0.00014 | -0.00034 | 0.00037 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3c4c7ea7-8c84-4996-9654-d184ed638c57.md b/gap_reports/gap_3c4c7ea7-8c84-4996-9654-d184ed638c57.md
new file mode 100644
index 0000000000000000000000000000000000000000..3247f6418a596a99beb7071e663b192cd887a398
--- /dev/null
+++ b/gap_reports/gap_3c4c7ea7-8c84-4996-9654-d184ed638c57.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3c4c7ea7-8c84-4996-9654-d184ed638c57.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3c4c7ea7-8c84-4996-9654-d184ed638c57.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 574 |
+| Sim rows | 73 |
+| Real episode_id | `3c4c7ea7-8c84-4996-9654-d184ed638c57` |
+| Sim episode_id | `3c4c7ea7-8c84-4996-9654-d184ed638c57` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 366 | 36 | 1.759 | 9.79 | 16.95 | 3.51 | 0.7778 |
+| 1 | descend | 208 | 21 | 0.026 | 0.41 | 0.72 | 2.25 | 0.7426 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.244 |
+| TCP position RMSE (mm, per-axis) | 6.93 |
+| EE position RMS L2 (mm) | 13.54 |
+| TCP rotvec (mrad) | 2.95 |
+| W1 effort mean (A) | 0.7650 |
+| W1 effort per joint (A) | j0=0.1847, j1=1.5610, j2=1.7562, j3=0.8517, j4=0.0964, j5=0.1399 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00009 | -0.00032 | 0.00058 | 0.00067 | 0.058 |
+| 1 | 0.00017 | -0.00026 | 0.00068 | 0.00075 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3c65647c-8dff-4e28-a4e4-0f3e349061b3.md b/gap_reports/gap_3c65647c-8dff-4e28-a4e4-0f3e349061b3.md
new file mode 100644
index 0000000000000000000000000000000000000000..f04df95a9233f3544027c53b943cf06d42a63ac8
--- /dev/null
+++ b/gap_reports/gap_3c65647c-8dff-4e28-a4e4-0f3e349061b3.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3c65647c-8dff-4e28-a4e4-0f3e349061b3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3c65647c-8dff-4e28-a4e4-0f3e349061b3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 574 |
+| Sim rows | 73 |
+| Real episode_id | `3c65647c-8dff-4e28-a4e4-0f3e349061b3` |
+| Sim episode_id | `3c65647c-8dff-4e28-a4e4-0f3e349061b3` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 364 | 36 | 4.172 | 20.05 | 34.73 | 6.83 | 0.7052 |
+| 1 | descend | 210 | 21 | 0.030 | 0.49 | 0.85 | 2.11 | 0.7610 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.950 |
+| TCP position RMSE (mm, per-axis) | 14.18 |
+| EE position RMS L2 (mm) | 27.66 |
+| TCP rotvec (mrad) | 5.06 |
+| W1 effort mean (A) | 0.7256 |
+| W1 effort per joint (A) | j0=0.1498, j1=1.5341, j2=1.5702, j3=0.8745, j4=0.1145, j5=0.1105 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00004 | -0.00058 | 0.00058 | 0.00083 | 0.067 |
+| 1 | 0.00021 | -0.00060 | 0.00064 | 0.00090 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3c7e5bda-0bce-4a5e-97e9-8ed34d36a565.md b/gap_reports/gap_3c7e5bda-0bce-4a5e-97e9-8ed34d36a565.md
new file mode 100644
index 0000000000000000000000000000000000000000..446d8b5d69a6b5c91d1c94af1a4ce824d8abd172
--- /dev/null
+++ b/gap_reports/gap_3c7e5bda-0bce-4a5e-97e9-8ed34d36a565.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3c7e5bda-0bce-4a5e-97e9-8ed34d36a565.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3c7e5bda-0bce-4a5e-97e9-8ed34d36a565.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2665 |
+| Sim rows | 237 |
+| Real episode_id | `3c7e5bda-0bce-4a5e-97e9-8ed34d36a565` |
+| Sim episode_id | `3c7e5bda-0bce-4a5e-97e9-8ed34d36a565` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 176 | 16 | 2.737 | 10.00 | 17.31 | 1951.93 | 0.5806 |
+| 1 | descend | 405 | 35 | 0.724 | 4.38 | 7.59 | 3626.04 | 0.7010 |
+| 2 | settle | 381 | 33 | 0.022 | 0.60 | 1.04 | 3625.96 | 0.7107 |
+| 3 | close | 157 | 14 | 0.946 | 5.54 | 9.60 | 819.92 | 0.9067 |
+| 4 | lift | 349 | 31 | 3.342 | 13.53 | 23.44 | 1856.57 | 1.0940 |
+| 5 | move_xy | 316 | 28 | 6.712 | 29.87 | 51.73 | 2069.16 | 0.8479 |
+| 6 | lower | 374 | 33 | 0.081 | 1.11 | 1.92 | 1332.58 | 0.9797 |
+| 7 | open | 157 | 14 | 0.943 | 5.38 | 9.32 | 3626.23 | 0.6018 |
+| 8 | retract | 350 | 31 | 3.366 | 13.69 | 23.71 | 2333.80 | 0.7045 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.932 |
+| TCP position RMSE (mm, per-axis) | 12.66 |
+| EE position RMS L2 (mm) | 22.43 |
+| TCP rotvec (mrad) | 2557.74 |
+| W1 effort mean (A) | 0.7736 |
+| W1 effort per joint (A) | j0=0.2518, j1=1.2184, j2=1.5573, j3=0.6745, j4=0.3502, j5=0.5896 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00038 | -0.00028 | -0.00039 | 0.00061 | 0.034 |
+| 1 | 0.00039 | -0.00055 | -0.00076 | 0.00102 | 0.037 |
+| 2 | 0.00041 | -0.00056 | -0.00077 | 0.00103 | 0.036 |
+| 3 | 0.00079 | -0.00030 | -0.00088 | 0.00122 | 0.096 |
+| 4 | 0.00000 | -0.00058 | -0.00050 | 0.00076 | 0.126 |
+| 5 | 0.00117 | -0.00079 | -0.00148 | 0.00204 | 0.107 |
+| 6 | 0.00112 | -0.00074 | -0.00151 | 0.00202 | 0.103 |
+| 7 | 0.00022 | -0.00030 | -0.00052 | 0.00064 | 0.036 |
+| 8 | -0.00007 | -0.00009 | -0.00015 | 0.00018 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3c93abab-ff9d-4d2a-8024-da4837bc3e49.md b/gap_reports/gap_3c93abab-ff9d-4d2a-8024-da4837bc3e49.md
new file mode 100644
index 0000000000000000000000000000000000000000..91e58f484a13abd250865eb98315e092c1fd85f3
--- /dev/null
+++ b/gap_reports/gap_3c93abab-ff9d-4d2a-8024-da4837bc3e49.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3c93abab-ff9d-4d2a-8024-da4837bc3e49.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3c93abab-ff9d-4d2a-8024-da4837bc3e49.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1138 |
+| Sim rows | 117 |
+| Real episode_id | `3c93abab-ff9d-4d2a-8024-da4837bc3e49` |
+| Sim episode_id | `3c93abab-ff9d-4d2a-8024-da4837bc3e49` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 179 | 18 | 10.926 | 12.01 | 20.81 | 526.47 | 0.6670 |
+| 1 | descend | 96 | 10 | 19.991 | 4.20 | 7.27 | 770.81 | 0.8228 |
+| 2 | settle | 23 | 3 | 19.965 | 2.73 | 4.73 | 771.04 | 0.8674 |
+| 3 | close | 45 | 5 | 19.965 | 3.08 | 5.33 | 772.43 | 1.2482 |
+| 4 | lift | 100 | 10 | 19.992 | 4.78 | 8.28 | 772.14 | 1.3227 |
+| 5 | move_xy | 189 | 19 | 11.813 | 18.95 | 32.82 | 413.56 | 1.2497 |
+| 6 | lower | 96 | 10 | 0.900 | 4.83 | 8.37 | 3623.38 | 0.9980 |
+| 7 | open | 98 | 10 | 0.019 | 2.96 | 5.13 | 5.15 | 0.6210 |
+| 8 | retract | 96 | 10 | 0.762 | 4.21 | 7.29 | 4.63 | 0.7015 |
+| 9 | return | 216 | 22 | 2.349 | 14.45 | 25.03 | 658.89 | 0.7021 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 13.647 |
+| TCP position RMSE (mm, per-axis) | 9.05 |
+| EE position RMS L2 (mm) | 19.76 |
+| TCP rotvec (mrad) | 1280.34 |
+| W1 effort mean (A) | 0.8718 |
+| W1 effort per joint (A) | j0=0.1690, j1=1.4744, j2=1.5298, j3=0.7565, j4=0.4548, j5=0.8462 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00184 | -0.00421 | -0.00031 | 0.00460 | 48.962 |
+| 1 | 0.00228 | -0.00409 | -0.00046 | 0.00471 | 48.906 |
+| 2 | 0.00229 | -0.00412 | -0.00054 | 0.00475 | 48.903 |
+| 3 | 0.00308 | -0.00359 | -0.00236 | 0.00529 | 48.904 |
+| 4 | 0.00256 | -0.00400 | -0.00231 | 0.00528 | 48.970 |
+| 5 | 0.00212 | -0.00441 | -0.00244 | 0.00547 | 0.222 |
+| 6 | 0.00299 | -0.00469 | -0.00243 | 0.00607 | 0.221 |
+| 7 | 0.00198 | -0.00467 | -0.00080 | 0.00513 | 0.036 |
+| 8 | 0.00149 | -0.00429 | -0.00090 | 0.00463 | 0.042 |
+| 9 | -0.00016 | -0.00009 | -0.00026 | 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.
diff --git a/gap_reports/gap_3caac8f0-ab25-4b79-a81b-fc07845cf4f6.md b/gap_reports/gap_3caac8f0-ab25-4b79-a81b-fc07845cf4f6.md
new file mode 100644
index 0000000000000000000000000000000000000000..4fc668a1c1ef9c41892064ea19e32786f4e83b9c
--- /dev/null
+++ b/gap_reports/gap_3caac8f0-ab25-4b79-a81b-fc07845cf4f6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3caac8f0-ab25-4b79-a81b-fc07845cf4f6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3caac8f0-ab25-4b79-a81b-fc07845cf4f6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2664 |
+| Sim rows | 236 |
+| Real episode_id | `3caac8f0-ab25-4b79-a81b-fc07845cf4f6` |
+| Sim episode_id | `3caac8f0-ab25-4b79-a81b-fc07845cf4f6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 229 | 20 | 2.975 | 11.42 | 19.77 | 1961.26 | 0.5719 |
+| 1 | descend | 391 | 34 | 1.132 | 6.76 | 11.70 | 3626.04 | 0.7191 |
+| 2 | settle | 364 | 32 | 0.021 | 0.59 | 1.03 | 3625.96 | 0.7125 |
+| 3 | close | 136 | 12 | 0.928 | 5.67 | 9.83 | 2435.46 | 0.9660 |
+| 4 | lift | 294 | 26 | 3.317 | 13.47 | 23.34 | 2003.39 | 1.0799 |
+| 5 | move_xy | 423 | 37 | 6.461 | 29.34 | 50.82 | 1929.37 | 0.8909 |
+| 6 | lower | 397 | 35 | 0.078 | 1.07 | 1.85 | 1241.92 | 0.9596 |
+| 7 | open | 136 | 12 | 0.659 | 3.82 | 6.61 | 3626.23 | 0.6056 |
+| 8 | retract | 294 | 26 | 3.013 | 12.31 | 21.32 | 2316.52 | 0.7066 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.853 |
+| TCP position RMSE (mm, per-axis) | 12.55 |
+| EE position RMS L2 (mm) | 24.12 |
+| TCP rotvec (mrad) | 2663.91 |
+| W1 effort mean (A) | 0.7849 |
+| W1 effort per joint (A) | j0=0.2439, j1=1.1753, j2=1.5829, j3=0.7165, j4=0.3954, j5=0.5956 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00040 | -0.00029 | -0.00045 | 0.00067 | 0.027 |
+| 1 | 0.00041 | -0.00054 | -0.00075 | 0.00101 | 0.039 |
+| 2 | 0.00044 | -0.00055 | -0.00078 | 0.00105 | 0.038 |
+| 3 | 0.00110 | -0.00034 | -0.00115 | 0.00163 | 0.116 |
+| 4 | -0.00005 | -0.00047 | -0.00043 | 0.00064 | 0.077 |
+| 5 | 0.00144 | -0.00077 | -0.00088 | 0.00186 | 0.153 |
+| 6 | 0.00118 | -0.00080 | -0.00116 | 0.00184 | 0.111 |
+| 7 | 0.00017 | -0.00029 | -0.00053 | 0.00063 | 0.036 |
+| 8 | -0.00008 | -0.00013 | -0.00015 | 0.00021 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3cb2a917-f4c3-4162-b425-cb0c99aea55d.md b/gap_reports/gap_3cb2a917-f4c3-4162-b425-cb0c99aea55d.md
new file mode 100644
index 0000000000000000000000000000000000000000..1598c3b482510d49838bdb2bd121e8cd2292631f
--- /dev/null
+++ b/gap_reports/gap_3cb2a917-f4c3-4162-b425-cb0c99aea55d.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3cb2a917-f4c3-4162-b425-cb0c99aea55d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3cb2a917-f4c3-4162-b425-cb0c99aea55d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 463 |
+| Sim rows | 62 |
+| Real episode_id | `3cb2a917-f4c3-4162-b425-cb0c99aea55d` |
+| Sim episode_id | `3cb2a917-f4c3-4162-b425-cb0c99aea55d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 252 | 25 | 2.935 | 13.56 | 23.48 | 411.00 | 0.8037 |
+| 1 | descend | 211 | 21 | 0.028 | 1.82 | 3.14 | 2.11 | 0.7371 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.075 |
+| TCP position RMSE (mm, per-axis) | 9.67 |
+| EE position RMS L2 (mm) | 17.45 |
+| TCP rotvec (mrad) | 290.63 |
+| W1 effort mean (A) | 0.7729 |
+| W1 effort per joint (A) | j0=0.0750, j1=1.7325, j2=1.6836, j3=0.8922, j4=0.1339, j5=0.1204 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00135 | 0.00288 | 0.00072 | 0.00326 | 0.066 |
+| 1 | -0.00137 | 0.00272 | 0.00054 | 0.00310 | 0.047 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3cb47d3a-803f-4b0c-ab01-ac6b6f5a2694.md b/gap_reports/gap_3cb47d3a-803f-4b0c-ab01-ac6b6f5a2694.md
new file mode 100644
index 0000000000000000000000000000000000000000..d2e239f706efe7e4da7d597e3a178bdbe14d21f0
--- /dev/null
+++ b/gap_reports/gap_3cb47d3a-803f-4b0c-ab01-ac6b6f5a2694.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3cb47d3a-803f-4b0c-ab01-ac6b6f5a2694.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3cb47d3a-803f-4b0c-ab01-ac6b6f5a2694.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1895 |
+| Sim rows | 191 |
+| Real episode_id | `3cb47d3a-803f-4b0c-ab01-ac6b6f5a2694` |
+| Sim episode_id | `3cb47d3a-803f-4b0c-ab01-ac6b6f5a2694` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 197 | 20 | 3.132 | 15.42 | 26.70 | 736.69 | 0.7650 |
+| 1 | descend | 113 | 12 | 0.977 | 5.40 | 9.35 | 5.35 | 0.6902 |
+| 2 | settle | 25 | 3 | 0.023 | 2.91 | 5.04 | 5.89 | 0.7820 |
+| 3 | close | 390 | 38 | 0.131 | 1.91 | 3.31 | 7.75 | 1.2358 |
+| 4 | lift | 111 | 11 | 0.868 | 4.30 | 7.45 | 8.05 | 1.3135 |
+| 5 | move_xy | 247 | 25 | 6.276 | 24.19 | 41.90 | 107.80 | 1.1389 |
+| 6 | lower | 106 | 11 | 8.330 | 4.68 | 8.11 | 324.20 | 1.0703 |
+| 7 | open | 369 | 36 | 8.260 | 2.39 | 4.14 | 323.28 | 0.7340 |
+| 8 | retract | 111 | 12 | 8.333 | 4.94 | 8.56 | 322.74 | 0.7260 |
+| 9 | return | 226 | 23 | 5.246 | 16.36 | 28.33 | 933.45 | 0.7929 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.343 |
+| TCP position RMSE (mm, per-axis) | 10.96 |
+| EE position RMS L2 (mm) | 20.52 |
+| TCP rotvec (mrad) | 417.09 |
+| W1 effort mean (A) | 0.9405 |
+| W1 effort per joint (A) | j0=0.2090, j1=1.6201, j2=1.6243, j3=0.8248, j4=0.5607, j5=0.8041 |
+
+## Phase-end anchor (sim - 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 | -0.00409 | -0.00099 | 0.00458 | 0.031 |
+| 1 | 0.00227 | -0.00434 | -0.00110 | 0.00502 | 0.038 |
+| 2 | 0.00227 | -0.00434 | -0.00118 | 0.00504 | 0.049 |
+| 3 | 0.00152 | -0.00309 | -0.00089 | 0.00356 | 0.206 |
+| 4 | 0.00086 | -0.00267 | -0.00094 | 0.00296 | 0.217 |
+| 5 | 0.00198 | -0.00303 | -0.00024 | 0.00363 | 20.280 |
+| 6 | 0.00263 | -0.00225 | -0.00082 | 0.00356 | 20.234 |
+| 7 | 0.00215 | -0.00350 | -0.00008 | 0.00411 | 20.232 |
+| 8 | 0.00169 | -0.00378 | -0.00009 | 0.00414 | 20.265 |
+| 9 | -0.00001 | -0.00013 | -0.00025 | 0.00028 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3cc9bbd8-241a-4651-aabf-c36c0c0bd842.md b/gap_reports/gap_3cc9bbd8-241a-4651-aabf-c36c0c0bd842.md
new file mode 100644
index 0000000000000000000000000000000000000000..8cc3c95c64cfa4a8ba73d5e6ff6a848dc37e63f9
--- /dev/null
+++ b/gap_reports/gap_3cc9bbd8-241a-4651-aabf-c36c0c0bd842.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3cc9bbd8-241a-4651-aabf-c36c0c0bd842.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3cc9bbd8-241a-4651-aabf-c36c0c0bd842.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2359 |
+| Sim rows | 211 |
+| Real episode_id | `3cc9bbd8-241a-4651-aabf-c36c0c0bd842` |
+| Sim episode_id | `3cc9bbd8-241a-4651-aabf-c36c0c0bd842` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 186 | 17 | 2.654 | 11.55 | 20.01 | 1971.39 | 0.5808 |
+| 1 | descend | 218 | 20 | 0.848 | 5.61 | 9.72 | 3625.35 | 0.8009 |
+| 2 | settle | 393 | 34 | 0.025 | 0.78 | 1.35 | 3625.20 | 0.7189 |
+| 3 | close | 122 | 11 | 0.582 | 3.84 | 6.65 | 3377.51 | 0.9589 |
+| 4 | lift | 306 | 27 | 2.869 | 13.88 | 24.03 | 2222.66 | 1.1063 |
+| 5 | move_xy | 311 | 28 | 5.942 | 30.80 | 53.34 | 2773.55 | 0.8586 |
+| 6 | lower | 393 | 34 | 0.087 | 1.40 | 2.43 | 3551.95 | 1.0864 |
+| 7 | open | 121 | 11 | 0.588 | 3.82 | 6.62 | 3625.28 | 0.7487 |
+| 8 | retract | 309 | 27 | 3.013 | 14.44 | 25.01 | 2221.18 | 0.7227 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.605 |
+| TCP position RMSE (mm, per-axis) | 13.11 |
+| EE position RMS L2 (mm) | 24.04 |
+| TCP rotvec (mrad) | 3071.46 |
+| W1 effort mean (A) | 0.8362 |
+| W1 effort per joint (A) | j0=0.2163, j1=1.4254, j2=1.6404, j3=0.8501, j4=0.2324, j5=0.6527 |
+
+## Phase-end anchor (sim - 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 | -0.00034 | -0.00072 | 0.00105 | 0.038 |
+| 1 | 0.00060 | -0.00064 | -0.00099 | 0.00132 | 0.046 |
+| 2 | 0.00064 | -0.00065 | -0.00098 | 0.00134 | 0.046 |
+| 3 | 0.00126 | -0.00053 | -0.00170 | 0.00218 | 0.125 |
+| 4 | -0.00002 | -0.00045 | -0.00067 | 0.00081 | 0.103 |
+| 5 | 0.00194 | -0.00090 | -0.00213 | 0.00302 | 0.189 |
+| 6 | 0.00169 | -0.00099 | -0.00129 | 0.00235 | 0.145 |
+| 7 | 0.00046 | -0.00043 | -0.00083 | 0.00105 | 0.041 |
+| 8 | -0.00014 | -0.00021 | -0.00021 | 0.00033 | 0.035 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3d0615b7-f2b2-4009-a5bd-2f20f3fe1e18.md b/gap_reports/gap_3d0615b7-f2b2-4009-a5bd-2f20f3fe1e18.md
new file mode 100644
index 0000000000000000000000000000000000000000..c1303e7e2c0d9c051c225f56798b7e297a52f2a9
--- /dev/null
+++ b/gap_reports/gap_3d0615b7-f2b2-4009-a5bd-2f20f3fe1e18.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3d0615b7-f2b2-4009-a5bd-2f20f3fe1e18.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3d0615b7-f2b2-4009-a5bd-2f20f3fe1e18.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2579 |
+| Sim rows | 230 |
+| Real episode_id | `3d0615b7-f2b2-4009-a5bd-2f20f3fe1e18` |
+| Sim episode_id | `3d0615b7-f2b2-4009-a5bd-2f20f3fe1e18` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 246 | 22 | 2.942 | 11.74 | 20.34 | 1988.67 | 0.5573 |
+| 1 | descend | 220 | 20 | 0.895 | 5.41 | 9.37 | 3625.89 | 0.7788 |
+| 2 | settle | 366 | 32 | 0.024 | 0.60 | 1.05 | 3586.13 | 0.7229 |
+| 3 | close | 109 | 10 | 0.540 | 3.34 | 5.79 | 1554.36 | 0.9376 |
+| 4 | lift | 364 | 32 | 3.308 | 13.90 | 24.08 | 2021.07 | 1.0425 |
+| 5 | move_xy | 422 | 37 | 6.106 | 27.82 | 48.18 | 2105.13 | 0.8712 |
+| 6 | lower | 379 | 33 | 0.077 | 1.07 | 1.85 | 1279.64 | 0.9535 |
+| 7 | open | 110 | 10 | 0.455 | 2.79 | 4.82 | 3626.22 | 0.5960 |
+| 8 | retract | 363 | 32 | 3.127 | 13.19 | 22.85 | 2243.65 | 0.6732 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.748 |
+| TCP position RMSE (mm, per-axis) | 12.15 |
+| EE position RMS L2 (mm) | 24.19 |
+| TCP rotvec (mrad) | 2597.34 |
+| W1 effort mean (A) | 0.7865 |
+| W1 effort per joint (A) | j0=0.2375, j1=1.1807, j2=1.5623, j3=0.7156, j4=0.4139, j5=0.6092 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00039 | -0.00038 | -0.00054 | 0.00077 | 0.029 |
+| 1 | 0.00043 | -0.00053 | -0.00080 | 0.00105 | 0.039 |
+| 2 | 0.00043 | -0.00055 | -0.00076 | 0.00103 | 0.036 |
+| 3 | 0.00075 | -0.00052 | -0.00026 | 0.00095 | 0.092 |
+| 4 | 0.00024 | -0.00012 | -0.00016 | 0.00031 | 0.102 |
+| 5 | 0.00107 | -0.00085 | -0.00109 | 0.00175 | 0.105 |
+| 6 | 0.00108 | -0.00068 | -0.00037 | 0.00133 | 0.110 |
+| 7 | 0.00027 | -0.00037 | -0.00060 | 0.00076 | 0.036 |
+| 8 | -0.00006 | -0.00011 | -0.00013 | 0.00018 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3d066653-33aa-456a-8a40-b5cfc9189aac.md b/gap_reports/gap_3d066653-33aa-456a-8a40-b5cfc9189aac.md
new file mode 100644
index 0000000000000000000000000000000000000000..051042e33d261c779143d5d1aba5b24a6451b641
--- /dev/null
+++ b/gap_reports/gap_3d066653-33aa-456a-8a40-b5cfc9189aac.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3d066653-33aa-456a-8a40-b5cfc9189aac.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3d066653-33aa-456a-8a40-b5cfc9189aac.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 516 |
+| Sim rows | 67 |
+| Real episode_id | `3d066653-33aa-456a-8a40-b5cfc9189aac` |
+| Sim episode_id | `3d066653-33aa-456a-8a40-b5cfc9189aac` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 307 | 30 | 1.895 | 6.89 | 11.93 | 4.51 | 0.7901 |
+| 1 | descend | 209 | 21 | 0.022 | 0.41 | 0.71 | 2.12 | 0.7787 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.340 |
+| TCP position RMSE (mm, per-axis) | 4.88 |
+| EE position RMS L2 (mm) | 9.21 |
+| TCP rotvec (mrad) | 3.53 |
+| W1 effort mean (A) | 0.7854 |
+| W1 effort per joint (A) | j0=0.0943, j1=1.6172, j2=1.8290, j3=0.9567, j4=0.1105, j5=0.1049 |
+
+## Phase-end anchor (sim - 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 | -0.00013 | 0.00072 | 0.00074 | 0.037 |
+| 1 | 0.00022 | -0.00008 | 0.00065 | 0.00069 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3d15014e-0bbe-4e6f-b7e0-601485c93b67.md b/gap_reports/gap_3d15014e-0bbe-4e6f-b7e0-601485c93b67.md
new file mode 100644
index 0000000000000000000000000000000000000000..c56fec3cde5ec53c8066df2b274b2f7316ef0665
--- /dev/null
+++ b/gap_reports/gap_3d15014e-0bbe-4e6f-b7e0-601485c93b67.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3d15014e-0bbe-4e6f-b7e0-601485c93b67.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3d15014e-0bbe-4e6f-b7e0-601485c93b67.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2673 |
+| Sim rows | 237 |
+| Real episode_id | `3d15014e-0bbe-4e6f-b7e0-601485c93b67` |
+| Sim episode_id | `3d15014e-0bbe-4e6f-b7e0-601485c93b67` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 259 | 23 | 3.395 | 12.28 | 21.28 | 2015.23 | 0.5699 |
+| 1 | descend | 275 | 24 | 0.947 | 5.78 | 10.02 | 3625.97 | 0.6211 |
+| 2 | settle | 355 | 31 | 0.023 | 0.69 | 1.19 | 3625.98 | 0.6184 |
+| 3 | close | 124 | 11 | 0.668 | 3.99 | 6.91 | 1977.78 | 0.9319 |
+| 4 | lift | 350 | 31 | 3.255 | 13.28 | 23.01 | 2006.97 | 1.1020 |
+| 5 | move_xy | 436 | 38 | 6.945 | 30.25 | 52.39 | 2071.91 | 0.8330 |
+| 6 | lower | 401 | 35 | 0.086 | 1.28 | 2.21 | 1972.67 | 0.8791 |
+| 7 | open | 124 | 11 | 0.706 | 4.19 | 7.26 | 3626.20 | 0.5655 |
+| 8 | retract | 349 | 31 | 3.091 | 12.62 | 21.86 | 2221.35 | 0.6961 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.014 |
+| TCP position RMSE (mm, per-axis) | 12.78 |
+| EE position RMS L2 (mm) | 25.28 |
+| TCP rotvec (mrad) | 2678.39 |
+| W1 effort mean (A) | 0.7439 |
+| W1 effort per joint (A) | j0=0.2227, j1=1.1662, j2=1.4141, j3=0.6767, j4=0.3723, j5=0.6114 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00068 | -0.00032 | -0.00055 | 0.00093 | 0.032 |
+| 1 | 0.00074 | -0.00055 | -0.00079 | 0.00121 | 0.038 |
+| 2 | 0.00070 | -0.00055 | -0.00079 | 0.00120 | 0.041 |
+| 3 | 0.00124 | -0.00044 | -0.00022 | 0.00134 | 0.105 |
+| 4 | 0.00015 | -0.00009 | -0.00011 | 0.00021 | 0.050 |
+| 5 | 0.00154 | -0.00067 | -0.00131 | 0.00213 | 0.123 |
+| 6 | 0.00174 | -0.00060 | -0.00161 | 0.00244 | 0.144 |
+| 7 | 0.00048 | -0.00032 | -0.00054 | 0.00079 | 0.033 |
+| 8 | -0.00009 | -0.00012 | -0.00017 | 0.00022 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3d28dfb0-3ead-4327-8f9a-05a1aa3bcb77.md b/gap_reports/gap_3d28dfb0-3ead-4327-8f9a-05a1aa3bcb77.md
new file mode 100644
index 0000000000000000000000000000000000000000..c06c2322a9ec4069991ce60f0ea485005dadd298
--- /dev/null
+++ b/gap_reports/gap_3d28dfb0-3ead-4327-8f9a-05a1aa3bcb77.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3d28dfb0-3ead-4327-8f9a-05a1aa3bcb77.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3d28dfb0-3ead-4327-8f9a-05a1aa3bcb77.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1594 |
+| Sim rows | 162 |
+| Real episode_id | `3d28dfb0-3ead-4327-8f9a-05a1aa3bcb77` |
+| Sim episode_id | `3d28dfb0-3ead-4327-8f9a-05a1aa3bcb77` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.164 | 11.10 | 19.22 | 813.98 | 0.7122 |
+| 1 | descend | 60 | 7 | 0.266 | 2.70 | 4.68 | 5.16 | 0.7132 |
+| 2 | settle | 36 | 4 | 0.027 | 2.37 | 4.11 | 5.62 | 0.7118 |
+| 3 | close | 393 | 39 | 0.067 | 2.67 | 4.62 | 6.20 | 1.1482 |
+| 4 | lift | 59 | 7 | 0.301 | 3.02 | 5.24 | 5.72 | 1.2920 |
+| 5 | move_xy | 172 | 17 | 5.598 | 36.58 | 63.37 | 176.90 | 1.2141 |
+| 6 | lower | 60 | 7 | 0.181 | 3.03 | 5.25 | 4.67 | 1.0247 |
+| 7 | open | 367 | 36 | 0.019 | 2.89 | 5.01 | 4.95 | 0.5587 |
+| 8 | retract | 61 | 7 | 0.487 | 3.24 | 5.61 | 4.43 | 0.6261 |
+| 9 | return | 236 | 23 | 2.612 | 13.50 | 23.38 | 486.69 | 0.6852 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.080 |
+| TCP position RMSE (mm, per-axis) | 13.04 |
+| EE position RMS L2 (mm) | 23.76 |
+| TCP rotvec (mrad) | 305.11 |
+| W1 effort mean (A) | 0.8470 |
+| W1 effort per joint (A) | j0=0.1081, j1=1.6496, j2=1.5773, j3=0.8987, j4=0.3093, j5=0.5389 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00231 | -0.00312 | -0.00012 | 0.00389 | 0.063 |
+| 1 | 0.00270 | -0.00309 | -0.00034 | 0.00412 | 0.047 |
+| 2 | 0.00266 | -0.00313 | -0.00041 | 0.00413 | 0.057 |
+| 3 | 0.00322 | -0.00305 | -0.00104 | 0.00456 | 0.138 |
+| 4 | 0.00316 | -0.00328 | -0.00114 | 0.00470 | 0.151 |
+| 5 | 0.00171 | -0.00470 | -0.00044 | 0.00502 | 0.069 |
+| 6 | 0.00208 | -0.00477 | -0.00061 | 0.00523 | 0.059 |
+| 7 | 0.00200 | -0.00456 | -0.00059 | 0.00502 | 0.031 |
+| 8 | 0.00165 | -0.00432 | -0.00072 | 0.00468 | 0.051 |
+| 9 | -0.00015 | -0.00010 | -0.00022 | 0.00028 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3d3ef19f-10d3-452a-a691-e20f793c9615.md b/gap_reports/gap_3d3ef19f-10d3-452a-a691-e20f793c9615.md
new file mode 100644
index 0000000000000000000000000000000000000000..9f05651d24cb6b8633a36f2bf8ffc349c7b98863
--- /dev/null
+++ b/gap_reports/gap_3d3ef19f-10d3-452a-a691-e20f793c9615.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3d3ef19f-10d3-452a-a691-e20f793c9615.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3d3ef19f-10d3-452a-a691-e20f793c9615.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3038 |
+| Sim rows | 267 |
+| Real episode_id | `3d3ef19f-10d3-452a-a691-e20f793c9615` |
+| Sim episode_id | `3d3ef19f-10d3-452a-a691-e20f793c9615` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 232 | 21 | 3.563 | 17.33 | 30.02 | 3.66 | 0.6485 |
+| 1 | descend | 337 | 29 | 1.212 | 8.52 | 14.75 | 5.50 | 0.7851 |
+| 2 | settle | 369 | 32 | 0.026 | 1.17 | 2.03 | 5.70 | 0.6609 |
+| 3 | close | 168 | 15 | 0.870 | 6.29 | 10.90 | 7.46 | 0.9839 |
+| 4 | lift | 485 | 42 | 3.500 | 18.35 | 31.78 | 5.00 | 1.1306 |
+| 5 | move_xy | 402 | 35 | 7.676 | 42.35 | 73.34 | 5.94 | 0.9592 |
+| 6 | lower | 389 | 34 | 0.097 | 1.96 | 3.40 | 7.79 | 0.9544 |
+| 7 | open | 170 | 15 | 0.909 | 6.37 | 11.03 | 5.62 | 0.6493 |
+| 8 | retract | 486 | 42 | 3.496 | 18.40 | 31.87 | 3.79 | 0.7485 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.319 |
+| TCP position RMSE (mm, per-axis) | 18.03 |
+| EE position RMS L2 (mm) | 33.82 |
+| TCP rotvec (mrad) | 5.76 |
+| W1 effort mean (A) | 0.8339 |
+| W1 effort per joint (A) | j0=0.2825, j1=1.5156, j2=1.5156, j3=0.6532, j4=0.4213, j5=0.6153 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00130 | -0.00049 | -0.00071 | 0.00156 | 0.029 |
+| 1 | 0.00142 | -0.00091 | -0.00121 | 0.00207 | 0.055 |
+| 2 | 0.00139 | -0.00095 | -0.00112 | 0.00202 | 0.051 |
+| 3 | 0.00261 | -0.00058 | -0.00160 | 0.00311 | 0.168 |
+| 4 | 0.00038 | -0.00010 | -0.00019 | 0.00044 | 0.133 |
+| 5 | 0.00248 | -0.00109 | -0.00166 | 0.00318 | 0.128 |
+| 6 | 0.00248 | -0.00100 | -0.00157 | 0.00310 | 0.151 |
+| 7 | 0.00116 | -0.00053 | -0.00100 | 0.00162 | 0.064 |
+| 8 | -0.00009 | -0.00010 | -0.00011 | 0.00018 | 0.016 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3d562174-38e1-4586-b1c1-c47aeedd5c95.md b/gap_reports/gap_3d562174-38e1-4586-b1c1-c47aeedd5c95.md
new file mode 100644
index 0000000000000000000000000000000000000000..73fb27f33a0dac2a88bfec0b53ee952d55c911dd
--- /dev/null
+++ b/gap_reports/gap_3d562174-38e1-4586-b1c1-c47aeedd5c95.md
@@ -0,0 +1,65 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3d562174-38e1-4586-b1c1-c47aeedd5c95.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3d562174-38e1-4586-b1c1-c47aeedd5c95.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 644 |
+| Sim rows | 76 |
+| Real episode_id | `3d562174-38e1-4586-b1c1-c47aeedd5c95` |
+| Sim episode_id | `3d562174-38e1-4586-b1c1-c47aeedd5c95` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 5 | move_xy | 167 | 17 | 3.058 | 16.07 | 27.83 | 65.20 | 1.0038 |
+| 6 | lower | 88 | 9 | 0.800 | 3.28 | 5.68 | 5.85 | 1.0273 |
+| 7 | open | 138 | 14 | 0.019 | 0.47 | 0.82 | 2.31 | 0.6043 |
+| 8 | retract | 91 | 10 | 0.765 | 3.10 | 5.37 | 2.17 | 0.6620 |
+| 9 | return | 160 | 16 | 2.495 | 10.29 | 17.82 | 1464.41 | 0.7544 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.833 |
+| TCP position RMSE (mm, per-axis) | 8.77 |
+| EE position RMS L2 (mm) | 16.98 |
+| TCP rotvec (mrad) | 655.56 |
+| W1 effort mean (A) | 0.7760 |
+| W1 effort per joint (A) | j0=0.1979, j1=1.2753, j2=1.6344, j3=0.7848, j4=0.3298, j5=0.4335 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 5 | -0.00141 | -0.00010 | 0.00034 | 0.00146 | 0.283 |
+| 6 | -0.00064 | -0.00025 | -0.00001 | 0.00069 | 0.241 |
+| 7 | -0.00069 | -0.00043 | -0.00002 | 0.00082 | 0.037 |
+| 8 | -0.00104 | -0.00050 | -0.00007 | 0.00116 | 0.041 |
+| 9 | -0.00201 | 0.00321 | -0.00003 | 0.00379 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3d7531c8-df1e-43b5-924a-2caa52f0f457.md b/gap_reports/gap_3d7531c8-df1e-43b5-924a-2caa52f0f457.md
new file mode 100644
index 0000000000000000000000000000000000000000..5b53776366247db50552c451c81267ca0cff1b34
--- /dev/null
+++ b/gap_reports/gap_3d7531c8-df1e-43b5-924a-2caa52f0f457.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3d7531c8-df1e-43b5-924a-2caa52f0f457.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3d7531c8-df1e-43b5-924a-2caa52f0f457.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 484 |
+| Sim rows | 64 |
+| Real episode_id | `3d7531c8-df1e-43b5-924a-2caa52f0f457` |
+| Sim episode_id | `3d7531c8-df1e-43b5-924a-2caa52f0f457` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 275 | 27 | 2.723 | 13.22 | 22.90 | 7.85 | 0.8078 |
+| 1 | descend | 209 | 21 | 0.026 | 0.42 | 0.73 | 2.17 | 0.6926 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.926 |
+| TCP position RMSE (mm, per-axis) | 9.35 |
+| EE position RMS L2 (mm) | 17.27 |
+| TCP rotvec (mrad) | 5.76 |
+| W1 effort mean (A) | 0.7580 |
+| W1 effort per joint (A) | j0=0.1735, j1=1.6301, j2=1.6242, j3=0.8892, j4=0.1116, j5=0.1194 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00004 | -0.00043 | 0.00062 | 0.00076 | 0.058 |
+| 1 | 0.00013 | -0.00032 | 0.00065 | 0.00074 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3d79b878-ba41-4280-8ec1-0f942f3f032d.md b/gap_reports/gap_3d79b878-ba41-4280-8ec1-0f942f3f032d.md
new file mode 100644
index 0000000000000000000000000000000000000000..e29de503e0e025076a12ff965ce08db0b035f08c
--- /dev/null
+++ b/gap_reports/gap_3d79b878-ba41-4280-8ec1-0f942f3f032d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3d79b878-ba41-4280-8ec1-0f942f3f032d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3d79b878-ba41-4280-8ec1-0f942f3f032d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2767 |
+| Sim rows | 247 |
+| Real episode_id | `3d79b878-ba41-4280-8ec1-0f942f3f032d` |
+| Sim episode_id | `3d79b878-ba41-4280-8ec1-0f942f3f032d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.408 | 9.67 | 16.75 | 2007.92 | 0.5619 |
+| 1 | descend | 435 | 38 | 1.451 | 8.59 | 14.88 | 3626.03 | 0.7177 |
+| 2 | settle | 371 | 33 | 0.022 | 0.57 | 0.98 | 3625.95 | 0.7089 |
+| 3 | close | 179 | 16 | 0.951 | 5.48 | 9.50 | 2286.76 | 0.9364 |
+| 4 | lift | 257 | 23 | 2.793 | 11.24 | 19.47 | 2025.96 | 1.0663 |
+| 5 | move_xy | 454 | 40 | 5.938 | 27.69 | 47.96 | 1971.55 | 0.9118 |
+| 6 | lower | 407 | 36 | 0.081 | 1.04 | 1.81 | 1461.75 | 0.9996 |
+| 7 | open | 180 | 16 | 0.926 | 5.30 | 9.18 | 3626.15 | 0.6090 |
+| 8 | retract | 259 | 23 | 2.308 | 9.45 | 16.37 | 2286.66 | 0.7039 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.540 |
+| TCP position RMSE (mm, per-axis) | 11.59 |
+| EE position RMS L2 (mm) | 22.52 |
+| TCP rotvec (mrad) | 2667.97 |
+| W1 effort mean (A) | 0.7824 |
+| W1 effort per joint (A) | j0=0.2376, j1=1.1612, j2=1.5736, j3=0.7370, j4=0.4044, j5=0.5808 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00014 | -0.00036 | -0.00048 | 0.00062 | 0.026 |
+| 1 | 0.00014 | -0.00058 | -0.00075 | 0.00096 | 0.034 |
+| 2 | 0.00018 | -0.00057 | -0.00079 | 0.00099 | 0.036 |
+| 3 | 0.00042 | -0.00059 | -0.00123 | 0.00143 | 0.123 |
+| 4 | 0.00028 | -0.00030 | -0.00046 | 0.00062 | 0.103 |
+| 5 | 0.00157 | -0.00080 | -0.00159 | 0.00237 | 0.213 |
+| 6 | 0.00115 | -0.00068 | -0.00057 | 0.00145 | 0.140 |
+| 7 | 0.00001 | -0.00041 | -0.00052 | 0.00066 | 0.032 |
+| 8 | -0.00006 | -0.00012 | -0.00015 | 0.00020 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3d8467d9-02f7-4aa5-863b-39e58e1ffe77.md b/gap_reports/gap_3d8467d9-02f7-4aa5-863b-39e58e1ffe77.md
new file mode 100644
index 0000000000000000000000000000000000000000..a9f41f302583a0f200d0ea33ac86e7784bcde412
--- /dev/null
+++ b/gap_reports/gap_3d8467d9-02f7-4aa5-863b-39e58e1ffe77.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3d8467d9-02f7-4aa5-863b-39e58e1ffe77.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3d8467d9-02f7-4aa5-863b-39e58e1ffe77.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1600 |
+| Sim rows | 164 |
+| Real episode_id | `3d8467d9-02f7-4aa5-863b-39e58e1ffe77` |
+| Sim episode_id | `3d8467d9-02f7-4aa5-863b-39e58e1ffe77` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 157 | 16 | 2.108 | 12.94 | 22.41 | 485.50 | 0.7324 |
+| 1 | descend | 72 | 8 | 0.324 | 3.37 | 5.84 | 5.93 | 0.7013 |
+| 2 | settle | 19 | 3 | 0.025 | 3.10 | 5.38 | 6.19 | 0.6936 |
+| 3 | close | 371 | 37 | 0.149 | 3.75 | 6.49 | 10.96 | 1.2024 |
+| 4 | lift | 73 | 8 | 0.525 | 4.10 | 7.10 | 11.00 | 1.2513 |
+| 5 | move_xy | 209 | 21 | 3.035 | 21.23 | 36.78 | 144.10 | 1.2103 |
+| 6 | lower | 74 | 8 | 0.485 | 3.16 | 5.47 | 6.65 | 1.2367 |
+| 7 | open | 367 | 36 | 0.030 | 2.16 | 3.75 | 6.22 | 0.6733 |
+| 8 | retract | 73 | 8 | 0.454 | 3.11 | 5.38 | 5.85 | 0.7988 |
+| 9 | return | 185 | 19 | 3.469 | 19.01 | 32.92 | 809.12 | 0.7399 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.629 |
+| TCP position RMSE (mm, per-axis) | 10.28 |
+| EE position RMS L2 (mm) | 19.27 |
+| TCP rotvec (mrad) | 301.92 |
+| W1 effort mean (A) | 0.9121 |
+| W1 effort per joint (A) | j0=0.1931, j1=1.8581, j2=1.5831, j3=0.7963, j4=0.4543, j5=0.5879 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00219 | -0.00454 | -0.00082 | 0.00511 | 0.043 |
+| 1 | 0.00245 | -0.00468 | -0.00109 | 0.00539 | 0.046 |
+| 2 | 0.00243 | -0.00468 | -0.00114 | 0.00540 | 0.053 |
+| 3 | 0.00316 | -0.00432 | -0.00390 | 0.00662 | 0.264 |
+| 4 | 0.00255 | -0.00435 | -0.00386 | 0.00635 | 0.278 |
+| 5 | 0.00085 | -0.00308 | -0.00203 | 0.00378 | 0.189 |
+| 6 | 0.00166 | -0.00281 | -0.00073 | 0.00334 | 0.089 |
+| 7 | 0.00233 | -0.00290 | -0.00052 | 0.00376 | 0.066 |
+| 8 | 0.00213 | -0.00309 | -0.00067 | 0.00382 | 0.074 |
+| 9 | -0.00009 | -0.00021 | -0.00041 | 0.00047 | 0.051 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3da1f0f4-cb7e-497a-9624-d82ed6e14462.md b/gap_reports/gap_3da1f0f4-cb7e-497a-9624-d82ed6e14462.md
new file mode 100644
index 0000000000000000000000000000000000000000..9a5e8a0c2ce46b73df879a25f1e79ed6810e018f
--- /dev/null
+++ b/gap_reports/gap_3da1f0f4-cb7e-497a-9624-d82ed6e14462.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3da1f0f4-cb7e-497a-9624-d82ed6e14462.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3da1f0f4-cb7e-497a-9624-d82ed6e14462.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1683 |
+| Sim rows | 172 |
+| Real episode_id | `3da1f0f4-cb7e-497a-9624-d82ed6e14462` |
+| Sim episode_id | `3da1f0f4-cb7e-497a-9624-d82ed6e14462` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 163 | 17 | 4.478 | 23.85 | 41.31 | 1394.22 | 0.7024 |
+| 1 | descend | 80 | 9 | 0.881 | 4.41 | 7.64 | 5.24 | 0.7749 |
+| 2 | settle | 15 | 2 | 0.027 | 1.96 | 3.39 | 5.85 | 0.7169 |
+| 3 | close | 378 | 37 | 0.170 | 1.90 | 3.29 | 9.27 | 1.2280 |
+| 4 | lift | 82 | 9 | 0.897 | 4.36 | 7.55 | 9.33 | 1.2797 |
+| 5 | move_xy | 190 | 19 | 7.034 | 29.94 | 51.86 | 38.74 | 1.2201 |
+| 6 | lower | 81 | 9 | 1.157 | 4.57 | 7.92 | 3.19 | 0.9421 |
+| 7 | open | 375 | 37 | 0.022 | 2.54 | 4.40 | 4.58 | 0.5033 |
+| 8 | retract | 81 | 9 | 1.156 | 4.62 | 8.01 | 3.85 | 0.6127 |
+| 9 | return | 238 | 24 | 4.338 | 13.32 | 23.07 | 1104.55 | 0.5798 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.044 |
+| TCP position RMSE (mm, per-axis) | 13.18 |
+| EE position RMS L2 (mm) | 23.72 |
+| TCP rotvec (mrad) | 562.64 |
+| W1 effort mean (A) | 0.8234 |
+| W1 effort per joint (A) | j0=0.1858, j1=1.4844, j2=1.5066, j3=0.8578, j4=0.4715, j5=0.4343 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00189 | -0.00288 | -0.00056 | 0.00349 | 0.096 |
+| 1 | 0.00226 | -0.00253 | -0.00015 | 0.00339 | 0.041 |
+| 2 | 0.00225 | -0.00254 | -0.00031 | 0.00341 | 0.058 |
+| 3 | 0.00069 | -0.00276 | -0.00182 | 0.00337 | 0.227 |
+| 4 | 0.00037 | -0.00338 | -0.00156 | 0.00374 | 0.254 |
+| 5 | 0.00068 | -0.00244 | -0.00032 | 0.00256 | 0.189 |
+| 6 | 0.00095 | -0.00297 | 0.00003 | 0.00312 | 0.205 |
+| 7 | 0.00190 | -0.00395 | -0.00051 | 0.00441 | 0.026 |
+| 8 | 0.00138 | -0.00333 | -0.00077 | 0.00369 | 0.055 |
+| 9 | -0.00013 | -0.00010 | -0.00029 | 0.00034 | 0.035 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3da74554-4dde-4fb8-bb70-d637918b21e7.md b/gap_reports/gap_3da74554-4dde-4fb8-bb70-d637918b21e7.md
new file mode 100644
index 0000000000000000000000000000000000000000..49a4eeebc1366da9df812cc2c85d979686639e44
--- /dev/null
+++ b/gap_reports/gap_3da74554-4dde-4fb8-bb70-d637918b21e7.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3da74554-4dde-4fb8-bb70-d637918b21e7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3da74554-4dde-4fb8-bb70-d637918b21e7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 575 |
+| Sim rows | 73 |
+| Real episode_id | `3da74554-4dde-4fb8-bb70-d637918b21e7` |
+| Sim episode_id | `3da74554-4dde-4fb8-bb70-d637918b21e7` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 366 | 36 | 2.914 | 16.08 | 27.85 | 176.08 | 0.7984 |
+| 1 | descend | 209 | 21 | 0.028 | 1.34 | 2.33 | 2.03 | 0.7553 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.061 |
+| TCP position RMSE (mm, per-axis) | 11.41 |
+| EE position RMS L2 (mm) | 22.26 |
+| TCP rotvec (mrad) | 124.52 |
+| W1 effort mean (A) | 0.7827 |
+| W1 effort per joint (A) | j0=0.2041, j1=1.6739, j2=1.6565, j3=0.8463, j4=0.0911, j5=0.2244 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00064 | -0.00218 | 0.00079 | 0.00240 | 0.048 |
+| 1 | -0.00057 | -0.00223 | 0.00058 | 0.00237 | 0.043 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3deb1707-061d-4325-a845-47596a4e25bd.md b/gap_reports/gap_3deb1707-061d-4325-a845-47596a4e25bd.md
new file mode 100644
index 0000000000000000000000000000000000000000..844a4b7ddc418c723df1042df9a0e70f3c6e83dc
--- /dev/null
+++ b/gap_reports/gap_3deb1707-061d-4325-a845-47596a4e25bd.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3deb1707-061d-4325-a845-47596a4e25bd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3deb1707-061d-4325-a845-47596a4e25bd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2662 |
+| Sim rows | 237 |
+| Real episode_id | `3deb1707-061d-4325-a845-47596a4e25bd` |
+| Sim episode_id | `3deb1707-061d-4325-a845-47596a4e25bd` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 247 | 22 | 3.384 | 18.05 | 31.27 | 1929.65 | 0.6191 |
+| 1 | descend | 284 | 25 | 0.831 | 5.88 | 10.18 | 3624.67 | 0.8025 |
+| 2 | settle | 390 | 34 | 0.027 | 0.97 | 1.68 | 3624.56 | 0.7216 |
+| 3 | close | 109 | 10 | 0.441 | 3.43 | 5.95 | 3624.85 | 1.0546 |
+| 4 | lift | 345 | 30 | 2.350 | 13.15 | 22.77 | 2276.12 | 1.1622 |
+| 5 | move_xy | 429 | 38 | 6.558 | 38.35 | 66.42 | 2772.76 | 0.9072 |
+| 6 | lower | 406 | 36 | 0.088 | 1.65 | 2.85 | 3625.12 | 1.0205 |
+| 7 | open | 108 | 10 | 0.464 | 3.32 | 5.74 | 3624.67 | 0.7419 |
+| 8 | retract | 344 | 30 | 2.330 | 12.86 | 22.27 | 2262.32 | 0.7514 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.719 |
+| TCP position RMSE (mm, per-axis) | 15.62 |
+| EE position RMS L2 (mm) | 30.80 |
+| TCP rotvec (mrad) | 3116.36 |
+| W1 effort mean (A) | 0.8503 |
+| W1 effort per joint (A) | j0=0.1984, j1=1.5091, j2=1.7269, j3=0.7585, j4=0.3068, j5=0.6019 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00090 | -0.00047 | -0.00084 | 0.00132 | 0.026 |
+| 1 | 0.00089 | -0.00073 | -0.00122 | 0.00168 | 0.056 |
+| 2 | 0.00090 | -0.00074 | -0.00119 | 0.00167 | 0.054 |
+| 3 | 0.00137 | -0.00068 | -0.00154 | 0.00217 | 0.116 |
+| 4 | 0.00036 | 0.00005 | -0.00005 | 0.00036 | 0.067 |
+| 5 | 0.00180 | -0.00103 | -0.00090 | 0.00226 | 0.109 |
+| 6 | 0.00214 | -0.00098 | -0.00147 | 0.00277 | 0.151 |
+| 7 | 0.00065 | -0.00050 | -0.00096 | 0.00127 | 0.045 |
+| 8 | -0.00013 | -0.00017 | -0.00017 | 0.00028 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3e05fb23-959b-4067-b860-fb23ddc07392.md b/gap_reports/gap_3e05fb23-959b-4067-b860-fb23ddc07392.md
new file mode 100644
index 0000000000000000000000000000000000000000..62bf36ff18b2dcc7545b482c7c95eaa72ee137a5
--- /dev/null
+++ b/gap_reports/gap_3e05fb23-959b-4067-b860-fb23ddc07392.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3e05fb23-959b-4067-b860-fb23ddc07392.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3e05fb23-959b-4067-b860-fb23ddc07392.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2513 |
+| Sim rows | 225 |
+| Real episode_id | `3e05fb23-959b-4067-b860-fb23ddc07392` |
+| Sim episode_id | `3e05fb23-959b-4067-b860-fb23ddc07392` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 189 | 17 | 2.433 | 13.43 | 23.26 | 1973.15 | 0.6351 |
+| 1 | descend | 333 | 29 | 1.324 | 9.12 | 15.80 | 3624.65 | 1.0178 |
+| 2 | settle | 374 | 33 | 0.028 | 0.98 | 1.69 | 3624.53 | 1.1123 |
+| 3 | close | 131 | 12 | 0.962 | 6.58 | 11.40 | 3625.30 | 1.2400 |
+| 4 | lift | 303 | 27 | 2.358 | 13.69 | 23.70 | 2356.42 | 1.2770 |
+| 5 | move_xy | 366 | 32 | 5.811 | 35.49 | 61.48 | 2867.26 | 1.1178 |
+| 6 | lower | 382 | 34 | 0.102 | 1.80 | 3.12 | 3624.92 | 1.4898 |
+| 7 | open | 131 | 12 | 0.727 | 4.99 | 8.65 | 3624.80 | 0.8889 |
+| 8 | retract | 304 | 27 | 2.450 | 14.25 | 24.67 | 2406.65 | 0.8911 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.460 |
+| TCP position RMSE (mm, per-axis) | 14.86 |
+| EE position RMS L2 (mm) | 27.90 |
+| TCP rotvec (mrad) | 3147.42 |
+| W1 effort mean (A) | 1.0944 |
+| W1 effort per joint (A) | j0=0.7057, j1=1.5526, j2=1.8690, j3=1.1150, j4=0.7401, j5=0.5837 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00076 | -0.00042 | -0.00072 | 0.00113 | 0.035 |
+| 1 | 0.00077 | -0.00085 | -0.00123 | 0.00168 | 0.054 |
+| 2 | 0.00078 | -0.00087 | -0.00123 | 0.00169 | 0.057 |
+| 3 | 0.00270 | -0.00089 | -0.00279 | 0.00398 | 0.258 |
+| 4 | 0.00028 | -0.00008 | -0.00028 | 0.00040 | 0.083 |
+| 5 | 0.00206 | -0.00133 | -0.00234 | 0.00339 | 0.172 |
+| 6 | 0.00237 | -0.00126 | -0.00187 | 0.00327 | 0.218 |
+| 7 | 0.00057 | -0.00052 | -0.00101 | 0.00127 | 0.053 |
+| 8 | -0.00011 | -0.00020 | -0.00020 | 0.00030 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3e072a3c-6e13-4a23-a630-a2b0ca745330.md b/gap_reports/gap_3e072a3c-6e13-4a23-a630-a2b0ca745330.md
new file mode 100644
index 0000000000000000000000000000000000000000..3c6e5ba50de3d94248f1360427e434e25fc91f4a
--- /dev/null
+++ b/gap_reports/gap_3e072a3c-6e13-4a23-a630-a2b0ca745330.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3e072a3c-6e13-4a23-a630-a2b0ca745330.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3e072a3c-6e13-4a23-a630-a2b0ca745330.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1615 |
+| Sim rows | 163 |
+| Real episode_id | `3e072a3c-6e13-4a23-a630-a2b0ca745330` |
+| Sim episode_id | `3e072a3c-6e13-4a23-a630-a2b0ca745330` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 127 | 13 | 2.484 | 13.48 | 23.34 | 1137.29 | 0.7444 |
+| 1 | descend | 70 | 8 | 0.444 | 3.37 | 5.83 | 5.01 | 0.6628 |
+| 2 | settle | 32 | 4 | 0.021 | 2.85 | 4.93 | 5.39 | 0.6918 |
+| 3 | close | 370 | 36 | 0.086 | 2.81 | 4.87 | 6.41 | 1.1224 |
+| 4 | lift | 69 | 7 | 0.432 | 3.14 | 5.44 | 5.79 | 1.1983 |
+| 5 | move_xy | 155 | 16 | 16.733 | 27.74 | 48.04 | 581.59 | 1.1883 |
+| 6 | lower | 68 | 7 | 29.934 | 4.42 | 7.65 | 1142.46 | 1.3162 |
+| 7 | open | 357 | 36 | 29.907 | 2.71 | 4.70 | 1141.97 | 0.8519 |
+| 8 | retract | 69 | 7 | 29.922 | 3.41 | 5.91 | 1141.81 | 1.0083 |
+| 9 | return | 298 | 29 | 17.120 | 17.51 | 30.34 | 1130.68 | 0.8409 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 18.071 |
+| TCP position RMSE (mm, per-axis) | 11.55 |
+| EE position RMS L2 (mm) | 21.25 |
+| TCP rotvec (mrad) | 826.03 |
+| W1 effort mean (A) | 0.9489 |
+| W1 effort per joint (A) | j0=0.2086, j1=1.7399, j2=1.4265, j3=0.7490, j4=0.3696, j5=1.1996 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00205 | -0.00407 | -0.00077 | 0.00462 | 0.035 |
+| 1 | 0.00232 | -0.00426 | -0.00074 | 0.00490 | 0.045 |
+| 2 | 0.00234 | -0.00426 | -0.00094 | 0.00495 | 0.050 |
+| 3 | 0.00250 | -0.00380 | -0.00193 | 0.00494 | 0.133 |
+| 4 | 0.00177 | -0.00360 | -0.00206 | 0.00451 | 0.152 |
+| 5 | 0.00236 | -0.00379 | -0.00157 | 0.00474 | 73.300 |
+| 6 | 0.00281 | -0.00347 | -0.00198 | 0.00488 | 73.259 |
+| 7 | 0.00253 | -0.00392 | -0.00060 | 0.00470 | 73.255 |
+| 8 | 0.00230 | -0.00411 | -0.00083 | 0.00478 | 73.326 |
+| 9 | -0.00009 | -0.00011 | -0.00034 | 0.00036 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3e4f9923-b7dc-4d98-a188-cde8264c6a1e.md b/gap_reports/gap_3e4f9923-b7dc-4d98-a188-cde8264c6a1e.md
new file mode 100644
index 0000000000000000000000000000000000000000..71f47722e04208ca1597d898566dbe73c2451af8
--- /dev/null
+++ b/gap_reports/gap_3e4f9923-b7dc-4d98-a188-cde8264c6a1e.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3e4f9923-b7dc-4d98-a188-cde8264c6a1e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3e4f9923-b7dc-4d98-a188-cde8264c6a1e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1251 |
+| Sim rows | 130 |
+| Real episode_id | `3e4f9923-b7dc-4d98-a188-cde8264c6a1e` |
+| Sim episode_id | `3e4f9923-b7dc-4d98-a188-cde8264c6a1e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 210 | 21 | 3.533 | 19.29 | 33.42 | 1090.89 | 0.7437 |
+| 1 | descend | 116 | 12 | 1.197 | 5.51 | 9.55 | 13.41 | 0.8699 |
+| 2 | settle | 30 | 4 | 0.198 | 3.57 | 6.19 | 13.33 | 0.8022 |
+| 3 | close | 41 | 5 | 0.257 | 4.67 | 8.09 | 17.96 | 1.1221 |
+| 4 | lift | 136 | 14 | 1.496 | 6.45 | 11.17 | 17.31 | 1.2032 |
+| 5 | move_xy | 197 | 20 | 6.094 | 42.32 | 73.30 | 218.05 | 1.1261 |
+| 6 | lower | 81 | 9 | 0.813 | 4.41 | 7.64 | 8.23 | 1.0124 |
+| 7 | open | 86 | 9 | 0.028 | 2.04 | 3.53 | 5.12 | 0.6839 |
+| 8 | retract | 80 | 9 | 0.706 | 3.87 | 6.70 | 4.40 | 0.7490 |
+| 9 | return | 274 | 27 | 3.215 | 21.51 | 37.25 | 776.95 | 0.8031 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.547 |
+| TCP position RMSE (mm, per-axis) | 16.65 |
+| EE position RMS L2 (mm) | 37.01 |
+| TCP rotvec (mrad) | 429.22 |
+| W1 effort mean (A) | 0.8753 |
+| W1 effort per joint (A) | j0=0.2607, j1=1.8172, j2=1.6589, j3=0.7202, j4=0.3092, j5=0.4858 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00236 | -0.00540 | -0.00155 | 0.00609 | 0.614 |
+| 1 | 0.00276 | -0.00532 | -0.00145 | 0.00617 | 0.477 |
+| 2 | 0.00274 | -0.00531 | -0.00157 | 0.00618 | 0.477 |
+| 3 | 0.00382 | -0.00561 | -0.00474 | 0.00828 | 0.477 |
+| 4 | 0.00300 | -0.00599 | -0.00294 | 0.00732 | 0.613 |
+| 5 | 0.00182 | -0.00277 | -0.00228 | 0.00402 | 0.237 |
+| 6 | 0.00198 | -0.00179 | -0.00232 | 0.00353 | 0.247 |
+| 7 | 0.00212 | -0.00282 | -0.00018 | 0.00353 | 0.054 |
+| 8 | 0.00185 | -0.00313 | -0.00039 | 0.00366 | 0.067 |
+| 9 | -0.00005 | -0.00014 | -0.00024 | 0.00029 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3e505247-26b9-4592-a371-b91403eb048c.md b/gap_reports/gap_3e505247-26b9-4592-a371-b91403eb048c.md
new file mode 100644
index 0000000000000000000000000000000000000000..6b5406a5e2bb6df73bfdfc6ed3d5c3bbf7d770fc
--- /dev/null
+++ b/gap_reports/gap_3e505247-26b9-4592-a371-b91403eb048c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3e505247-26b9-4592-a371-b91403eb048c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3e505247-26b9-4592-a371-b91403eb048c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3060 |
+| Sim rows | 270 |
+| Real episode_id | `3e505247-26b9-4592-a371-b91403eb048c` |
+| Sim episode_id | `3e505247-26b9-4592-a371-b91403eb048c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 198 | 18 | 3.052 | 14.64 | 25.35 | 1839.75 | 0.6469 |
+| 1 | descend | 515 | 44 | 0.698 | 5.01 | 8.68 | 3624.74 | 0.8623 |
+| 2 | settle | 369 | 32 | 0.028 | 0.97 | 1.68 | 3624.58 | 0.7528 |
+| 3 | close | 187 | 17 | 0.990 | 6.82 | 11.82 | 3625.26 | 1.0153 |
+| 4 | lift | 416 | 36 | 2.913 | 15.66 | 27.12 | 2430.70 | 1.1227 |
+| 5 | move_xy | 372 | 33 | 7.375 | 42.39 | 73.42 | 2806.59 | 0.9690 |
+| 6 | lower | 403 | 35 | 0.096 | 1.75 | 3.03 | 3625.00 | 1.0980 |
+| 7 | open | 185 | 17 | 0.892 | 6.20 | 10.75 | 3624.77 | 0.7564 |
+| 8 | retract | 415 | 36 | 2.898 | 15.65 | 27.11 | 2491.20 | 0.7678 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.034 |
+| TCP position RMSE (mm, per-axis) | 17.05 |
+| EE position RMS L2 (mm) | 30.44 |
+| TCP rotvec (mrad) | 3145.97 |
+| W1 effort mean (A) | 0.8805 |
+| W1 effort per joint (A) | j0=0.2684, j1=1.5848, j2=1.7456, j3=0.7827, j4=0.3240, j5=0.5774 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00087 | -0.00029 | -0.00066 | 0.00113 | 0.026 |
+| 1 | 0.00091 | -0.00073 | -0.00123 | 0.00170 | 0.057 |
+| 2 | 0.00091 | -0.00074 | -0.00119 | 0.00167 | 0.055 |
+| 3 | 0.00204 | -0.00039 | -0.00130 | 0.00245 | 0.161 |
+| 4 | 0.00007 | -0.00041 | -0.00035 | 0.00055 | 0.107 |
+| 5 | 0.00243 | -0.00115 | -0.00274 | 0.00384 | 0.208 |
+| 6 | 0.00212 | -0.00111 | -0.00183 | 0.00301 | 0.159 |
+| 7 | 0.00076 | -0.00038 | -0.00099 | 0.00130 | 0.064 |
+| 8 | -0.00008 | -0.00013 | -0.00016 | 0.00022 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3e610386-6cf3-4631-9ba1-101e35647bd2.md b/gap_reports/gap_3e610386-6cf3-4631-9ba1-101e35647bd2.md
new file mode 100644
index 0000000000000000000000000000000000000000..ca60af4c73a43e0b78453baaac2b711230b4dfb3
--- /dev/null
+++ b/gap_reports/gap_3e610386-6cf3-4631-9ba1-101e35647bd2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3e610386-6cf3-4631-9ba1-101e35647bd2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3e610386-6cf3-4631-9ba1-101e35647bd2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2694 |
+| Sim rows | 239 |
+| Real episode_id | `3e610386-6cf3-4631-9ba1-101e35647bd2` |
+| Sim episode_id | `3e610386-6cf3-4631-9ba1-101e35647bd2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 208 | 18 | 3.347 | 14.61 | 25.31 | 1995.26 | 0.5974 |
+| 1 | descend | 314 | 28 | 0.877 | 5.73 | 9.92 | 3625.42 | 0.6855 |
+| 2 | settle | 377 | 33 | 0.022 | 0.77 | 1.33 | 3625.31 | 0.7051 |
+| 3 | close | 104 | 10 | 0.584 | 3.81 | 6.60 | 3125.76 | 0.9408 |
+| 4 | lift | 412 | 36 | 3.492 | 15.80 | 27.36 | 2206.74 | 1.1073 |
+| 5 | move_xy | 354 | 31 | 8.653 | 41.83 | 72.45 | 2706.60 | 0.8802 |
+| 6 | lower | 408 | 35 | 0.086 | 1.39 | 2.41 | 3441.48 | 1.0160 |
+| 7 | open | 105 | 10 | 0.510 | 3.24 | 5.62 | 3625.46 | 0.6681 |
+| 8 | retract | 412 | 36 | 3.530 | 16.15 | 27.97 | 2402.90 | 0.7309 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.529 |
+| TCP position RMSE (mm, per-axis) | 16.78 |
+| EE position RMS L2 (mm) | 31.44 |
+| TCP rotvec (mrad) | 3036.72 |
+| W1 effort mean (A) | 0.8168 |
+| W1 effort per joint (A) | j0=0.2508, j1=1.3480, j2=1.5708, j3=0.7525, j4=0.3536, j5=0.6249 |
+
+## Phase-end anchor (sim - 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 | -0.00023 | -0.00057 | 0.00105 | 0.033 |
+| 1 | 0.00079 | -0.00050 | -0.00087 | 0.00128 | 0.042 |
+| 2 | 0.00086 | -0.00050 | -0.00089 | 0.00134 | 0.042 |
+| 3 | 0.00157 | -0.00029 | -0.00044 | 0.00165 | 0.115 |
+| 4 | 0.00014 | -0.00029 | -0.00033 | 0.00046 | 0.115 |
+| 5 | 0.00154 | -0.00058 | -0.00159 | 0.00229 | 0.108 |
+| 6 | 0.00153 | -0.00080 | -0.00047 | 0.00179 | 0.101 |
+| 7 | 0.00063 | -0.00023 | -0.00071 | 0.00098 | 0.040 |
+| 8 | -0.00006 | -0.00009 | -0.00014 | 0.00018 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3e7cbb8e-6016-4a33-a89a-2c3f34948aff.md b/gap_reports/gap_3e7cbb8e-6016-4a33-a89a-2c3f34948aff.md
new file mode 100644
index 0000000000000000000000000000000000000000..fbfc64de1d539a13b161fcd8f9637576fd0f4a15
--- /dev/null
+++ b/gap_reports/gap_3e7cbb8e-6016-4a33-a89a-2c3f34948aff.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3e7cbb8e-6016-4a33-a89a-2c3f34948aff.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3e7cbb8e-6016-4a33-a89a-2c3f34948aff.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3031 |
+| Sim rows | 268 |
+| Real episode_id | `3e7cbb8e-6016-4a33-a89a-2c3f34948aff` |
+| Sim episode_id | `3e7cbb8e-6016-4a33-a89a-2c3f34948aff` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 266 | 23 | 3.542 | 16.08 | 27.85 | 1963.10 | 0.5835 |
+| 1 | descend | 560 | 49 | 0.738 | 4.83 | 8.37 | 3625.43 | 0.7578 |
+| 2 | settle | 387 | 34 | 0.023 | 0.76 | 1.32 | 3625.25 | 0.6899 |
+| 3 | close | 146 | 13 | 1.190 | 7.35 | 12.74 | 3518.06 | 0.9724 |
+| 4 | lift | 313 | 28 | 2.183 | 9.89 | 17.13 | 2209.52 | 1.1307 |
+| 5 | move_xy | 496 | 43 | 7.540 | 38.44 | 66.58 | 2806.74 | 0.8976 |
+| 6 | lower | 403 | 35 | 0.095 | 1.48 | 2.57 | 3554.15 | 0.9997 |
+| 7 | open | 144 | 13 | 0.895 | 5.75 | 9.96 | 3625.51 | 0.6699 |
+| 8 | retract | 316 | 28 | 2.417 | 11.07 | 19.18 | 2352.09 | 0.7386 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.033 |
+| TCP position RMSE (mm, per-axis) | 15.17 |
+| EE position RMS L2 (mm) | 29.81 |
+| TCP rotvec (mrad) | 3101.70 |
+| W1 effort mean (A) | 0.8077 |
+| W1 effort per joint (A) | j0=0.2348, j1=1.2907, j2=1.6597, j3=0.7838, j4=0.2948, j5=0.5826 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00060 | -0.00022 | -0.00072 | 0.00096 | 0.038 |
+| 1 | 0.00060 | -0.00064 | -0.00100 | 0.00133 | 0.047 |
+| 2 | 0.00062 | -0.00065 | -0.00095 | 0.00131 | 0.042 |
+| 3 | 0.00097 | -0.00034 | -0.00032 | 0.00108 | 0.085 |
+| 4 | 0.00008 | -0.00053 | -0.00064 | 0.00083 | 0.089 |
+| 5 | 0.00169 | -0.00097 | -0.00174 | 0.00261 | 0.146 |
+| 6 | 0.00197 | -0.00098 | -0.00150 | 0.00266 | 0.183 |
+| 7 | 0.00030 | -0.00033 | -0.00073 | 0.00085 | 0.043 |
+| 8 | -0.00009 | -0.00017 | -0.00019 | 0.00026 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3e88df83-cbd5-4794-a756-14c94728bec1.md b/gap_reports/gap_3e88df83-cbd5-4794-a756-14c94728bec1.md
new file mode 100644
index 0000000000000000000000000000000000000000..80d663f5e3a5dac2f5e5897cccd47dad77ea57a2
--- /dev/null
+++ b/gap_reports/gap_3e88df83-cbd5-4794-a756-14c94728bec1.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3e88df83-cbd5-4794-a756-14c94728bec1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3e88df83-cbd5-4794-a756-14c94728bec1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1618 |
+| Sim rows | 163 |
+| Real episode_id | `3e88df83-cbd5-4794-a756-14c94728bec1` |
+| Sim episode_id | `3e88df83-cbd5-4794-a756-14c94728bec1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 125 | 13 | 2.363 | 11.56 | 20.03 | 722.95 | 0.7054 |
+| 1 | descend | 78 | 8 | 0.714 | 4.09 | 7.09 | 4.83 | 0.6766 |
+| 2 | settle | 35 | 4 | 0.022 | 2.72 | 4.71 | 5.28 | 0.6780 |
+| 3 | close | 386 | 38 | 0.091 | 3.38 | 5.86 | 7.32 | 1.1426 |
+| 4 | lift | 77 | 8 | 0.755 | 4.67 | 8.08 | 6.65 | 1.1828 |
+| 5 | move_xy | 162 | 16 | 5.719 | 30.49 | 52.81 | 50.55 | 1.1661 |
+| 6 | lower | 76 | 8 | 3.076 | 4.43 | 7.66 | 118.94 | 1.1595 |
+| 7 | open | 384 | 38 | 2.969 | 2.49 | 4.31 | 119.27 | 0.7055 |
+| 8 | retract | 77 | 8 | 3.063 | 4.12 | 7.13 | 119.12 | 0.8160 |
+| 9 | return | 218 | 22 | 3.761 | 21.35 | 36.97 | 895.11 | 0.7706 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.849 |
+| TCP position RMSE (mm, per-axis) | 12.72 |
+| EE position RMS L2 (mm) | 22.76 |
+| TCP rotvec (mrad) | 370.02 |
+| W1 effort mean (A) | 0.8960 |
+| W1 effort per joint (A) | j0=0.1878, j1=1.8174, j2=1.4609, j3=0.8247, j4=0.4002, j5=0.6848 |
+
+## Phase-end anchor (sim - 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 | -0.00380 | -0.00053 | 0.00432 | 0.033 |
+| 1 | 0.00247 | -0.00397 | -0.00051 | 0.00470 | 0.047 |
+| 2 | 0.00245 | -0.00397 | -0.00068 | 0.00472 | 0.046 |
+| 3 | 0.00349 | -0.00473 | -0.00093 | 0.00595 | 0.172 |
+| 4 | 0.00269 | -0.00438 | -0.00170 | 0.00541 | 0.139 |
+| 5 | 0.00220 | -0.00372 | -0.00094 | 0.00443 | 7.372 |
+| 6 | 0.00261 | -0.00342 | -0.00068 | 0.00436 | 7.272 |
+| 7 | 0.00278 | -0.00327 | -0.00051 | 0.00432 | 7.270 |
+| 8 | 0.00266 | -0.00347 | -0.00063 | 0.00442 | 7.355 |
+| 9 | -0.00004 | -0.00019 | -0.00034 | 0.00039 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3eb3f190-8253-4027-ab43-3d188a26101d.md b/gap_reports/gap_3eb3f190-8253-4027-ab43-3d188a26101d.md
new file mode 100644
index 0000000000000000000000000000000000000000..ddb7e14561b08501c49430bf3a682f19a2552b63
--- /dev/null
+++ b/gap_reports/gap_3eb3f190-8253-4027-ab43-3d188a26101d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3eb3f190-8253-4027-ab43-3d188a26101d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3eb3f190-8253-4027-ab43-3d188a26101d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2680 |
+| Sim rows | 237 |
+| Real episode_id | `3eb3f190-8253-4027-ab43-3d188a26101d` |
+| Sim episode_id | `3eb3f190-8253-4027-ab43-3d188a26101d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.540 | 14.04 | 24.31 | 3.09 | 0.6181 |
+| 1 | descend | 461 | 40 | 1.291 | 8.97 | 15.54 | 4.26 | 0.7794 |
+| 2 | settle | 359 | 31 | 0.029 | 1.16 | 2.02 | 4.46 | 0.7442 |
+| 3 | close | 163 | 15 | 0.941 | 6.51 | 11.28 | 5.77 | 1.0220 |
+| 4 | lift | 260 | 23 | 2.444 | 14.14 | 24.50 | 4.42 | 1.1440 |
+| 5 | move_xy | 418 | 36 | 5.566 | 33.92 | 58.75 | 4.90 | 0.9788 |
+| 6 | lower | 379 | 33 | 0.099 | 1.93 | 3.34 | 6.72 | 1.0517 |
+| 7 | open | 161 | 14 | 1.023 | 7.00 | 12.12 | 4.27 | 0.6969 |
+| 8 | retract | 259 | 23 | 2.577 | 14.84 | 25.71 | 3.13 | 0.7512 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.442 |
+| TCP position RMSE (mm, per-axis) | 14.70 |
+| EE position RMS L2 (mm) | 27.73 |
+| TCP rotvec (mrad) | 4.69 |
+| W1 effort mean (A) | 0.8410 |
+| W1 effort per joint (A) | j0=0.2857, j1=1.5659, j2=1.5269, j3=0.6284, j4=0.4566, 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 | 0.00109 | -0.00073 | -0.00075 | 0.00151 | 0.028 |
+| 1 | 0.00109 | -0.00117 | -0.00119 | 0.00200 | 0.053 |
+| 2 | 0.00107 | -0.00117 | -0.00123 | 0.00201 | 0.058 |
+| 3 | 0.00229 | -0.00087 | -0.00136 | 0.00280 | 0.169 |
+| 4 | 0.00030 | -0.00008 | -0.00031 | 0.00044 | 0.099 |
+| 5 | 0.00204 | -0.00151 | -0.00148 | 0.00294 | 0.130 |
+| 6 | 0.00184 | -0.00163 | -0.00265 | 0.00362 | 0.196 |
+| 7 | 0.00093 | -0.00084 | -0.00100 | 0.00161 | 0.062 |
+| 8 | -0.00012 | -0.00023 | -0.00021 | 0.00033 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3ec0a682-0a31-47c8-add8-43ab28a31201.md b/gap_reports/gap_3ec0a682-0a31-47c8-add8-43ab28a31201.md
new file mode 100644
index 0000000000000000000000000000000000000000..7e0bb05f06498ea8d95d247d500dca4862bda66d
--- /dev/null
+++ b/gap_reports/gap_3ec0a682-0a31-47c8-add8-43ab28a31201.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3ec0a682-0a31-47c8-add8-43ab28a31201.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3ec0a682-0a31-47c8-add8-43ab28a31201.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2635 |
+| Sim rows | 235 |
+| Real episode_id | `3ec0a682-0a31-47c8-add8-43ab28a31201` |
+| Sim episode_id | `3ec0a682-0a31-47c8-add8-43ab28a31201` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 161 | 15 | 2.027 | 7.66 | 13.27 | 1979.90 | 0.5742 |
+| 1 | descend | 409 | 36 | 1.045 | 5.99 | 10.38 | 3626.05 | 0.7045 |
+| 2 | settle | 383 | 34 | 0.022 | 0.56 | 0.98 | 3625.94 | 0.6767 |
+| 3 | close | 132 | 12 | 1.132 | 6.48 | 11.23 | 4.85 | 0.9105 |
+| 4 | lift | 354 | 31 | 2.774 | 11.18 | 19.36 | 1706.81 | 1.0674 |
+| 5 | move_xy | 328 | 29 | 5.877 | 27.35 | 47.37 | 2154.38 | 0.9032 |
+| 6 | lower | 384 | 33 | 0.073 | 0.94 | 1.63 | 1924.99 | 0.9892 |
+| 7 | open | 132 | 12 | 1.204 | 6.88 | 11.91 | 3626.22 | 0.6151 |
+| 8 | retract | 352 | 31 | 2.674 | 10.85 | 18.80 | 2303.03 | 0.6958 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.524 |
+| TCP position RMSE (mm, per-axis) | 11.43 |
+| EE position RMS L2 (mm) | 20.45 |
+| TCP rotvec (mrad) | 2580.47 |
+| W1 effort mean (A) | 0.7855 |
+| W1 effort per joint (A) | j0=0.2537, j1=1.1709, j2=1.5910, j3=0.7202, j4=0.3825, j5=0.5949 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00011 | -0.00030 | -0.00041 | 0.00052 | 0.029 |
+| 1 | 0.00013 | -0.00057 | -0.00078 | 0.00097 | 0.038 |
+| 2 | 0.00018 | -0.00057 | -0.00076 | 0.00096 | 0.034 |
+| 3 | 0.00040 | -0.00044 | -0.00064 | 0.00087 | 0.058 |
+| 4 | 0.00036 | -0.00014 | -0.00056 | 0.00067 | 0.118 |
+| 5 | 0.00124 | -0.00061 | -0.00049 | 0.00147 | 0.143 |
+| 6 | 0.00091 | -0.00078 | -0.00108 | 0.00161 | 0.111 |
+| 7 | -0.00006 | -0.00041 | -0.00048 | 0.00063 | 0.031 |
+| 8 | -0.00005 | -0.00006 | -0.00011 | 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.
diff --git a/gap_reports/gap_3ecfe079-d401-402a-9a89-d5e956fffd4a.md b/gap_reports/gap_3ecfe079-d401-402a-9a89-d5e956fffd4a.md
new file mode 100644
index 0000000000000000000000000000000000000000..e9817c4312e99f589dd74f87a19437c4f96b4ba5
--- /dev/null
+++ b/gap_reports/gap_3ecfe079-d401-402a-9a89-d5e956fffd4a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3ecfe079-d401-402a-9a89-d5e956fffd4a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3ecfe079-d401-402a-9a89-d5e956fffd4a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2597 |
+| Sim rows | 232 |
+| Real episode_id | `3ecfe079-d401-402a-9a89-d5e956fffd4a` |
+| Sim episode_id | `3ecfe079-d401-402a-9a89-d5e956fffd4a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 198 | 18 | 3.215 | 15.83 | 27.42 | 1995.46 | 0.6427 |
+| 1 | descend | 282 | 25 | 0.737 | 5.14 | 8.90 | 3624.69 | 0.8272 |
+| 2 | settle | 393 | 34 | 0.028 | 1.02 | 1.77 | 3624.58 | 0.7363 |
+| 3 | close | 135 | 13 | 0.897 | 6.02 | 10.42 | 3625.10 | 0.9944 |
+| 4 | lift | 354 | 31 | 3.503 | 18.50 | 32.05 | 2444.91 | 1.1294 |
+| 5 | move_xy | 344 | 30 | 7.463 | 41.32 | 71.56 | 2825.51 | 0.9466 |
+| 6 | lower | 399 | 35 | 0.094 | 1.77 | 3.07 | 3625.20 | 1.0624 |
+| 7 | open | 138 | 13 | 0.787 | 5.51 | 9.55 | 3624.71 | 0.7624 |
+| 8 | retract | 354 | 31 | 3.367 | 18.04 | 31.25 | 2421.69 | 0.7582 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.190 |
+| TCP position RMSE (mm, per-axis) | 17.39 |
+| EE position RMS L2 (mm) | 32.09 |
+| TCP rotvec (mrad) | 3153.58 |
+| W1 effort mean (A) | 0.8660 |
+| W1 effort per joint (A) | j0=0.2411, j1=1.6461, j2=1.6123, j3=0.7717, j4=0.3034, j5=0.6213 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00108 | -0.00026 | -0.00066 | 0.00130 | 0.031 |
+| 1 | 0.00110 | -0.00062 | -0.00125 | 0.00178 | 0.064 |
+| 2 | 0.00113 | -0.00064 | -0.00121 | 0.00178 | 0.059 |
+| 3 | 0.00225 | -0.00022 | -0.00186 | 0.00293 | 0.165 |
+| 4 | 0.00001 | -0.00043 | -0.00035 | 0.00055 | 0.085 |
+| 5 | 0.00253 | -0.00099 | -0.00135 | 0.00303 | 0.171 |
+| 6 | 0.00276 | -0.00082 | -0.00161 | 0.00330 | 0.192 |
+| 7 | 0.00092 | -0.00028 | -0.00094 | 0.00134 | 0.042 |
+| 8 | -0.00012 | -0.00018 | -0.00018 | 0.00029 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3ee0eef3-939c-4fb2-9b8e-d8c868fd1a75.md b/gap_reports/gap_3ee0eef3-939c-4fb2-9b8e-d8c868fd1a75.md
new file mode 100644
index 0000000000000000000000000000000000000000..58251efd450b4c2fcda88e2369964a6d0b39d591
--- /dev/null
+++ b/gap_reports/gap_3ee0eef3-939c-4fb2-9b8e-d8c868fd1a75.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3ee0eef3-939c-4fb2-9b8e-d8c868fd1a75.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3ee0eef3-939c-4fb2-9b8e-d8c868fd1a75.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1120 |
+| Sim rows | 117 |
+| Real episode_id | `3ee0eef3-939c-4fb2-9b8e-d8c868fd1a75` |
+| Sim episode_id | `3ee0eef3-939c-4fb2-9b8e-d8c868fd1a75` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 171 | 17 | 2.487 | 10.39 | 18.00 | 381.58 | 0.6436 |
+| 1 | descend | 102 | 11 | 0.864 | 4.08 | 7.07 | 3.88 | 0.5728 |
+| 2 | settle | 12 | 2 | 0.019 | 2.24 | 3.87 | 4.53 | 0.5347 |
+| 3 | close | 46 | 5 | 0.112 | 2.21 | 3.82 | 8.36 | 1.1068 |
+| 4 | lift | 103 | 11 | 0.965 | 4.37 | 7.57 | 7.63 | 1.1828 |
+| 5 | move_xy | 191 | 19 | 2.012 | 14.03 | 24.29 | 40.91 | 1.1783 |
+| 6 | lower | 102 | 11 | 0.772 | 4.18 | 7.24 | 8.90 | 1.0982 |
+| 7 | open | 83 | 9 | 0.017 | 2.70 | 4.68 | 4.85 | 0.5856 |
+| 8 | retract | 104 | 11 | 0.816 | 4.18 | 7.23 | 4.25 | 0.6554 |
+| 9 | return | 206 | 21 | 2.622 | 11.66 | 20.20 | 287.97 | 0.6844 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.416 |
+| TCP position RMSE (mm, per-axis) | 7.27 |
+| EE position RMS L2 (mm) | 15.71 |
+| TCP rotvec (mrad) | 151.82 |
+| W1 effort mean (A) | 0.8024 |
+| W1 effort per joint (A) | j0=0.1719, j1=1.2686, j2=1.5066, j3=0.8292, j4=0.4832, j5=0.5552 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00157 | -0.00325 | -0.00005 | 0.00361 | 0.032 |
+| 1 | 0.00216 | -0.00323 | 0.00005 | 0.00388 | 0.032 |
+| 2 | 0.00216 | -0.00322 | -0.00005 | 0.00388 | 0.031 |
+| 3 | 0.00211 | -0.00316 | 0.00001 | 0.00380 | 0.312 |
+| 4 | 0.00159 | -0.00312 | -0.00018 | 0.00350 | 0.430 |
+| 5 | 0.00180 | -0.00333 | -0.00082 | 0.00387 | 0.541 |
+| 6 | 0.00263 | -0.00399 | -0.00095 | 0.00487 | 0.444 |
+| 7 | 0.00222 | -0.00406 | -0.00062 | 0.00467 | 0.036 |
+| 8 | 0.00172 | -0.00377 | -0.00068 | 0.00420 | 0.042 |
+| 9 | -0.00012 | -0.00009 | -0.00024 | 0.00029 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3ee119b9-218f-40bb-b8ef-9b2d1de42031.md b/gap_reports/gap_3ee119b9-218f-40bb-b8ef-9b2d1de42031.md
new file mode 100644
index 0000000000000000000000000000000000000000..aa0f611d042c5deb12b52f91864ef15f217db04c
--- /dev/null
+++ b/gap_reports/gap_3ee119b9-218f-40bb-b8ef-9b2d1de42031.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3ee119b9-218f-40bb-b8ef-9b2d1de42031.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3ee119b9-218f-40bb-b8ef-9b2d1de42031.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2452 |
+| Sim rows | 220 |
+| Real episode_id | `3ee119b9-218f-40bb-b8ef-9b2d1de42031` |
+| Sim episode_id | `3ee119b9-218f-40bb-b8ef-9b2d1de42031` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 203 | 18 | 2.330 | 13.31 | 23.05 | 1970.69 | 0.6117 |
+| 1 | descend | 327 | 29 | 0.680 | 4.75 | 8.23 | 3624.66 | 0.8023 |
+| 2 | settle | 386 | 34 | 0.027 | 0.97 | 1.67 | 3624.55 | 0.6817 |
+| 3 | close | 121 | 11 | 0.589 | 4.27 | 7.40 | 3624.84 | 1.0505 |
+| 4 | lift | 268 | 24 | 2.176 | 12.98 | 22.48 | 2279.90 | 1.1312 |
+| 5 | move_xy | 356 | 32 | 4.884 | 30.52 | 52.87 | 2777.36 | 0.9493 |
+| 6 | lower | 402 | 35 | 0.098 | 1.71 | 2.97 | 3514.85 | 1.0767 |
+| 7 | open | 120 | 11 | 0.660 | 4.58 | 7.94 | 3624.70 | 0.7484 |
+| 8 | retract | 269 | 24 | 2.068 | 12.44 | 21.54 | 2210.09 | 0.7453 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.096 |
+| TCP position RMSE (mm, per-axis) | 12.90 |
+| EE position RMS L2 (mm) | 23.93 |
+| TCP rotvec (mrad) | 3101.74 |
+| W1 effort mean (A) | 0.8523 |
+| W1 effort per joint (A) | j0=0.2187, j1=1.5665, j2=1.7154, j3=0.7450, j4=0.2777, j5=0.5905 |
+
+## Phase-end anchor (sim - 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 | -0.00051 | -0.00073 | 0.00121 | 0.032 |
+| 1 | 0.00074 | -0.00087 | -0.00122 | 0.00167 | 0.060 |
+| 2 | 0.00075 | -0.00087 | -0.00119 | 0.00166 | 0.056 |
+| 3 | 0.00143 | -0.00067 | -0.00116 | 0.00196 | 0.096 |
+| 4 | 0.00018 | -0.00032 | -0.00037 | 0.00052 | 0.102 |
+| 5 | 0.00176 | -0.00110 | -0.00117 | 0.00238 | 0.117 |
+| 6 | 0.00258 | -0.00145 | -0.00196 | 0.00355 | 0.261 |
+| 7 | 0.00056 | -0.00059 | -0.00098 | 0.00127 | 0.044 |
+| 8 | -0.00014 | -0.00021 | -0.00022 | 0.00034 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3f0ba73e-c2a0-49ad-ab84-0c403c007950.md b/gap_reports/gap_3f0ba73e-c2a0-49ad-ab84-0c403c007950.md
new file mode 100644
index 0000000000000000000000000000000000000000..a3ce8e818533476e8f99df3fee9317f0824a8453
--- /dev/null
+++ b/gap_reports/gap_3f0ba73e-c2a0-49ad-ab84-0c403c007950.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3f0ba73e-c2a0-49ad-ab84-0c403c007950.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3f0ba73e-c2a0-49ad-ab84-0c403c007950.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2541 |
+| Sim rows | 227 |
+| Real episode_id | `3f0ba73e-c2a0-49ad-ab84-0c403c007950` |
+| Sim episode_id | `3f0ba73e-c2a0-49ad-ab84-0c403c007950` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.203 | 16.85 | 29.18 | 1939.40 | 0.6193 |
+| 1 | descend | 338 | 30 | 0.320 | 2.52 | 4.37 | 3624.67 | 0.8603 |
+| 2 | settle | 364 | 32 | 0.027 | 0.97 | 1.67 | 3624.58 | 0.6859 |
+| 3 | close | 97 | 9 | 0.355 | 2.75 | 4.76 | 3625.26 | 1.0408 |
+| 4 | lift | 295 | 26 | 2.830 | 16.25 | 28.14 | 2350.31 | 1.1260 |
+| 5 | move_xy | 396 | 35 | 5.434 | 31.66 | 54.84 | 2671.02 | 0.9258 |
+| 6 | lower | 403 | 35 | 0.094 | 1.73 | 2.99 | 3625.03 | 1.0795 |
+| 7 | open | 97 | 9 | 0.358 | 2.61 | 4.53 | 3624.67 | 0.7544 |
+| 8 | retract | 296 | 26 | 2.840 | 16.30 | 28.23 | 2346.06 | 0.7453 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.500 |
+| TCP position RMSE (mm, per-axis) | 14.30 |
+| EE position RMS L2 (mm) | 27.29 |
+| TCP rotvec (mrad) | 3120.20 |
+| W1 effort mean (A) | 0.8542 |
+| W1 effort per joint (A) | j0=0.2002, j1=1.4825, j2=1.7361, j3=0.7891, j4=0.2898, j5=0.6276 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00096 | -0.00049 | -0.00086 | 0.00138 | 0.030 |
+| 1 | 0.00093 | -0.00076 | -0.00123 | 0.00172 | 0.061 |
+| 2 | 0.00091 | -0.00074 | -0.00120 | 0.00168 | 0.054 |
+| 3 | 0.00144 | -0.00067 | -0.00141 | 0.00213 | 0.108 |
+| 4 | 0.00016 | -0.00032 | -0.00038 | 0.00052 | 0.100 |
+| 5 | 0.00221 | -0.00103 | -0.00062 | 0.00252 | 0.169 |
+| 6 | 0.00211 | -0.00108 | -0.00134 | 0.00272 | 0.160 |
+| 7 | 0.00064 | -0.00051 | -0.00104 | 0.00132 | 0.051 |
+| 8 | -0.00015 | -0.00023 | -0.00022 | 0.00036 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3f0f7100-ea09-4283-80e6-d831ec0e7ddd.md b/gap_reports/gap_3f0f7100-ea09-4283-80e6-d831ec0e7ddd.md
new file mode 100644
index 0000000000000000000000000000000000000000..c19bcc9aa2ce8703a993bde704f6efec59236d38
--- /dev/null
+++ b/gap_reports/gap_3f0f7100-ea09-4283-80e6-d831ec0e7ddd.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3f0f7100-ea09-4283-80e6-d831ec0e7ddd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3f0f7100-ea09-4283-80e6-d831ec0e7ddd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1784 |
+| Sim rows | 182 |
+| Real episode_id | `3f0f7100-ea09-4283-80e6-d831ec0e7ddd` |
+| Sim episode_id | `3f0f7100-ea09-4283-80e6-d831ec0e7ddd` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 184 | 19 | 2.750 | 11.93 | 20.66 | 1060.83 | 0.6714 |
+| 1 | descend | 90 | 10 | 0.566 | 3.29 | 5.70 | 4.23 | 0.5171 |
+| 2 | settle | 25 | 3 | 0.019 | 2.86 | 4.95 | 4.73 | 0.4854 |
+| 3 | close | 388 | 38 | 0.129 | 3.28 | 5.68 | 3622.49 | 0.9222 |
+| 4 | lift | 88 | 10 | 0.874 | 4.18 | 7.24 | 3622.46 | 1.0662 |
+| 5 | move_xy | 265 | 26 | 6.345 | 35.76 | 61.95 | 1145.48 | 1.1143 |
+| 6 | lower | 91 | 10 | 0.506 | 3.11 | 5.38 | 8.38 | 1.1638 |
+| 7 | open | 372 | 37 | 0.026 | 2.08 | 3.61 | 5.39 | 0.7287 |
+| 8 | retract | 93 | 10 | 0.501 | 3.19 | 5.53 | 4.99 | 0.7312 |
+| 9 | return | 188 | 19 | 2.982 | 17.13 | 29.67 | 887.87 | 0.8043 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.415 |
+| TCP position RMSE (mm, per-axis) | 13.36 |
+| EE position RMS L2 (mm) | 26.91 |
+| TCP rotvec (mrad) | 1716.70 |
+| W1 effort mean (A) | 0.8333 |
+| W1 effort per joint (A) | j0=0.1895, j1=1.3996, j2=1.5098, j3=0.8249, j4=0.5284, j5=0.5472 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00175 | -0.00417 | -0.00040 | 0.00454 | 0.030 |
+| 1 | 0.00198 | -0.00452 | -0.00030 | 0.00494 | 0.037 |
+| 2 | 0.00197 | -0.00451 | -0.00041 | 0.00494 | 0.025 |
+| 3 | 0.00306 | -0.00439 | -0.00211 | 0.00575 | 0.263 |
+| 4 | 0.00230 | -0.00408 | -0.00211 | 0.00514 | 0.254 |
+| 5 | 0.00155 | -0.00278 | -0.00203 | 0.00378 | 0.198 |
+| 6 | 0.00164 | -0.00205 | -0.00286 | 0.00388 | 0.251 |
+| 7 | 0.00215 | -0.00288 | -0.00029 | 0.00361 | 0.054 |
+| 8 | 0.00190 | -0.00307 | -0.00034 | 0.00363 | 0.056 |
+| 9 | -0.00004 | -0.00020 | -0.00027 | 0.00034 | 0.037 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3f190abf-80ac-4602-b2ec-939156581f8b.md b/gap_reports/gap_3f190abf-80ac-4602-b2ec-939156581f8b.md
new file mode 100644
index 0000000000000000000000000000000000000000..a68cbcd129c20412fb901a4b4a4962a02f530029
--- /dev/null
+++ b/gap_reports/gap_3f190abf-80ac-4602-b2ec-939156581f8b.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3f190abf-80ac-4602-b2ec-939156581f8b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3f190abf-80ac-4602-b2ec-939156581f8b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1563 |
+| Sim rows | 159 |
+| Real episode_id | `3f190abf-80ac-4602-b2ec-939156581f8b` |
+| Sim episode_id | `3f190abf-80ac-4602-b2ec-939156581f8b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 127 | 13 | 2.859 | 14.34 | 24.83 | 1069.43 | 0.6859 |
+| 1 | descend | 75 | 8 | 0.786 | 4.21 | 7.30 | 4.40 | 0.6860 |
+| 2 | settle | 19 | 3 | 0.020 | 2.26 | 3.91 | 4.96 | 0.7557 |
+| 3 | close | 366 | 36 | 0.080 | 2.40 | 4.16 | 8.45 | 1.3147 |
+| 4 | lift | 76 | 8 | 0.782 | 4.28 | 7.42 | 7.49 | 1.2862 |
+| 5 | move_xy | 189 | 19 | 6.823 | 32.33 | 56.00 | 527.63 | 1.2360 |
+| 6 | lower | 73 | 8 | 0.807 | 4.81 | 8.34 | 8.75 | 1.0898 |
+| 7 | open | 210 | 21 | 0.020 | 2.85 | 4.93 | 5.27 | 0.7067 |
+| 8 | retract | 72 | 8 | 0.810 | 4.17 | 7.22 | 4.65 | 0.7246 |
+| 9 | return | 356 | 35 | 4.526 | 23.68 | 41.01 | 1073.69 | 0.6965 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.788 |
+| TCP position RMSE (mm, per-axis) | 13.81 |
+| EE position RMS L2 (mm) | 28.82 |
+| TCP rotvec (mrad) | 507.46 |
+| W1 effort mean (A) | 0.9170 |
+| W1 effort per joint (A) | j0=0.1522, j1=1.6609, j2=1.6643, j3=0.8769, j4=0.5408, j5=0.6068 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00174 | -0.00323 | -0.00001 | 0.00367 | 0.037 |
+| 1 | 0.00231 | -0.00314 | -0.00001 | 0.00390 | 0.046 |
+| 2 | 0.00230 | -0.00314 | -0.00019 | 0.00390 | 0.047 |
+| 3 | 0.00267 | -0.00307 | -0.00029 | 0.00408 | 0.178 |
+| 4 | 0.00217 | -0.00330 | -0.00055 | 0.00399 | 0.131 |
+| 5 | 0.00173 | -0.00535 | -0.00200 | 0.00596 | 0.223 |
+| 6 | 0.00172 | -0.00496 | -0.00135 | 0.00543 | 0.136 |
+| 7 | 0.00180 | -0.00443 | -0.00128 | 0.00495 | 0.042 |
+| 8 | 0.00147 | -0.00393 | -0.00150 | 0.00446 | 0.061 |
+| 9 | -0.00011 | -0.00005 | -0.00024 | 0.00027 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3f3f8489-c239-42be-8a8d-4956e0e81bab.md b/gap_reports/gap_3f3f8489-c239-42be-8a8d-4956e0e81bab.md
new file mode 100644
index 0000000000000000000000000000000000000000..4ea8689c59b8211c7beb2a4fe4f935bc3503fdd1
--- /dev/null
+++ b/gap_reports/gap_3f3f8489-c239-42be-8a8d-4956e0e81bab.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3f3f8489-c239-42be-8a8d-4956e0e81bab.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3f3f8489-c239-42be-8a8d-4956e0e81bab.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 578 |
+| Sim rows | 73 |
+| Real episode_id | `3f3f8489-c239-42be-8a8d-4956e0e81bab` |
+| Sim episode_id | `3f3f8489-c239-42be-8a8d-4956e0e81bab` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 368 | 36 | 2.607 | 11.55 | 20.01 | 850.65 | 0.7987 |
+| 1 | descend | 210 | 21 | 0.025 | 5.49 | 9.51 | 1.92 | 0.7710 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.843 |
+| TCP position RMSE (mm, per-axis) | 9.04 |
+| EE position RMS L2 (mm) | 16.96 |
+| TCP rotvec (mrad) | 601.50 |
+| W1 effort mean (A) | 0.7886 |
+| W1 effort per joint (A) | j0=0.1782, j1=1.6862, j2=1.6025, j3=0.8948, j4=0.1976, j5=0.1725 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00918 | 0.00260 | -0.00018 | 0.00955 | 0.034 |
+| 1 | -0.00909 | 0.00259 | -0.00023 | 0.00945 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3f68ad54-6482-4e57-a4ad-9b7e5825274a.md b/gap_reports/gap_3f68ad54-6482-4e57-a4ad-9b7e5825274a.md
new file mode 100644
index 0000000000000000000000000000000000000000..94d76776ce78d7af5e2e3cb60b6f37b6f0140d12
--- /dev/null
+++ b/gap_reports/gap_3f68ad54-6482-4e57-a4ad-9b7e5825274a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3f68ad54-6482-4e57-a4ad-9b7e5825274a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3f68ad54-6482-4e57-a4ad-9b7e5825274a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2756 |
+| Sim rows | 244 |
+| Real episode_id | `3f68ad54-6482-4e57-a4ad-9b7e5825274a` |
+| Sim episode_id | `3f68ad54-6482-4e57-a4ad-9b7e5825274a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 193 | 17 | 2.592 | 11.27 | 19.53 | 2004.49 | 0.5901 |
+| 1 | descend | 325 | 29 | 0.730 | 4.94 | 8.55 | 3625.30 | 0.6798 |
+| 2 | settle | 372 | 33 | 0.024 | 0.77 | 1.34 | 3625.25 | 0.7276 |
+| 3 | close | 136 | 12 | 0.632 | 4.31 | 7.46 | 3274.93 | 0.9455 |
+| 4 | lift | 448 | 39 | 3.104 | 14.76 | 25.56 | 2090.66 | 1.1012 |
+| 5 | move_xy | 321 | 28 | 6.482 | 33.68 | 58.33 | 2608.44 | 0.8882 |
+| 6 | lower | 376 | 33 | 0.085 | 1.34 | 2.33 | 3287.33 | 1.0077 |
+| 7 | open | 136 | 12 | 0.593 | 3.90 | 6.75 | 3625.47 | 0.6221 |
+| 8 | retract | 449 | 39 | 3.157 | 15.01 | 26.00 | 2269.66 | 0.7216 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.782 |
+| TCP position RMSE (mm, per-axis) | 14.00 |
+| EE position RMS L2 (mm) | 25.57 |
+| TCP rotvec (mrad) | 3005.64 |
+| W1 effort mean (A) | 0.8160 |
+| W1 effort per joint (A) | j0=0.2151, j1=1.3753, j2=1.6424, j3=0.7280, j4=0.3378, j5=0.5971 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00071 | -0.00039 | -0.00072 | 0.00109 | 0.037 |
+| 1 | 0.00065 | -0.00063 | -0.00098 | 0.00134 | 0.044 |
+| 2 | 0.00065 | -0.00063 | -0.00100 | 0.00135 | 0.046 |
+| 3 | 0.00115 | -0.00055 | -0.00088 | 0.00155 | 0.119 |
+| 4 | 0.00023 | -0.00018 | -0.00038 | 0.00048 | 0.073 |
+| 5 | 0.00136 | -0.00089 | -0.00097 | 0.00190 | 0.114 |
+| 6 | 0.00137 | -0.00088 | -0.00066 | 0.00176 | 0.112 |
+| 7 | 0.00050 | -0.00043 | -0.00076 | 0.00101 | 0.033 |
+| 8 | -0.00007 | -0.00007 | -0.00012 | 0.00016 | 0.018 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3f68e0ed-d7bc-45dd-9d17-60f9d4e74621.md b/gap_reports/gap_3f68e0ed-d7bc-45dd-9d17-60f9d4e74621.md
new file mode 100644
index 0000000000000000000000000000000000000000..0fd7a425b42ee68b33d4f4bfb8bb5dd77e452a49
--- /dev/null
+++ b/gap_reports/gap_3f68e0ed-d7bc-45dd-9d17-60f9d4e74621.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3f68e0ed-d7bc-45dd-9d17-60f9d4e74621.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3f68e0ed-d7bc-45dd-9d17-60f9d4e74621.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 408 |
+| Sim rows | 57 |
+| Real episode_id | `3f68e0ed-d7bc-45dd-9d17-60f9d4e74621` |
+| Sim episode_id | `3f68e0ed-d7bc-45dd-9d17-60f9d4e74621` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 198 | 20 | 2.604 | 13.37 | 23.15 | 596.92 | 0.7907 |
+| 1 | descend | 210 | 21 | 0.022 | 2.43 | 4.20 | 1.99 | 0.7144 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.842 |
+| TCP position RMSE (mm, per-axis) | 9.61 |
+| EE position RMS L2 (mm) | 16.41 |
+| TCP rotvec (mrad) | 422.09 |
+| W1 effort mean (A) | 0.7512 |
+| W1 effort per joint (A) | j0=0.1356, j1=1.7368, j2=1.4566, j3=0.9054, j4=0.1363, j5=0.1365 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00430 | 0.00009 | 0.00046 | 0.00432 | 0.040 |
+| 1 | -0.00419 | 0.00007 | 0.00047 | 0.00422 | 0.045 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3f73b8bd-ad11-4c45-81da-12d5487f08ed.md b/gap_reports/gap_3f73b8bd-ad11-4c45-81da-12d5487f08ed.md
new file mode 100644
index 0000000000000000000000000000000000000000..2084fc1ef16cdd63dedec332c60295421abe4096
--- /dev/null
+++ b/gap_reports/gap_3f73b8bd-ad11-4c45-81da-12d5487f08ed.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3f73b8bd-ad11-4c45-81da-12d5487f08ed.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3f73b8bd-ad11-4c45-81da-12d5487f08ed.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1375 |
+| Sim rows | 140 |
+| Real episode_id | `3f73b8bd-ad11-4c45-81da-12d5487f08ed` |
+| Sim episode_id | `3f73b8bd-ad11-4c45-81da-12d5487f08ed` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 175 | 18 | 3.862 | 18.78 | 32.53 | 990.87 | 0.7184 |
+| 1 | descend | 66 | 7 | 0.391 | 2.86 | 4.96 | 5.67 | 0.7666 |
+| 2 | settle | 12 | 2 | 0.033 | 2.19 | 3.79 | 6.05 | 0.7627 |
+| 3 | close | 305 | 30 | 0.074 | 2.25 | 3.90 | 8.44 | 1.3621 |
+| 4 | lift | 67 | 7 | 0.391 | 3.06 | 5.29 | 8.12 | 1.4873 |
+| 5 | move_xy | 227 | 23 | 10.333 | 44.07 | 76.33 | 30.65 | 1.2171 |
+| 6 | lower | 66 | 7 | 0.507 | 3.90 | 6.75 | 9.14 | 1.1226 |
+| 7 | open | 98 | 10 | 0.027 | 2.77 | 4.79 | 4.98 | 0.6432 |
+| 8 | retract | 65 | 7 | 0.455 | 3.08 | 5.33 | 4.53 | 0.6888 |
+| 9 | return | 294 | 29 | 4.530 | 21.67 | 37.54 | 1169.35 | 0.6904 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.781 |
+| TCP position RMSE (mm, per-axis) | 16.81 |
+| EE position RMS L2 (mm) | 37.54 |
+| TCP rotvec (mrad) | 484.82 |
+| W1 effort mean (A) | 0.9502 |
+| W1 effort per joint (A) | j0=0.1994, j1=1.7950, j2=1.6837, j3=0.9109, j4=0.4948, j5=0.6173 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00254 | -0.00280 | -0.00087 | 0.00388 | 0.108 |
+| 1 | 0.00274 | -0.00256 | -0.00037 | 0.00377 | 0.055 |
+| 2 | 0.00276 | -0.00263 | -0.00041 | 0.00383 | 0.064 |
+| 3 | 0.00290 | -0.00258 | -0.00065 | 0.00394 | 0.130 |
+| 4 | 0.00269 | -0.00269 | -0.00103 | 0.00394 | 0.139 |
+| 5 | 0.00176 | -0.00458 | -0.00136 | 0.00510 | 0.119 |
+| 6 | 0.00185 | -0.00495 | -0.00113 | 0.00540 | 0.124 |
+| 7 | 0.00179 | -0.00433 | -0.00108 | 0.00481 | 0.042 |
+| 8 | 0.00160 | -0.00400 | -0.00125 | 0.00449 | 0.054 |
+| 9 | -0.00017 | -0.00008 | -0.00025 | 0.00031 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3f9bd2fc-eeff-473e-853f-28a24dc2b100.md b/gap_reports/gap_3f9bd2fc-eeff-473e-853f-28a24dc2b100.md
new file mode 100644
index 0000000000000000000000000000000000000000..abcc9e16073f99f4a7addd3c9dcf4b0d85372623
--- /dev/null
+++ b/gap_reports/gap_3f9bd2fc-eeff-473e-853f-28a24dc2b100.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3f9bd2fc-eeff-473e-853f-28a24dc2b100.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3f9bd2fc-eeff-473e-853f-28a24dc2b100.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2463 |
+| Sim rows | 219 |
+| Real episode_id | `3f9bd2fc-eeff-473e-853f-28a24dc2b100` |
+| Sim episode_id | `3f9bd2fc-eeff-473e-853f-28a24dc2b100` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 198 | 18 | 3.475 | 13.10 | 22.70 | 2012.57 | 0.5825 |
+| 1 | descend | 198 | 18 | 0.668 | 4.10 | 7.09 | 3626.09 | 0.7025 |
+| 2 | settle | 370 | 32 | 0.020 | 0.62 | 1.08 | 3626.02 | 0.6835 |
+| 3 | close | 98 | 9 | 0.349 | 2.16 | 3.75 | 1646.19 | 0.9244 |
+| 4 | lift | 386 | 34 | 3.936 | 16.62 | 28.78 | 1800.91 | 1.0950 |
+| 5 | move_xy | 332 | 29 | 8.290 | 35.73 | 61.88 | 2070.33 | 0.8381 |
+| 6 | lower | 393 | 34 | 0.086 | 1.22 | 2.12 | 1856.01 | 1.0544 |
+| 7 | open | 99 | 9 | 0.379 | 2.41 | 4.17 | 3626.12 | 0.6502 |
+| 8 | retract | 389 | 34 | 3.823 | 15.91 | 27.56 | 2288.66 | 0.6898 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.522 |
+| TCP position RMSE (mm, per-axis) | 14.93 |
+| EE position RMS L2 (mm) | 28.52 |
+| TCP rotvec (mrad) | 2633.50 |
+| W1 effort mean (A) | 0.8144 |
+| W1 effort per joint (A) | j0=0.2029, j1=1.2402, j2=1.6186, j3=0.8411, j4=0.3784, 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 | 0.00068 | -0.00032 | -0.00047 | 0.00089 | 0.036 |
+| 1 | 0.00066 | -0.00052 | -0.00066 | 0.00107 | 0.036 |
+| 2 | 0.00066 | -0.00050 | -0.00070 | 0.00109 | 0.038 |
+| 3 | 0.00110 | -0.00043 | -0.00059 | 0.00132 | 0.090 |
+| 4 | 0.00031 | -0.00021 | -0.00044 | 0.00058 | 0.095 |
+| 5 | 0.00149 | -0.00053 | -0.00161 | 0.00225 | 0.127 |
+| 6 | 0.00133 | -0.00053 | -0.00144 | 0.00203 | 0.113 |
+| 7 | 0.00047 | -0.00032 | -0.00056 | 0.00080 | 0.033 |
+| 8 | -0.00006 | -0.00008 | -0.00014 | 0.00017 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3fae7fa8-6b9d-442b-b9c0-185f6af0ae69.md b/gap_reports/gap_3fae7fa8-6b9d-442b-b9c0-185f6af0ae69.md
new file mode 100644
index 0000000000000000000000000000000000000000..2b6c3851d60f2e605b2b20ba8128e8b151df56f5
--- /dev/null
+++ b/gap_reports/gap_3fae7fa8-6b9d-442b-b9c0-185f6af0ae69.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3fae7fa8-6b9d-442b-b9c0-185f6af0ae69.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3fae7fa8-6b9d-442b-b9c0-185f6af0ae69.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2631 |
+| Sim rows | 234 |
+| Real episode_id | `3fae7fa8-6b9d-442b-b9c0-185f6af0ae69` |
+| Sim episode_id | `3fae7fa8-6b9d-442b-b9c0-185f6af0ae69` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 197 | 18 | 3.544 | 16.62 | 28.78 | 2017.07 | 0.6797 |
+| 1 | descend | 231 | 21 | 0.846 | 6.05 | 10.49 | 3624.61 | 1.0244 |
+| 2 | settle | 371 | 32 | 0.026 | 1.00 | 1.74 | 3624.56 | 1.0470 |
+| 3 | close | 121 | 11 | 0.547 | 4.04 | 7.00 | 3625.00 | 1.2564 |
+| 4 | lift | 424 | 37 | 3.657 | 19.79 | 34.28 | 2407.51 | 1.3070 |
+| 5 | move_xy | 342 | 30 | 8.084 | 44.54 | 77.15 | 2833.81 | 1.1126 |
+| 6 | lower | 401 | 35 | 0.092 | 1.75 | 3.03 | 3625.16 | 1.3920 |
+| 7 | open | 124 | 11 | 0.548 | 3.88 | 6.72 | 3624.72 | 0.9404 |
+| 8 | retract | 420 | 37 | 3.486 | 18.49 | 32.03 | 2366.31 | 0.9194 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.412 |
+| TCP position RMSE (mm, per-axis) | 18.46 |
+| EE position RMS L2 (mm) | 34.71 |
+| TCP rotvec (mrad) | 3148.03 |
+| W1 effort mean (A) | 1.0964 |
+| W1 effort per joint (A) | j0=0.7648, j1=1.5659, j2=1.8254, j3=1.0289, j4=0.7589, j5=0.6346 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00109 | -0.00034 | -0.00073 | 0.00135 | 0.030 |
+| 1 | 0.00139 | -0.00067 | -0.00129 | 0.00201 | 0.059 |
+| 2 | 0.00107 | -0.00063 | -0.00120 | 0.00173 | 0.056 |
+| 3 | 0.00192 | -0.00040 | -0.00223 | 0.00298 | 0.173 |
+| 4 | 0.00018 | -0.00035 | -0.00042 | 0.00058 | 0.100 |
+| 5 | 0.00194 | -0.00102 | -0.00094 | 0.00239 | 0.116 |
+| 6 | 0.00265 | -0.00089 | -0.00237 | 0.00367 | 0.186 |
+| 7 | 0.00091 | -0.00036 | -0.00100 | 0.00139 | 0.044 |
+| 8 | -0.00011 | -0.00015 | -0.00015 | 0.00024 | 0.021 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3fb41884-fb12-4b18-8865-78826cd1beaa.md b/gap_reports/gap_3fb41884-fb12-4b18-8865-78826cd1beaa.md
new file mode 100644
index 0000000000000000000000000000000000000000..f2547087544ac73b1521185cf2b4bb59b5995cac
--- /dev/null
+++ b/gap_reports/gap_3fb41884-fb12-4b18-8865-78826cd1beaa.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3fb41884-fb12-4b18-8865-78826cd1beaa.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3fb41884-fb12-4b18-8865-78826cd1beaa.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2614 |
+| Sim rows | 235 |
+| Real episode_id | `3fb41884-fb12-4b18-8865-78826cd1beaa` |
+| Sim episode_id | `3fb41884-fb12-4b18-8865-78826cd1beaa` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 223 | 20 | 2.850 | 12.50 | 21.65 | 1987.14 | 0.5904 |
+| 1 | descend | 324 | 29 | 0.856 | 5.56 | 9.62 | 3625.41 | 0.7324 |
+| 2 | settle | 360 | 32 | 0.024 | 0.77 | 1.34 | 3625.19 | 0.6813 |
+| 3 | close | 132 | 12 | 0.988 | 6.45 | 11.17 | 3274.67 | 0.9533 |
+| 4 | lift | 301 | 27 | 2.884 | 13.33 | 23.09 | 2158.22 | 1.1172 |
+| 5 | move_xy | 434 | 38 | 7.104 | 36.72 | 63.61 | 2566.22 | 0.9209 |
+| 6 | lower | 407 | 36 | 0.089 | 1.42 | 2.45 | 3556.22 | 1.0828 |
+| 7 | open | 134 | 12 | 1.012 | 6.47 | 11.21 | 3625.32 | 0.7614 |
+| 8 | retract | 299 | 27 | 2.802 | 13.10 | 22.68 | 2353.47 | 0.7391 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.935 |
+| TCP position RMSE (mm, per-axis) | 14.80 |
+| EE position RMS L2 (mm) | 29.28 |
+| TCP rotvec (mrad) | 3046.49 |
+| W1 effort mean (A) | 0.8337 |
+| W1 effort per joint (A) | j0=0.2468, j1=1.3923, j2=1.6606, j3=0.7745, j4=0.2936, j5=0.6345 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00063 | -0.00024 | -0.00074 | 0.00101 | 0.040 |
+| 1 | 0.00062 | -0.00066 | -0.00097 | 0.00133 | 0.049 |
+| 2 | 0.00065 | -0.00066 | -0.00097 | 0.00134 | 0.044 |
+| 3 | 0.00083 | -0.00050 | -0.00052 | 0.00110 | 0.086 |
+| 4 | 0.00028 | -0.00020 | -0.00038 | 0.00051 | 0.091 |
+| 5 | 0.00158 | -0.00093 | -0.00189 | 0.00264 | 0.130 |
+| 6 | 0.00149 | -0.00104 | -0.00228 | 0.00292 | 0.193 |
+| 7 | 0.00043 | -0.00036 | -0.00078 | 0.00096 | 0.052 |
+| 8 | -0.00009 | -0.00017 | -0.00020 | 0.00028 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3fb88cda-db3f-40e0-a631-081d0b4120ad.md b/gap_reports/gap_3fb88cda-db3f-40e0-a631-081d0b4120ad.md
new file mode 100644
index 0000000000000000000000000000000000000000..88eb9c6329e5fe0c30fed98cd0d5ccfafcbac240
--- /dev/null
+++ b/gap_reports/gap_3fb88cda-db3f-40e0-a631-081d0b4120ad.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3fb88cda-db3f-40e0-a631-081d0b4120ad.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3fb88cda-db3f-40e0-a631-081d0b4120ad.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2543 |
+| Sim rows | 228 |
+| Real episode_id | `3fb88cda-db3f-40e0-a631-081d0b4120ad` |
+| Sim episode_id | `3fb88cda-db3f-40e0-a631-081d0b4120ad` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.297 | 8.68 | 15.03 | 1959.85 | 0.5801 |
+| 1 | descend | 377 | 33 | 1.462 | 8.48 | 14.69 | 3626.02 | 0.9370 |
+| 2 | settle | 366 | 32 | 0.021 | 0.56 | 0.97 | 3625.94 | 1.0468 |
+| 3 | close | 148 | 14 | 1.078 | 6.12 | 10.60 | 1432.71 | 1.1339 |
+| 4 | lift | 280 | 25 | 2.566 | 10.49 | 18.17 | 1879.92 | 1.2195 |
+| 5 | move_xy | 352 | 31 | 5.601 | 26.29 | 45.53 | 1900.75 | 1.0648 |
+| 6 | lower | 411 | 36 | 0.084 | 1.08 | 1.87 | 2029.88 | 1.4264 |
+| 7 | open | 149 | 14 | 1.061 | 6.18 | 10.70 | 3626.22 | 0.7540 |
+| 8 | retract | 282 | 25 | 2.614 | 10.70 | 18.54 | 2365.31 | 0.8327 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.461 |
+| TCP position RMSE (mm, per-axis) | 11.25 |
+| EE position RMS L2 (mm) | 20.57 |
+| TCP rotvec (mrad) | 2628.91 |
+| W1 effort mean (A) | 1.0326 |
+| W1 effort per joint (A) | j0=0.6365, j1=1.1609, j2=1.8586, j3=1.0961, j4=0.8442, j5=0.5995 |
+
+## Phase-end anchor (sim - 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 | -0.00035 | -0.00043 | 0.00057 | 0.024 |
+| 1 | 0.00016 | -0.00058 | -0.00079 | 0.00099 | 0.038 |
+| 2 | 0.00019 | -0.00056 | -0.00077 | 0.00097 | 0.037 |
+| 3 | 0.00080 | -0.00036 | -0.00059 | 0.00105 | 0.120 |
+| 4 | 0.00002 | -0.00034 | -0.00033 | 0.00048 | 0.060 |
+| 5 | 0.00076 | -0.00080 | -0.00083 | 0.00138 | 0.105 |
+| 6 | 0.00100 | -0.00077 | -0.00093 | 0.00156 | 0.116 |
+| 7 | -0.00002 | -0.00040 | -0.00054 | 0.00067 | 0.034 |
+| 8 | -0.00007 | -0.00010 | -0.00014 | 0.00019 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3fc0607f-c397-4d32-9015-c5f5358ec4d1.md b/gap_reports/gap_3fc0607f-c397-4d32-9015-c5f5358ec4d1.md
new file mode 100644
index 0000000000000000000000000000000000000000..d396714fe9a25c1d659dc3089fb4df2ccb3c8586
--- /dev/null
+++ b/gap_reports/gap_3fc0607f-c397-4d32-9015-c5f5358ec4d1.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3fc0607f-c397-4d32-9015-c5f5358ec4d1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3fc0607f-c397-4d32-9015-c5f5358ec4d1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 540 |
+| Sim rows | 69 |
+| Real episode_id | `3fc0607f-c397-4d32-9015-c5f5358ec4d1` |
+| Sim episode_id | `3fc0607f-c397-4d32-9015-c5f5358ec4d1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 330 | 32 | 2.392 | 11.09 | 19.21 | 700.63 | 0.7874 |
+| 1 | descend | 210 | 21 | 0.023 | 0.84 | 1.45 | 2.08 | 0.8291 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.692 |
+| TCP position RMSE (mm, per-axis) | 7.86 |
+| EE position RMS L2 (mm) | 15.04 |
+| TCP rotvec (mrad) | 495.42 |
+| W1 effort mean (A) | 0.8036 |
+| W1 effort per joint (A) | j0=0.1504, j1=1.8346, j2=1.7436, j3=0.8419, j4=0.1172, j5=0.1339 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00115 | -0.00088 | 0.00082 | 0.00166 | 0.025 |
+| 1 | -0.00101 | -0.00085 | 0.00062 | 0.00146 | 0.047 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3fc0aa3b-664d-41c5-bb8e-d7e4b7618a7e.md b/gap_reports/gap_3fc0aa3b-664d-41c5-bb8e-d7e4b7618a7e.md
new file mode 100644
index 0000000000000000000000000000000000000000..45069a33d442a04dc0f54bf714537fc5d7b3b348
--- /dev/null
+++ b/gap_reports/gap_3fc0aa3b-664d-41c5-bb8e-d7e4b7618a7e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3fc0aa3b-664d-41c5-bb8e-d7e4b7618a7e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3fc0aa3b-664d-41c5-bb8e-d7e4b7618a7e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2216 |
+| Sim rows | 224 |
+| Real episode_id | `3fc0aa3b-664d-41c5-bb8e-d7e4b7618a7e` |
+| Sim episode_id | `3fc0aa3b-664d-41c5-bb8e-d7e4b7618a7e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 199 | 20 | 3.021 | 15.58 | 26.99 | 1922.89 | 0.6172 |
+| 1 | descend | 278 | 28 | 1.119 | 7.85 | 13.60 | 3624.71 | 0.7899 |
+| 2 | settle | 322 | 32 | 0.027 | 0.97 | 1.67 | 3624.54 | 0.7237 |
+| 3 | close | 111 | 12 | 0.744 | 5.18 | 8.97 | 3625.30 | 1.0485 |
+| 4 | lift | 246 | 24 | 2.774 | 15.43 | 26.73 | 2357.37 | 1.1235 |
+| 5 | move_xy | 337 | 33 | 6.417 | 37.20 | 64.44 | 2813.38 | 0.9104 |
+| 6 | lower | 365 | 36 | 0.085 | 1.61 | 2.80 | 3625.20 | 1.0235 |
+| 7 | open | 112 | 12 | 0.719 | 5.02 | 8.69 | 3624.69 | 0.7519 |
+| 8 | retract | 246 | 25 | 2.659 | 14.82 | 25.67 | 2368.23 | 0.7601 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.737 |
+| TCP position RMSE (mm, per-axis) | 15.64 |
+| EE position RMS L2 (mm) | 29.70 |
+| TCP rotvec (mrad) | 3135.41 |
+| W1 effort mean (A) | 0.8415 |
+| W1 effort per joint (A) | j0=0.2281, j1=1.5097, j2=1.7025, j3=0.7512, j4=0.2704, j5=0.5871 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00095 | -0.00038 | -0.00084 | 0.00132 | 0.036 |
+| 1 | 0.00090 | -0.00073 | -0.00119 | 0.00166 | 0.050 |
+| 2 | 0.00092 | -0.00076 | -0.00121 | 0.00170 | 0.058 |
+| 3 | 0.00161 | -0.00054 | -0.00083 | 0.00189 | 0.106 |
+| 4 | 0.00022 | -0.00042 | -0.00050 | 0.00069 | 0.132 |
+| 5 | 0.00182 | -0.00099 | -0.00069 | 0.00218 | 0.107 |
+| 6 | 0.00198 | -0.00108 | -0.00109 | 0.00251 | 0.138 |
+| 7 | 0.00077 | -0.00042 | -0.00096 | 0.00130 | 0.041 |
+| 8 | -0.00016 | -0.00024 | -0.00021 | 0.00036 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3fc5d7ba-18ae-4bd7-8f3f-022614050033.md b/gap_reports/gap_3fc5d7ba-18ae-4bd7-8f3f-022614050033.md
new file mode 100644
index 0000000000000000000000000000000000000000..6f23663e9afd7b787ef164796a4a59529e38c7e7
--- /dev/null
+++ b/gap_reports/gap_3fc5d7ba-18ae-4bd7-8f3f-022614050033.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3fc5d7ba-18ae-4bd7-8f3f-022614050033.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3fc5d7ba-18ae-4bd7-8f3f-022614050033.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 5215 |
+| Sim rows | 260 |
+| Real episode_id | `3fc5d7ba-18ae-4bd7-8f3f-022614050033` |
+| Sim episode_id | `3fc5d7ba-18ae-4bd7-8f3f-022614050033` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 463 | 24 | 2.713 | 16.05 | 27.80 | 2021.46 | 0.6109 |
+| 1 | descend | 825 | 40 | 0.420 | 3.12 | 5.40 | 3624.65 | 0.7940 |
+| 2 | settle | 655 | 32 | 0.027 | 0.97 | 1.68 | 3624.52 | 0.7513 |
+| 3 | close | 266 | 14 | 0.621 | 4.46 | 7.73 | 3625.09 | 1.0303 |
+| 4 | lift | 612 | 30 | 2.465 | 14.93 | 25.86 | 2256.17 | 1.1022 |
+| 5 | move_xy | 795 | 39 | 4.930 | 30.75 | 53.26 | 2763.18 | 0.9265 |
+| 6 | lower | 711 | 34 | 0.102 | 1.76 | 3.04 | 3551.10 | 1.0606 |
+| 7 | open | 269 | 14 | 0.447 | 3.15 | 5.45 | 3624.69 | 0.7377 |
+| 8 | retract | 619 | 31 | 2.242 | 13.67 | 23.67 | 2298.97 | 0.7378 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.200 |
+| TCP position RMSE (mm, per-axis) | 13.57 |
+| EE position RMS L2 (mm) | 25.63 |
+| TCP rotvec (mrad) | 3113.81 |
+| W1 effort mean (A) | 0.8463 |
+| W1 effort per joint (A) | j0=0.2187, j1=1.5075, j2=1.7303, j3=0.7780, j4=0.2551, j5=0.5882 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00080 | -0.00060 | -0.00079 | 0.00127 | 0.027 |
+| 1 | 0.00075 | -0.00088 | -0.00122 | 0.00169 | 0.060 |
+| 2 | 0.00080 | -0.00088 | -0.00119 | 0.00168 | 0.054 |
+| 3 | 0.00161 | -0.00067 | -0.00119 | 0.00211 | 0.126 |
+| 4 | 0.00033 | -0.00020 | -0.00037 | 0.00053 | 0.089 |
+| 5 | 0.00242 | -0.00135 | -0.00224 | 0.00356 | 0.233 |
+| 6 | 0.00172 | -0.00119 | -0.00152 | 0.00258 | 0.124 |
+| 7 | 0.00062 | -0.00060 | -0.00100 | 0.00132 | 0.043 |
+| 8 | -0.00008 | -0.00012 | -0.00014 | 0.00020 | 0.020 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_3fea56ec-aaea-457d-a100-f2a5056784d9.md b/gap_reports/gap_3fea56ec-aaea-457d-a100-f2a5056784d9.md
new file mode 100644
index 0000000000000000000000000000000000000000..0a1cc42b59cd5f99e03931debfa0a94c3cffbe31
--- /dev/null
+++ b/gap_reports/gap_3fea56ec-aaea-457d-a100-f2a5056784d9.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3fea56ec-aaea-457d-a100-f2a5056784d9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3fea56ec-aaea-457d-a100-f2a5056784d9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2631 |
+| Sim rows | 234 |
+| Real episode_id | `3fea56ec-aaea-457d-a100-f2a5056784d9` |
+| Sim episode_id | `3fea56ec-aaea-457d-a100-f2a5056784d9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 247 | 22 | 3.523 | 17.55 | 30.40 | 2049.97 | 0.6297 |
+| 1 | descend | 307 | 27 | 0.869 | 6.24 | 10.81 | 3624.67 | 0.7868 |
+| 2 | settle | 388 | 34 | 0.027 | 1.01 | 1.75 | 3624.57 | 0.7288 |
+| 3 | close | 108 | 10 | 0.458 | 3.58 | 6.20 | 3624.80 | 1.0917 |
+| 4 | lift | 343 | 30 | 3.521 | 18.98 | 32.87 | 2349.01 | 1.1264 |
+| 5 | move_xy | 406 | 36 | 7.832 | 43.21 | 74.85 | 2740.13 | 0.9369 |
+| 6 | lower | 381 | 33 | 0.098 | 1.84 | 3.18 | 3625.00 | 0.9858 |
+| 7 | open | 108 | 10 | 0.520 | 3.68 | 6.37 | 3624.71 | 0.7519 |
+| 8 | retract | 343 | 30 | 3.350 | 18.11 | 31.37 | 2397.03 | 0.7530 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.310 |
+| TCP position RMSE (mm, per-axis) | 18.05 |
+| EE position RMS L2 (mm) | 35.20 |
+| TCP rotvec (mrad) | 3138.80 |
+| W1 effort mean (A) | 0.8428 |
+| W1 effort per joint (A) | j0=0.2062, j1=1.5608, j2=1.6035, j3=0.7886, j4=0.3009, j5=0.5968 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00112 | -0.00037 | -0.00080 | 0.00143 | 0.030 |
+| 1 | 0.00113 | -0.00064 | -0.00120 | 0.00176 | 0.055 |
+| 2 | 0.00114 | -0.00064 | -0.00121 | 0.00178 | 0.057 |
+| 3 | 0.00206 | -0.00045 | -0.00060 | 0.00219 | 0.137 |
+| 4 | 0.00029 | -0.00027 | -0.00043 | 0.00058 | 0.102 |
+| 5 | 0.00215 | -0.00088 | -0.00115 | 0.00260 | 0.121 |
+| 6 | 0.00242 | -0.00095 | -0.00112 | 0.00283 | 0.173 |
+| 7 | 0.00088 | -0.00035 | -0.00103 | 0.00140 | 0.049 |
+| 8 | -0.00016 | -0.00023 | -0.00020 | 0.00034 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_400fda2f-37b7-4acd-8ba9-68cd8c4f42c9.md b/gap_reports/gap_400fda2f-37b7-4acd-8ba9-68cd8c4f42c9.md
new file mode 100644
index 0000000000000000000000000000000000000000..d9e2713cb17580b8e1db51060de30f6804da6697
--- /dev/null
+++ b/gap_reports/gap_400fda2f-37b7-4acd-8ba9-68cd8c4f42c9.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/400fda2f-37b7-4acd-8ba9-68cd8c4f42c9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/400fda2f-37b7-4acd-8ba9-68cd8c4f42c9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1100 |
+| Sim rows | 114 |
+| Real episode_id | `400fda2f-37b7-4acd-8ba9-68cd8c4f42c9` |
+| Sim episode_id | `400fda2f-37b7-4acd-8ba9-68cd8c4f42c9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 188 | 19 | 4.182 | 12.38 | 21.44 | 1534.54 | 0.7337 |
+| 1 | descend | 105 | 11 | 1.079 | 4.71 | 8.16 | 4.01 | 0.5422 |
+| 2 | settle | 37 | 4 | 0.016 | 2.54 | 4.41 | 4.65 | 0.5104 |
+| 3 | close | 30 | 4 | 0.110 | 1.99 | 3.44 | 4.27 | 0.9496 |
+| 4 | lift | 128 | 13 | 1.253 | 5.19 | 8.98 | 3.88 | 1.0278 |
+| 5 | move_xy | 170 | 17 | 7.292 | 22.24 | 38.53 | 129.59 | 0.9523 |
+| 6 | lower | 83 | 9 | 3.433 | 3.85 | 6.66 | 133.93 | 1.0342 |
+| 7 | open | 86 | 9 | 3.346 | 2.53 | 4.38 | 133.76 | 0.6773 |
+| 8 | retract | 83 | 9 | 3.457 | 4.48 | 7.75 | 133.33 | 0.7379 |
+| 9 | return | 190 | 19 | 3.157 | 12.92 | 22.37 | 1019.94 | 0.8106 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.440 |
+| TCP position RMSE (mm, per-axis) | 9.57 |
+| EE position RMS L2 (mm) | 20.51 |
+| TCP rotvec (mrad) | 588.69 |
+| W1 effort mean (A) | 0.7966 |
+| W1 effort per joint (A) | j0=0.2532, j1=1.3037, j2=1.5073, j3=0.7543, j4=0.2882, j5=0.6731 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00151 | -0.00346 | -0.00061 | 0.00383 | 0.037 |
+| 1 | 0.00190 | -0.00393 | -0.00054 | 0.00440 | 0.022 |
+| 2 | 0.00191 | -0.00393 | -0.00063 | 0.00441 | 0.028 |
+| 3 | 0.00129 | -0.00308 | -0.00040 | 0.00336 | 0.187 |
+| 4 | 0.00098 | -0.00263 | -0.00060 | 0.00287 | 0.178 |
+| 5 | 0.00198 | -0.00325 | -0.00065 | 0.00386 | 8.204 |
+| 6 | 0.00260 | -0.00333 | -0.00049 | 0.00426 | 8.198 |
+| 7 | 0.00237 | -0.00367 | -0.00026 | 0.00438 | 8.193 |
+| 8 | 0.00193 | -0.00383 | -0.00039 | 0.00430 | 8.248 |
+| 9 | -0.00002 | -0.00016 | -0.00028 | 0.00032 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_406f861e-2970-432f-aeda-489322587ce4.md b/gap_reports/gap_406f861e-2970-432f-aeda-489322587ce4.md
new file mode 100644
index 0000000000000000000000000000000000000000..2d3a43067f8f07b4d2139b36ac62d6bee14e1d46
--- /dev/null
+++ b/gap_reports/gap_406f861e-2970-432f-aeda-489322587ce4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/406f861e-2970-432f-aeda-489322587ce4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/406f861e-2970-432f-aeda-489322587ce4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 5208 |
+| Sim rows | 258 |
+| Real episode_id | `406f861e-2970-432f-aeda-489322587ce4` |
+| Sim episode_id | `406f861e-2970-432f-aeda-489322587ce4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 420 | 21 | 3.083 | 12.32 | 21.33 | 1970.16 | 0.5615 |
+| 1 | descend | 876 | 43 | 0.318 | 2.06 | 3.56 | 3626.00 | 0.6797 |
+| 2 | settle | 680 | 33 | 0.022 | 0.60 | 1.04 | 3625.96 | 0.7185 |
+| 3 | close | 216 | 11 | 0.533 | 3.24 | 5.62 | 1747.21 | 0.9479 |
+| 4 | lift | 692 | 34 | 3.400 | 14.43 | 24.98 | 1687.22 | 1.0674 |
+| 5 | move_xy | 698 | 34 | 6.579 | 29.89 | 51.76 | 2095.01 | 0.8796 |
+| 6 | lower | 716 | 35 | 0.081 | 1.12 | 1.94 | 1762.73 | 0.9516 |
+| 7 | open | 218 | 11 | 0.568 | 3.38 | 5.86 | 3626.23 | 0.5920 |
+| 8 | retract | 692 | 34 | 3.356 | 14.24 | 24.67 | 2222.42 | 0.6727 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.912 |
+| TCP position RMSE (mm, per-axis) | 12.84 |
+| EE position RMS L2 (mm) | 23.77 |
+| TCP rotvec (mrad) | 2617.49 |
+| W1 effort mean (A) | 0.7657 |
+| W1 effort per joint (A) | j0=0.2338, j1=1.1760, j2=1.5894, j3=0.6599, j4=0.3785, j5=0.5564 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00040 | -0.00038 | -0.00057 | 0.00079 | 0.033 |
+| 1 | 0.00039 | -0.00054 | -0.00080 | 0.00104 | 0.038 |
+| 2 | 0.00045 | -0.00056 | -0.00076 | 0.00105 | 0.037 |
+| 3 | 0.00125 | -0.00038 | -0.00056 | 0.00142 | 0.126 |
+| 4 | 0.00055 | 0.00001 | -0.00006 | 0.00055 | 0.168 |
+| 5 | 0.00149 | -0.00075 | -0.00134 | 0.00214 | 0.186 |
+| 6 | 0.00142 | -0.00080 | -0.00159 | 0.00228 | 0.166 |
+| 7 | 0.00027 | -0.00033 | -0.00066 | 0.00079 | 0.042 |
+| 8 | -0.00006 | -0.00009 | -0.00014 | 0.00017 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_408abb7d-6f58-4d60-aa59-1391c9729793.md b/gap_reports/gap_408abb7d-6f58-4d60-aa59-1391c9729793.md
new file mode 100644
index 0000000000000000000000000000000000000000..50aaafa8cd6f27ca4269eb2abb3053955d5252e8
--- /dev/null
+++ b/gap_reports/gap_408abb7d-6f58-4d60-aa59-1391c9729793.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/408abb7d-6f58-4d60-aa59-1391c9729793.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/408abb7d-6f58-4d60-aa59-1391c9729793.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2749 |
+| Sim rows | 243 |
+| Real episode_id | `408abb7d-6f58-4d60-aa59-1391c9729793` |
+| Sim episode_id | `408abb7d-6f58-4d60-aa59-1391c9729793` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 200 | 18 | 2.592 | 12.37 | 21.43 | 2.89 | 0.5762 |
+| 1 | descend | 329 | 29 | 1.374 | 8.73 | 15.11 | 3.76 | 0.7685 |
+| 2 | settle | 385 | 33 | 0.025 | 0.91 | 1.58 | 3.99 | 0.7212 |
+| 3 | close | 135 | 12 | 1.012 | 6.48 | 11.22 | 5.94 | 0.9797 |
+| 4 | lift | 400 | 35 | 2.476 | 11.84 | 20.51 | 4.14 | 1.1119 |
+| 5 | move_xy | 387 | 34 | 5.756 | 30.88 | 53.49 | 4.81 | 0.9527 |
+| 6 | lower | 377 | 33 | 0.094 | 1.59 | 2.75 | 6.48 | 0.9748 |
+| 7 | open | 136 | 12 | 1.085 | 7.00 | 12.12 | 3.98 | 0.6587 |
+| 8 | retract | 400 | 35 | 2.662 | 12.85 | 22.25 | 2.90 | 0.7224 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.520 |
+| TCP position RMSE (mm, per-axis) | 13.26 |
+| EE position RMS L2 (mm) | 24.73 |
+| TCP rotvec (mrad) | 4.47 |
+| W1 effort mean (A) | 0.8239 |
+| W1 effort per joint (A) | j0=0.2792, j1=1.3575, j2=1.5401, j3=0.6642, j4=0.4670, j5=0.6353 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00071 | -0.00063 | -0.00070 | 0.00118 | 0.040 |
+| 1 | 0.00069 | -0.00099 | -0.00102 | 0.00158 | 0.049 |
+| 2 | 0.00071 | -0.00100 | -0.00099 | 0.00158 | 0.044 |
+| 3 | 0.00099 | -0.00086 | -0.00069 | 0.00149 | 0.105 |
+| 4 | 0.00018 | -0.00027 | -0.00034 | 0.00047 | 0.093 |
+| 5 | 0.00165 | -0.00139 | -0.00171 | 0.00275 | 0.136 |
+| 6 | 0.00153 | -0.00113 | -0.00057 | 0.00198 | 0.100 |
+| 7 | 0.00046 | -0.00076 | -0.00076 | 0.00117 | 0.052 |
+| 8 | -0.00010 | -0.00012 | -0.00015 | 0.00021 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_40db1dac-edfd-40c2-a32a-e22b30924e63.md b/gap_reports/gap_40db1dac-edfd-40c2-a32a-e22b30924e63.md
new file mode 100644
index 0000000000000000000000000000000000000000..91e2ed15668ea00ae2d16bc4644e369a4c415e4c
--- /dev/null
+++ b/gap_reports/gap_40db1dac-edfd-40c2-a32a-e22b30924e63.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/40db1dac-edfd-40c2-a32a-e22b30924e63.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/40db1dac-edfd-40c2-a32a-e22b30924e63.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2551 |
+| Sim rows | 255 |
+| Real episode_id | `40db1dac-edfd-40c2-a32a-e22b30924e63` |
+| Sim episode_id | `40db1dac-edfd-40c2-a32a-e22b30924e63` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.667 | 17.56 | 30.42 | 1915.64 | 0.6300 |
+| 1 | descend | 259 | 26 | 1.155 | 8.18 | 14.16 | 3624.72 | 0.8188 |
+| 2 | settle | 319 | 31 | 0.026 | 1.01 | 1.74 | 3624.58 | 0.6858 |
+| 3 | close | 138 | 14 | 0.829 | 5.67 | 9.82 | 3625.24 | 1.0273 |
+| 4 | lift | 375 | 37 | 3.558 | 18.51 | 32.05 | 2469.36 | 1.1281 |
+| 5 | move_xy | 397 | 39 | 8.637 | 47.13 | 81.63 | 2824.11 | 0.9359 |
+| 6 | lower | 332 | 33 | 0.091 | 1.74 | 3.01 | 3625.13 | 1.0354 |
+| 7 | open | 137 | 14 | 1.002 | 6.82 | 11.82 | 3624.76 | 0.7688 |
+| 8 | retract | 372 | 37 | 3.475 | 18.22 | 31.55 | 2450.45 | 0.7606 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.587 |
+| TCP position RMSE (mm, per-axis) | 19.30 |
+| EE position RMS L2 (mm) | 38.06 |
+| TCP rotvec (mrad) | 3152.54 |
+| W1 effort mean (A) | 0.8550 |
+| W1 effort per joint (A) | j0=0.2249, j1=1.6046, j2=1.5957, j3=0.7726, j4=0.3013, j5=0.6309 |
+
+## Phase-end anchor (sim - 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 | -0.00025 | -0.00069 | 0.00130 | 0.030 |
+| 1 | 0.00110 | -0.00064 | -0.00121 | 0.00176 | 0.059 |
+| 2 | 0.00110 | -0.00067 | -0.00115 | 0.00173 | 0.055 |
+| 3 | 0.00185 | -0.00022 | -0.00085 | 0.00204 | 0.101 |
+| 4 | -0.00008 | -0.00077 | -0.00069 | 0.00104 | 0.130 |
+| 5 | 0.00244 | -0.00086 | -0.00246 | 0.00356 | 0.162 |
+| 6 | 0.00244 | -0.00085 | -0.00275 | 0.00377 | 0.204 |
+| 7 | 0.00093 | -0.00027 | -0.00095 | 0.00135 | 0.047 |
+| 8 | -0.00011 | -0.00014 | -0.00015 | 0.00023 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_40f32682-410b-497b-a2c8-68c92bafcfdd.md b/gap_reports/gap_40f32682-410b-497b-a2c8-68c92bafcfdd.md
new file mode 100644
index 0000000000000000000000000000000000000000..9ac7b3f08226f77fd4f0fc057b409826df688d01
--- /dev/null
+++ b/gap_reports/gap_40f32682-410b-497b-a2c8-68c92bafcfdd.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/40f32682-410b-497b-a2c8-68c92bafcfdd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/40f32682-410b-497b-a2c8-68c92bafcfdd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2476 |
+| Sim rows | 219 |
+| Real episode_id | `40f32682-410b-497b-a2c8-68c92bafcfdd` |
+| Sim episode_id | `40f32682-410b-497b-a2c8-68c92bafcfdd` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.478 | 14.22 | 24.62 | 1951.07 | 0.6035 |
+| 1 | descend | 282 | 25 | 0.937 | 6.44 | 11.15 | 3624.61 | 0.7195 |
+| 2 | settle | 384 | 34 | 0.027 | 0.96 | 1.66 | 3624.53 | 0.7545 |
+| 3 | close | 133 | 12 | 0.505 | 3.64 | 6.31 | 3625.19 | 1.0064 |
+| 4 | lift | 288 | 25 | 2.157 | 13.35 | 23.13 | 2240.49 | 1.1239 |
+| 5 | move_xy | 345 | 30 | 4.740 | 29.63 | 51.33 | 2725.25 | 0.9153 |
+| 6 | lower | 407 | 35 | 0.095 | 1.68 | 2.92 | 3625.10 | 1.0821 |
+| 7 | open | 135 | 12 | 0.474 | 3.35 | 5.80 | 3624.68 | 0.7512 |
+| 8 | retract | 288 | 25 | 2.192 | 13.56 | 23.49 | 2219.66 | 0.7379 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.093 |
+| TCP position RMSE (mm, per-axis) | 12.96 |
+| EE position RMS L2 (mm) | 23.79 |
+| TCP rotvec (mrad) | 3106.93 |
+| W1 effort mean (A) | 0.8445 |
+| W1 effort per joint (A) | j0=0.2410, j1=1.5824, j2=1.6916, j3=0.7108, j4=0.2643, j5=0.5770 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00074 | -0.00059 | -0.00071 | 0.00118 | 0.025 |
+| 1 | 0.00075 | -0.00088 | -0.00123 | 0.00168 | 0.054 |
+| 2 | 0.00077 | -0.00088 | -0.00119 | 0.00167 | 0.052 |
+| 3 | 0.00130 | -0.00087 | -0.00160 | 0.00223 | 0.107 |
+| 4 | 0.00068 | -0.00003 | -0.00031 | 0.00075 | 0.140 |
+| 5 | 0.00210 | -0.00103 | -0.00121 | 0.00264 | 0.164 |
+| 6 | 0.00197 | -0.00128 | -0.00187 | 0.00300 | 0.161 |
+| 7 | 0.00059 | -0.00065 | -0.00103 | 0.00135 | 0.044 |
+| 8 | -0.00016 | -0.00023 | -0.00019 | 0.00034 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_4127b7b8-8cf1-4d80-a216-11b37ffc4c01.md b/gap_reports/gap_4127b7b8-8cf1-4d80-a216-11b37ffc4c01.md
new file mode 100644
index 0000000000000000000000000000000000000000..eaf903c7c654828486cc4d3aba45752f25b3f51e
--- /dev/null
+++ b/gap_reports/gap_4127b7b8-8cf1-4d80-a216-11b37ffc4c01.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4127b7b8-8cf1-4d80-a216-11b37ffc4c01.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4127b7b8-8cf1-4d80-a216-11b37ffc4c01.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2661 |
+| Sim rows | 235 |
+| Real episode_id | `4127b7b8-8cf1-4d80-a216-11b37ffc4c01` |
+| Sim episode_id | `4127b7b8-8cf1-4d80-a216-11b37ffc4c01` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 193 | 17 | 2.652 | 12.00 | 20.79 | 2038.17 | 0.5929 |
+| 1 | descend | 272 | 24 | 0.965 | 6.37 | 11.03 | 3625.41 | 0.6358 |
+| 2 | settle | 385 | 33 | 0.022 | 0.70 | 1.21 | 3625.34 | 0.6906 |
+| 3 | close | 137 | 12 | 0.560 | 3.96 | 6.86 | 3508.17 | 0.9603 |
+| 4 | lift | 399 | 35 | 2.926 | 13.70 | 23.73 | 2257.69 | 1.0658 |
+| 5 | move_xy | 340 | 30 | 7.554 | 38.18 | 66.13 | 2667.79 | 0.8624 |
+| 6 | lower | 400 | 35 | 0.080 | 1.24 | 2.16 | 3330.07 | 1.0404 |
+| 7 | open | 136 | 12 | 0.733 | 4.87 | 8.43 | 3625.43 | 0.6702 |
+| 8 | retract | 399 | 35 | 3.179 | 15.11 | 26.17 | 2295.76 | 0.7207 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.065 |
+| TCP position RMSE (mm, per-axis) | 15.27 |
+| EE position RMS L2 (mm) | 28.22 |
+| TCP rotvec (mrad) | 3063.51 |
+| W1 effort mean (A) | 0.8061 |
+| W1 effort per joint (A) | j0=0.2269, j1=1.3622, j2=1.5762, j3=0.7627, j4=0.2742, j5=0.6348 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00064 | -0.00031 | -0.00068 | 0.00099 | 0.037 |
+| 1 | 0.00059 | -0.00058 | -0.00089 | 0.00122 | 0.044 |
+| 2 | 0.00061 | -0.00058 | -0.00087 | 0.00121 | 0.040 |
+| 3 | 0.00167 | -0.00036 | -0.00095 | 0.00195 | 0.147 |
+| 4 | 0.00019 | -0.00023 | -0.00033 | 0.00044 | 0.109 |
+| 5 | 0.00126 | -0.00078 | -0.00074 | 0.00166 | 0.122 |
+| 6 | 0.00137 | -0.00075 | -0.00098 | 0.00185 | 0.111 |
+| 7 | 0.00050 | -0.00035 | -0.00072 | 0.00094 | 0.038 |
+| 8 | -0.00011 | -0.00015 | -0.00015 | 0.00024 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_417ff020-2d94-413a-8f81-7978d26cb8da.md b/gap_reports/gap_417ff020-2d94-413a-8f81-7978d26cb8da.md
new file mode 100644
index 0000000000000000000000000000000000000000..070b0e06f09b8716afe486e0b91b6618b9097985
--- /dev/null
+++ b/gap_reports/gap_417ff020-2d94-413a-8f81-7978d26cb8da.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/417ff020-2d94-413a-8f81-7978d26cb8da.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/417ff020-2d94-413a-8f81-7978d26cb8da.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2641 |
+| Sim rows | 233 |
+| Real episode_id | `417ff020-2d94-413a-8f81-7978d26cb8da` |
+| Sim episode_id | `417ff020-2d94-413a-8f81-7978d26cb8da` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 203 | 18 | 3.478 | 13.40 | 23.20 | 1987.64 | 0.5857 |
+| 1 | descend | 344 | 30 | 0.705 | 4.28 | 7.40 | 3626.02 | 0.6737 |
+| 2 | settle | 364 | 32 | 0.020 | 0.67 | 1.16 | 3625.95 | 0.6553 |
+| 3 | close | 120 | 11 | 0.772 | 4.64 | 8.03 | 1317.71 | 0.9506 |
+| 4 | lift | 360 | 31 | 3.509 | 14.55 | 25.19 | 1673.59 | 1.1101 |
+| 5 | move_xy | 365 | 32 | 7.595 | 33.27 | 57.63 | 1940.56 | 0.8653 |
+| 6 | lower | 409 | 35 | 0.084 | 1.24 | 2.16 | 1343.80 | 0.8950 |
+| 7 | open | 116 | 11 | 0.849 | 5.05 | 8.75 | 3626.22 | 0.5613 |
+| 8 | retract | 360 | 31 | 3.331 | 13.61 | 23.57 | 2261.08 | 0.7036 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.249 |
+| TCP position RMSE (mm, per-axis) | 13.95 |
+| EE position RMS L2 (mm) | 26.02 |
+| TCP rotvec (mrad) | 2552.06 |
+| W1 effort mean (A) | 0.7732 |
+| W1 effort per joint (A) | j0=0.2305, j1=1.1898, j2=1.4927, j3=0.7069, j4=0.3788, j5=0.6404 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00070 | -0.00023 | -0.00047 | 0.00087 | 0.041 |
+| 1 | 0.00067 | -0.00053 | -0.00081 | 0.00117 | 0.044 |
+| 2 | 0.00068 | -0.00056 | -0.00072 | 0.00114 | 0.033 |
+| 3 | 0.00089 | -0.00041 | -0.00062 | 0.00116 | 0.074 |
+| 4 | 0.00037 | -0.00015 | -0.00034 | 0.00052 | 0.092 |
+| 5 | 0.00186 | -0.00066 | -0.00088 | 0.00216 | 0.182 |
+| 6 | 0.00153 | -0.00073 | -0.00125 | 0.00210 | 0.116 |
+| 7 | 0.00045 | -0.00026 | -0.00055 | 0.00076 | 0.036 |
+| 8 | -0.00008 | -0.00010 | -0.00014 | 0.00019 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_41806c0d-793c-4bf1-8301-7a98f11fbb72.md b/gap_reports/gap_41806c0d-793c-4bf1-8301-7a98f11fbb72.md
new file mode 100644
index 0000000000000000000000000000000000000000..4ed84298668a2e0dae2e7a72195f00292beb174c
--- /dev/null
+++ b/gap_reports/gap_41806c0d-793c-4bf1-8301-7a98f11fbb72.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/41806c0d-793c-4bf1-8301-7a98f11fbb72.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/41806c0d-793c-4bf1-8301-7a98f11fbb72.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1820 |
+| Sim rows | 184 |
+| Real episode_id | `41806c0d-793c-4bf1-8301-7a98f11fbb72` |
+| Sim episode_id | `41806c0d-793c-4bf1-8301-7a98f11fbb72` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 18 | 2.299 | 12.38 | 21.45 | 755.11 | 0.6824 |
+| 1 | descend | 113 | 12 | 0.992 | 5.18 | 8.98 | 4.70 | 0.7261 |
+| 2 | settle | 15 | 2 | 0.025 | 2.53 | 4.38 | 5.39 | 0.7128 |
+| 3 | close | 379 | 37 | 0.113 | 2.16 | 3.74 | 7.54 | 1.2382 |
+| 4 | lift | 112 | 12 | 1.133 | 5.60 | 9.71 | 7.06 | 1.4046 |
+| 5 | move_xy | 195 | 20 | 1.446 | 11.56 | 20.03 | 39.98 | 1.3875 |
+| 6 | lower | 112 | 12 | 0.973 | 5.08 | 8.79 | 8.37 | 1.2910 |
+| 7 | open | 366 | 36 | 0.027 | 3.08 | 5.33 | 6.17 | 0.6594 |
+| 8 | retract | 111 | 12 | 1.003 | 5.46 | 9.46 | 5.56 | 0.8082 |
+| 9 | return | 235 | 23 | 1.947 | 14.00 | 24.24 | 273.15 | 0.6541 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.241 |
+| TCP position RMSE (mm, per-axis) | 7.86 |
+| EE position RMS L2 (mm) | 13.95 |
+| TCP rotvec (mrad) | 254.30 |
+| W1 effort mean (A) | 0.9394 |
+| W1 effort per joint (A) | j0=0.1505, j1=1.8990, j2=1.5493, j3=0.7943, j4=0.6286, j5=0.6146 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00219 | -0.00356 | -0.00018 | 0.00418 | 0.039 |
+| 1 | 0.00265 | -0.00345 | -0.00043 | 0.00437 | 0.046 |
+| 2 | 0.00265 | -0.00345 | -0.00050 | 0.00438 | 0.053 |
+| 3 | 0.00226 | -0.00284 | -0.00094 | 0.00375 | 0.235 |
+| 4 | 0.00187 | -0.00306 | -0.00057 | 0.00363 | 0.224 |
+| 5 | 0.00209 | -0.00373 | -0.00088 | 0.00436 | 0.221 |
+| 6 | 0.00275 | -0.00389 | -0.00152 | 0.00500 | 0.146 |
+| 7 | 0.00261 | -0.00454 | -0.00110 | 0.00535 | 0.056 |
+| 8 | 0.00204 | -0.00452 | -0.00120 | 0.00510 | 0.058 |
+| 9 | -0.00008 | -0.00015 | -0.00035 | 0.00039 | 0.043 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_41edc8ac-a287-4759-866c-94d289ca33ee.md b/gap_reports/gap_41edc8ac-a287-4759-866c-94d289ca33ee.md
new file mode 100644
index 0000000000000000000000000000000000000000..fb6471d1ea06bb558fb4ae2a756136da6fad4f4a
--- /dev/null
+++ b/gap_reports/gap_41edc8ac-a287-4759-866c-94d289ca33ee.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/41edc8ac-a287-4759-866c-94d289ca33ee.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/41edc8ac-a287-4759-866c-94d289ca33ee.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2903 |
+| Sim rows | 260 |
+| Real episode_id | `41edc8ac-a287-4759-866c-94d289ca33ee` |
+| Sim episode_id | `41edc8ac-a287-4759-866c-94d289ca33ee` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 269 | 24 | 3.861 | 14.23 | 24.64 | 2001.94 | 0.5720 |
+| 1 | descend | 518 | 45 | 0.730 | 4.63 | 8.02 | 3626.04 | 0.6582 |
+| 2 | settle | 373 | 33 | 0.020 | 0.66 | 1.15 | 3625.94 | 0.6594 |
+| 3 | close | 113 | 11 | 0.674 | 4.06 | 7.03 | 1613.32 | 0.9307 |
+| 4 | lift | 335 | 30 | 3.938 | 16.35 | 28.32 | 1920.01 | 1.1046 |
+| 5 | move_xy | 445 | 39 | 7.494 | 32.37 | 56.06 | 1906.80 | 0.8294 |
+| 6 | lower | 401 | 35 | 0.083 | 1.24 | 2.15 | 1863.18 | 0.9070 |
+| 7 | open | 113 | 11 | 0.518 | 3.06 | 5.29 | 3626.19 | 0.5816 |
+| 8 | retract | 336 | 30 | 4.084 | 16.89 | 29.26 | 2298.18 | 0.7021 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.408 |
+| TCP position RMSE (mm, per-axis) | 14.34 |
+| EE position RMS L2 (mm) | 27.29 |
+| TCP rotvec (mrad) | 2627.44 |
+| W1 effort mean (A) | 0.7475 |
+| W1 effort per joint (A) | j0=0.2159, j1=1.1594, j2=1.4940, j3=0.7092, j4=0.3150, j5=0.5912 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00064 | -0.00032 | -0.00052 | 0.00088 | 0.026 |
+| 1 | 0.00069 | -0.00054 | -0.00076 | 0.00116 | 0.034 |
+| 2 | 0.00069 | -0.00056 | -0.00075 | 0.00116 | 0.036 |
+| 3 | 0.00118 | -0.00037 | -0.00126 | 0.00176 | 0.117 |
+| 4 | 0.00014 | -0.00028 | -0.00033 | 0.00045 | 0.090 |
+| 5 | 0.00171 | -0.00079 | -0.00140 | 0.00235 | 0.147 |
+| 6 | 0.00170 | -0.00078 | -0.00076 | 0.00202 | 0.154 |
+| 7 | 0.00047 | -0.00032 | -0.00054 | 0.00079 | 0.031 |
+| 8 | -0.00010 | -0.00011 | -0.00016 | 0.00022 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_4232f9d7-071c-4140-892b-1b4532e5ec6a.md b/gap_reports/gap_4232f9d7-071c-4140-892b-1b4532e5ec6a.md
new file mode 100644
index 0000000000000000000000000000000000000000..551caf0bc655a7875cc5f9d427f978489f011b2f
--- /dev/null
+++ b/gap_reports/gap_4232f9d7-071c-4140-892b-1b4532e5ec6a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4232f9d7-071c-4140-892b-1b4532e5ec6a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4232f9d7-071c-4140-892b-1b4532e5ec6a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3030 |
+| Sim rows | 270 |
+| Real episode_id | `4232f9d7-071c-4140-892b-1b4532e5ec6a` |
+| Sim episode_id | `4232f9d7-071c-4140-892b-1b4532e5ec6a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 212 | 19 | 3.075 | 13.70 | 23.74 | 1960.56 | 0.5863 |
+| 1 | descend | 804 | 70 | 0.643 | 4.33 | 7.51 | 3625.43 | 0.7377 |
+| 2 | settle | 363 | 32 | 0.025 | 0.78 | 1.35 | 3625.24 | 0.6777 |
+| 3 | close | 136 | 13 | 0.995 | 6.57 | 11.38 | 3304.70 | 0.9715 |
+| 4 | lift | 297 | 26 | 3.299 | 15.28 | 26.47 | 2184.77 | 1.1281 |
+| 5 | move_xy | 401 | 35 | 7.057 | 35.96 | 62.29 | 2891.11 | 0.8996 |
+| 6 | lower | 382 | 34 | 0.092 | 1.45 | 2.50 | 3551.90 | 0.9937 |
+| 7 | open | 138 | 13 | 1.260 | 7.94 | 13.75 | 3625.53 | 0.6437 |
+| 8 | retract | 297 | 26 | 3.174 | 14.81 | 25.66 | 2389.36 | 0.7375 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.041 |
+| TCP position RMSE (mm, per-axis) | 15.14 |
+| EE position RMS L2 (mm) | 26.77 |
+| TCP rotvec (mrad) | 3084.95 |
+| W1 effort mean (A) | 0.7961 |
+| W1 effort per joint (A) | j0=0.2653, j1=1.2987, j2=1.6548, j3=0.7361, j4=0.2626, j5=0.5592 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00057 | -0.00020 | -0.00070 | 0.00092 | 0.044 |
+| 1 | 0.00061 | -0.00063 | -0.00101 | 0.00134 | 0.050 |
+| 2 | 0.00065 | -0.00064 | -0.00098 | 0.00134 | 0.044 |
+| 3 | 0.00103 | -0.00032 | -0.00131 | 0.00169 | 0.110 |
+| 4 | 0.00022 | -0.00037 | -0.00057 | 0.00071 | 0.116 |
+| 5 | 0.00151 | -0.00077 | -0.00182 | 0.00249 | 0.124 |
+| 6 | 0.00147 | -0.00093 | -0.00190 | 0.00258 | 0.136 |
+| 7 | 0.00036 | -0.00033 | -0.00074 | 0.00089 | 0.049 |
+| 8 | -0.00011 | -0.00018 | -0.00020 | 0.00029 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_423c2ae5-572f-415b-a45f-1399c9e9ab4e.md b/gap_reports/gap_423c2ae5-572f-415b-a45f-1399c9e9ab4e.md
new file mode 100644
index 0000000000000000000000000000000000000000..951930d1ed956040d7bc78cace59213fe4e7e655
--- /dev/null
+++ b/gap_reports/gap_423c2ae5-572f-415b-a45f-1399c9e9ab4e.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/423c2ae5-572f-415b-a45f-1399c9e9ab4e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/423c2ae5-572f-415b-a45f-1399c9e9ab4e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1511 |
+| Sim rows | 154 |
+| Real episode_id | `423c2ae5-572f-415b-a45f-1399c9e9ab4e` |
+| Sim episode_id | `423c2ae5-572f-415b-a45f-1399c9e9ab4e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 5.925 | 31.80 | 55.09 | 1422.69 | 0.8040 |
+| 1 | descend | 70 | 8 | 0.946 | 4.13 | 7.15 | 8.05 | 0.9243 |
+| 2 | settle | 26 | 3 | 0.040 | 3.66 | 6.33 | 8.24 | 0.7768 |
+| 3 | close | 391 | 38 | 0.119 | 2.45 | 4.25 | 9.64 | 1.2401 |
+| 4 | lift | 99 | 10 | 1.459 | 4.26 | 7.37 | 9.83 | 1.3317 |
+| 5 | move_xy | 206 | 21 | 9.058 | 31.13 | 53.92 | 216.39 | 1.1794 |
+| 6 | lower | 81 | 9 | 14.636 | 3.91 | 6.77 | 568.08 | 1.0767 |
+| 7 | open | 70 | 8 | 14.608 | 2.52 | 4.36 | 566.96 | 0.8271 |
+| 8 | retract | 81 | 9 | 14.626 | 3.56 | 6.16 | 566.61 | 0.8315 |
+| 9 | return | 318 | 31 | 8.341 | 16.59 | 28.74 | 657.85 | 0.8436 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 9.118 |
+| TCP position RMSE (mm, per-axis) | 15.31 |
+| EE position RMS L2 (mm) | 30.43 |
+| TCP rotvec (mrad) | 589.00 |
+| W1 effort mean (A) | 1.0130 |
+| W1 effort per joint (A) | j0=0.2692, j1=1.9366, j2=1.7427, j3=0.7203, j4=0.5245, j5=0.8847 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00292 | -0.00553 | -0.00150 | 0.00644 | 0.113 |
+| 1 | 0.00307 | -0.00524 | -0.00181 | 0.00633 | 0.092 |
+| 2 | 0.00308 | -0.00525 | -0.00183 | 0.00635 | 0.081 |
+| 3 | 0.00172 | -0.00355 | -0.00141 | 0.00419 | 0.222 |
+| 4 | 0.00173 | -0.00401 | -0.00134 | 0.00457 | 0.199 |
+| 5 | 0.00257 | -0.00316 | -0.00023 | 0.00407 | 35.789 |
+| 6 | 0.00300 | -0.00273 | -0.00063 | 0.00410 | 35.783 |
+| 7 | 0.00235 | -0.00366 | -0.00029 | 0.00436 | 35.782 |
+| 8 | 0.00200 | -0.00390 | -0.00039 | 0.00440 | 35.832 |
+| 9 | -0.00007 | -0.00014 | -0.00022 | 0.00027 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_42512333-5274-412a-8882-f4704d4a5245.md b/gap_reports/gap_42512333-5274-412a-8882-f4704d4a5245.md
new file mode 100644
index 0000000000000000000000000000000000000000..71f9034981f3a13d3b0c39ac181876aa120995eb
--- /dev/null
+++ b/gap_reports/gap_42512333-5274-412a-8882-f4704d4a5245.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/42512333-5274-412a-8882-f4704d4a5245.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/42512333-5274-412a-8882-f4704d4a5245.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2720 |
+| Sim rows | 241 |
+| Real episode_id | `42512333-5274-412a-8882-f4704d4a5245` |
+| Sim episode_id | `42512333-5274-412a-8882-f4704d4a5245` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 216 | 19 | 2.759 | 13.95 | 24.17 | 1926.37 | 0.6508 |
+| 1 | descend | 272 | 24 | 1.190 | 8.19 | 14.19 | 3624.78 | 1.1072 |
+| 2 | settle | 364 | 32 | 0.028 | 0.97 | 1.68 | 3624.55 | 1.0683 |
+| 3 | close | 189 | 17 | 0.989 | 6.81 | 11.80 | 3625.13 | 1.2723 |
+| 4 | lift | 357 | 31 | 2.873 | 15.51 | 26.86 | 2449.82 | 1.3136 |
+| 5 | move_xy | 381 | 33 | 6.230 | 35.47 | 61.44 | 2754.55 | 1.0931 |
+| 6 | lower | 398 | 35 | 0.091 | 1.69 | 2.93 | 3625.05 | 1.4944 |
+| 7 | open | 188 | 17 | 0.908 | 6.29 | 10.90 | 3624.80 | 0.9374 |
+| 8 | retract | 355 | 31 | 2.599 | 14.00 | 24.24 | 2410.67 | 0.9183 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.680 |
+| TCP position RMSE (mm, per-axis) | 15.08 |
+| EE position RMS L2 (mm) | 28.04 |
+| TCP rotvec (mrad) | 3141.29 |
+| W1 effort mean (A) | 1.1075 |
+| W1 effort per joint (A) | j0=0.6755, j1=1.5487, j2=1.9297, j3=1.1508, j4=0.7278, j5=0.6124 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00087 | -0.00030 | -0.00070 | 0.00116 | 0.023 |
+| 1 | 0.00093 | -0.00075 | -0.00123 | 0.00172 | 0.062 |
+| 2 | 0.00092 | -0.00075 | -0.00117 | 0.00167 | 0.052 |
+| 3 | 0.00140 | -0.00043 | -0.00080 | 0.00167 | 0.099 |
+| 4 | 0.00026 | -0.00016 | -0.00023 | 0.00038 | 0.097 |
+| 5 | 0.00192 | -0.00106 | -0.00123 | 0.00251 | 0.127 |
+| 6 | 0.00242 | -0.00110 | -0.00207 | 0.00337 | 0.200 |
+| 7 | 0.00077 | -0.00037 | -0.00101 | 0.00132 | 0.065 |
+| 8 | -0.00010 | -0.00016 | -0.00016 | 0.00025 | 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.