diff --git a/gap_reports/gap_0b115b25-5999-4437-9285-989b6dba6168.md b/gap_reports/gap_0b115b25-5999-4437-9285-989b6dba6168.md
new file mode 100644
index 0000000000000000000000000000000000000000..3e0fef11ec2ab1b72ba54c3236983efc7f387a6f
--- /dev/null
+++ b/gap_reports/gap_0b115b25-5999-4437-9285-989b6dba6168.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0b115b25-5999-4437-9285-989b6dba6168.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0b115b25-5999-4437-9285-989b6dba6168.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2475 |
+| Sim rows | 221 |
+| Real episode_id | `0b115b25-5999-4437-9285-989b6dba6168` |
+| Sim episode_id | `0b115b25-5999-4437-9285-989b6dba6168` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 20 | 2.388 | 9.80 | 16.97 | 1974.24 | 0.5544 |
+| 1 | descend | 234 | 21 | 1.123 | 6.67 | 11.56 | 3625.98 | 0.7146 |
+| 2 | settle | 371 | 32 | 0.022 | 0.57 | 0.98 | 3625.93 | 0.7023 |
+| 3 | close | 136 | 13 | 0.894 | 5.44 | 9.42 | 1346.10 | 0.9166 |
+| 4 | lift | 295 | 26 | 1.952 | 8.19 | 14.18 | 1898.85 | 1.1062 |
+| 5 | move_xy | 400 | 35 | 4.288 | 20.13 | 34.87 | 1929.75 | 0.9079 |
+| 6 | lower | 381 | 33 | 0.077 | 0.98 | 1.70 | 1693.18 | 0.9936 |
+| 7 | open | 137 | 13 | 0.832 | 4.89 | 8.46 | 3626.17 | 0.5894 |
+| 8 | retract | 295 | 26 | 2.035 | 8.55 | 14.81 | 2089.90 | 0.6890 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.966 |
+| TCP position RMSE (mm, per-axis) | 9.07 |
+| EE position RMS L2 (mm) | 17.17 |
+| TCP rotvec (mrad) | 2575.91 |
+| W1 effort mean (A) | 0.7921 |
+| W1 effort per joint (A) | j0=0.2124, j1=1.1530, j2=1.5768, j3=0.7836, j4=0.4116, 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 | 0.00015 | -0.00038 | -0.00054 | 0.00068 | 0.037 |
+| 1 | 0.00012 | -0.00055 | -0.00080 | 0.00098 | 0.037 |
+| 2 | 0.00018 | -0.00057 | -0.00078 | 0.00098 | 0.035 |
+| 3 | 0.00050 | -0.00053 | -0.00102 | 0.00125 | 0.082 |
+| 4 | 0.00005 | -0.00039 | -0.00037 | 0.00053 | 0.107 |
+| 5 | 0.00066 | -0.00079 | -0.00098 | 0.00142 | 0.104 |
+| 6 | 0.00092 | -0.00068 | -0.00078 | 0.00139 | 0.111 |
+| 7 | 0.00001 | -0.00035 | -0.00063 | 0.00073 | 0.050 |
+| 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_0b36d671-01bb-4586-80e6-6f99e254d3ce.md b/gap_reports/gap_0b36d671-01bb-4586-80e6-6f99e254d3ce.md
new file mode 100644
index 0000000000000000000000000000000000000000..57562479ea31fa57d4077559e1021e4fd436858c
--- /dev/null
+++ b/gap_reports/gap_0b36d671-01bb-4586-80e6-6f99e254d3ce.md
@@ -0,0 +1,69 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0b36d671-01bb-4586-80e6-6f99e254d3ce.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0b36d671-01bb-4586-80e6-6f99e254d3ce.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2053 |
+| Sim rows | 206 |
+| Real episode_id | `0b36d671-01bb-4586-80e6-6f99e254d3ce` |
+| Sim episode_id | `0b36d671-01bb-4586-80e6-6f99e254d3ce` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 204 | 20 | 3.530 | 16.70 | 28.93 | 1949.46 | 0.6425 |
+| 1 | descend | 408 | 40 | 1.040 | 7.45 | 12.90 | 3624.73 | 0.7906 |
+| 2 | settle | 336 | 33 | 0.027 | 1.01 | 1.75 | 3624.59 | 0.6548 |
+| 3 | close | 121 | 12 | 0.906 | 6.49 | 11.24 | 3625.23 | 1.0069 |
+| 4 | lift | 303 | 30 | 3.408 | 17.89 | 30.98 | 2455.41 | 1.1336 |
+| 5 | move_xy | 346 | 33 | 8.197 | 44.85 | 77.68 | 2769.70 | 0.9127 |
+| 6 | lower | 335 | 32 | 0.094 | 1.78 | 3.08 | 3624.96 | 1.0610 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.648 |
+| TCP position RMSE (mm, per-axis) | 19.68 |
+| EE position RMS L2 (mm) | 35.84 |
+| TCP rotvec (mrad) | 3163.62 |
+| W1 effort mean (A) | 0.8604 |
+| W1 effort per joint (A) | j0=0.2531, j1=1.4935, j2=1.5433, j3=0.8597, j4=0.3170, j5=0.6957 |
+
+## Phase-end anchor (sim - 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 | -0.00072 | 0.00131 | 0.030 |
+| 1 | 0.00114 | -0.00065 | -0.00117 | 0.00176 | 0.054 |
+| 2 | 0.00110 | -0.00064 | -0.00118 | 0.00173 | 0.056 |
+| 3 | 0.00211 | -0.00021 | -0.00134 | 0.00251 | 0.145 |
+| 4 | 0.00014 | -0.00026 | -0.00030 | 0.00042 | 0.096 |
+| 5 | 0.00234 | -0.00079 | -0.00160 | 0.00295 | 0.136 |
+| 6 | 0.00204 | -0.00098 | -0.00069 | 0.00237 | 0.119 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0b460318-bd50-4f67-9d05-d5656f108f03.md b/gap_reports/gap_0b460318-bd50-4f67-9d05-d5656f108f03.md
new file mode 100644
index 0000000000000000000000000000000000000000..3d474ce09eb830793cc3c9d87f7491b4c0a3000b
--- /dev/null
+++ b/gap_reports/gap_0b460318-bd50-4f67-9d05-d5656f108f03.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0b460318-bd50-4f67-9d05-d5656f108f03.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0b460318-bd50-4f67-9d05-d5656f108f03.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3236 |
+| Sim rows | 284 |
+| Real episode_id | `0b460318-bd50-4f67-9d05-d5656f108f03` |
+| Sim episode_id | `0b460318-bd50-4f67-9d05-d5656f108f03` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 279 | 25 | 3.677 | 19.20 | 33.25 | 1953.10 | 0.6305 |
+| 1 | descend | 577 | 50 | 0.662 | 4.72 | 8.18 | 3624.74 | 0.8310 |
+| 2 | settle | 383 | 33 | 0.028 | 0.98 | 1.69 | 3624.57 | 0.7227 |
+| 3 | close | 193 | 17 | 0.931 | 6.50 | 11.26 | 3625.41 | 0.9987 |
+| 4 | lift | 345 | 30 | 2.713 | 14.66 | 25.40 | 2406.40 | 1.1213 |
+| 5 | move_xy | 521 | 45 | 7.481 | 43.08 | 74.62 | 2818.61 | 0.9386 |
+| 6 | lower | 401 | 35 | 0.090 | 1.66 | 2.88 | 3625.18 | 1.0453 |
+| 7 | open | 193 | 17 | 0.987 | 6.79 | 11.75 | 3624.80 | 0.7573 |
+| 8 | retract | 344 | 30 | 2.560 | 13.89 | 24.06 | 2409.63 | 0.7534 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.085 |
+| TCP position RMSE (mm, per-axis) | 17.47 |
+| EE position RMS L2 (mm) | 33.93 |
+| TCP rotvec (mrad) | 3145.67 |
+| W1 effort mean (A) | 0.8470 |
+| W1 effort per joint (A) | j0=0.2650, j1=1.4642, j2=1.6921, j3=0.8033, j4=0.3040, j5=0.5535 |
+
+## Phase-end anchor (sim - 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 | -0.00028 | -0.00081 | 0.00126 | 0.033 |
+| 1 | 0.00093 | -0.00073 | -0.00125 | 0.00172 | 0.059 |
+| 2 | 0.00093 | -0.00073 | -0.00120 | 0.00168 | 0.053 |
+| 3 | 0.00138 | -0.00058 | -0.00192 | 0.00244 | 0.194 |
+| 4 | 0.00018 | -0.00041 | -0.00043 | 0.00062 | 0.098 |
+| 5 | 0.00239 | -0.00110 | -0.00124 | 0.00291 | 0.191 |
+| 6 | 0.00170 | -0.00110 | -0.00099 | 0.00225 | 0.110 |
+| 7 | 0.00076 | -0.00035 | -0.00101 | 0.00131 | 0.062 |
+| 8 | -0.00012 | -0.00021 | -0.00022 | 0.00032 | 0.037 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0b469d6f-741a-40ce-9e29-bc07ceb8f489.md b/gap_reports/gap_0b469d6f-741a-40ce-9e29-bc07ceb8f489.md
new file mode 100644
index 0000000000000000000000000000000000000000..4d5897e1060756b053f9430dbde98be54280848d
--- /dev/null
+++ b/gap_reports/gap_0b469d6f-741a-40ce-9e29-bc07ceb8f489.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0b469d6f-741a-40ce-9e29-bc07ceb8f489.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0b469d6f-741a-40ce-9e29-bc07ceb8f489.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2246 |
+| Sim rows | 225 |
+| Real episode_id | `0b469d6f-741a-40ce-9e29-bc07ceb8f489` |
+| Sim episode_id | `0b469d6f-741a-40ce-9e29-bc07ceb8f489` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 19 | 2.318 | 13.09 | 22.67 | 1947.89 | 0.6157 |
+| 1 | descend | 298 | 29 | 0.864 | 6.02 | 10.42 | 3624.65 | 0.8084 |
+| 2 | settle | 339 | 33 | 0.027 | 0.97 | 1.67 | 3624.52 | 0.7279 |
+| 3 | close | 104 | 11 | 0.599 | 4.25 | 7.37 | 3494.56 | 1.0220 |
+| 4 | lift | 264 | 26 | 2.397 | 14.34 | 24.84 | 2329.65 | 1.1349 |
+| 5 | move_xy | 333 | 33 | 5.027 | 31.18 | 54.01 | 2816.18 | 0.9331 |
+| 6 | lower | 355 | 35 | 0.096 | 1.72 | 2.97 | 3624.87 | 1.1409 |
+| 7 | open | 106 | 11 | 0.535 | 3.71 | 6.43 | 3624.68 | 0.7662 |
+| 8 | retract | 260 | 26 | 2.352 | 14.10 | 24.42 | 2336.18 | 0.7456 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.194 |
+| TCP position RMSE (mm, per-axis) | 13.42 |
+| EE position RMS L2 (mm) | 25.25 |
+| TCP rotvec (mrad) | 3115.83 |
+| W1 effort mean (A) | 0.8655 |
+| W1 effort per joint (A) | j0=0.2344, j1=1.5800, j2=1.7479, j3=0.7584, j4=0.2985, j5=0.5740 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00078 | -0.00054 | -0.00068 | 0.00117 | 0.021 |
+| 1 | 0.00076 | -0.00088 | -0.00120 | 0.00168 | 0.057 |
+| 2 | 0.00077 | -0.00088 | -0.00119 | 0.00167 | 0.057 |
+| 3 | 0.00226 | -0.00069 | -0.00101 | 0.00257 | 0.210 |
+| 4 | 0.00023 | -0.00027 | -0.00039 | 0.00053 | 0.076 |
+| 5 | 0.00194 | -0.00106 | -0.00154 | 0.00269 | 0.158 |
+| 6 | 0.00206 | -0.00125 | -0.00196 | 0.00311 | 0.167 |
+| 7 | 0.00059 | -0.00059 | -0.00102 | 0.00132 | 0.045 |
+| 8 | -0.00014 | -0.00021 | -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_0b52af0b-1a91-4f8d-914c-12f8fffbb8ed.md b/gap_reports/gap_0b52af0b-1a91-4f8d-914c-12f8fffbb8ed.md
new file mode 100644
index 0000000000000000000000000000000000000000..85c38737a5e705c0c82c9de6273bef8b4797e1ed
--- /dev/null
+++ b/gap_reports/gap_0b52af0b-1a91-4f8d-914c-12f8fffbb8ed.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0b52af0b-1a91-4f8d-914c-12f8fffbb8ed.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0b52af0b-1a91-4f8d-914c-12f8fffbb8ed.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2538 |
+| Sim rows | 227 |
+| Real episode_id | `0b52af0b-1a91-4f8d-914c-12f8fffbb8ed` |
+| Sim episode_id | `0b52af0b-1a91-4f8d-914c-12f8fffbb8ed` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 20 | 2.660 | 14.02 | 24.28 | 1824.91 | 0.6248 |
+| 1 | descend | 309 | 27 | 0.810 | 5.85 | 10.13 | 3624.68 | 0.7725 |
+| 2 | settle | 356 | 31 | 0.026 | 0.96 | 1.67 | 3624.58 | 0.7071 |
+| 3 | close | 110 | 10 | 0.505 | 3.80 | 6.59 | 3625.11 | 1.0092 |
+| 4 | lift | 338 | 30 | 2.919 | 16.42 | 28.44 | 2341.52 | 1.1214 |
+| 5 | move_xy | 360 | 32 | 6.155 | 35.66 | 61.76 | 2681.41 | 0.9039 |
+| 6 | lower | 401 | 35 | 0.091 | 1.68 | 2.91 | 3625.05 | 1.0656 |
+| 7 | open | 108 | 10 | 0.531 | 3.72 | 6.44 | 3624.64 | 0.7598 |
+| 8 | retract | 339 | 30 | 2.998 | 16.87 | 29.21 | 2370.61 | 0.7506 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.660 |
+| TCP position RMSE (mm, per-axis) | 15.23 |
+| EE position RMS L2 (mm) | 28.83 |
+| TCP rotvec (mrad) | 3114.82 |
+| W1 effort mean (A) | 0.8450 |
+| W1 effort per joint (A) | j0=0.2148, j1=1.5184, j2=1.7051, j3=0.7740, j4=0.2502, j5=0.6077 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00092 | -0.00043 | -0.00075 | 0.00126 | 0.028 |
+| 1 | 0.00095 | -0.00075 | -0.00119 | 0.00170 | 0.053 |
+| 2 | 0.00093 | -0.00076 | -0.00120 | 0.00170 | 0.057 |
+| 3 | 0.00172 | -0.00062 | -0.00106 | 0.00211 | 0.118 |
+| 4 | 0.00026 | -0.00013 | -0.00024 | 0.00038 | 0.094 |
+| 5 | 0.00223 | -0.00088 | -0.00099 | 0.00260 | 0.176 |
+| 6 | 0.00260 | -0.00114 | -0.00217 | 0.00358 | 0.218 |
+| 7 | 0.00068 | -0.00050 | -0.00099 | 0.00131 | 0.049 |
+| 8 | -0.00013 | -0.00020 | -0.00020 | 0.00031 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0b5a4a5b-71eb-4093-8fb7-0c76e5baaf5d.md b/gap_reports/gap_0b5a4a5b-71eb-4093-8fb7-0c76e5baaf5d.md
new file mode 100644
index 0000000000000000000000000000000000000000..c14dda0f4284661d0c2208024f9c1eec6a2ccf51
--- /dev/null
+++ b/gap_reports/gap_0b5a4a5b-71eb-4093-8fb7-0c76e5baaf5d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0b5a4a5b-71eb-4093-8fb7-0c76e5baaf5d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0b5a4a5b-71eb-4093-8fb7-0c76e5baaf5d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3395 |
+| Sim rows | 3777 |
+| Real episode_id | `0b5a4a5b-71eb-4093-8fb7-0c76e5baaf5d` |
+| Sim episode_id | `0b5a4a5b-71eb-4093-8fb7-0c76e5baaf5d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 21 | 3.231 | 16.37 | 28.35 | 2008.39 | 0.6249 |
+| 1 | descend | 374 | 37 | 1.131 | 7.88 | 13.65 | 3624.77 | 0.7928 |
+| 2 | settle | 350 | 1202 | 3.349 | 15.49 | 26.83 | 3624.60 | 0.6682 |
+| 3 | close | 238 | 1182 | 3.816 | 25.47 | 44.12 | 3615.97 | 1.0211 |
+| 4 | lift | 989 | 1211 | 10.958 | 63.51 | 110.00 | 2844.36 | 1.1252 |
+| 5 | move_xy | 342 | 34 | 7.765 | 42.61 | 73.81 | 2716.15 | 0.8939 |
+| 6 | lower | 339 | 34 | 0.091 | 1.75 | 3.03 | 3625.07 | 1.0932 |
+| 7 | open | 126 | 13 | 0.827 | 5.63 | 9.75 | 3624.72 | 0.7466 |
+| 8 | retract | 422 | 41 | 3.309 | 17.69 | 30.64 | 2393.52 | 0.7497 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.050 |
+| TCP position RMSE (mm, per-axis) | 28.70 |
+| EE position RMS L2 (mm) | 61.29 |
+| TCP rotvec (mrad) | 3177.39 |
+| W1 effort mean (A) | 0.8874 |
+| W1 effort per joint (A) | j0=0.1956, j1=1.7388, j2=1.6038, j3=0.7646, j4=0.3782, j5=0.6432 |
+
+## Phase-end anchor (sim - 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 | -0.00026 | -0.00081 | 0.00125 | 0.035 |
+| 1 | 0.00090 | -0.00071 | -0.00119 | 0.00165 | 0.049 |
+| 2 | 0.00109 | -0.00063 | -0.00116 | 0.00171 | 0.052 |
+| 3 | 0.00187 | -0.00038 | -0.00137 | 0.00235 | 0.113 |
+| 4 | 0.00031 | 0.00001 | -0.00023 | 0.00039 | 0.077 |
+| 5 | 0.00227 | -0.00091 | -0.00163 | 0.00294 | 0.139 |
+| 6 | 0.00194 | -0.00092 | -0.00227 | 0.00313 | 0.178 |
+| 7 | 0.00093 | -0.00032 | -0.00098 | 0.00138 | 0.045 |
+| 8 | -0.00008 | -0.00011 | -0.00015 | 0.00020 | 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_0b606491-2332-4429-9431-829a85d6fcc0.md b/gap_reports/gap_0b606491-2332-4429-9431-829a85d6fcc0.md
new file mode 100644
index 0000000000000000000000000000000000000000..4c78f7f03937aa0a89a87509ee2d7a6bdd9bef6a
--- /dev/null
+++ b/gap_reports/gap_0b606491-2332-4429-9431-829a85d6fcc0.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0b606491-2332-4429-9431-829a85d6fcc0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0b606491-2332-4429-9431-829a85d6fcc0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1830 |
+| Sim rows | 183 |
+| Real episode_id | `0b606491-2332-4429-9431-829a85d6fcc0` |
+| Sim episode_id | `0b606491-2332-4429-9431-829a85d6fcc0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 160 | 16 | 2.692 | 12.96 | 22.44 | 1296.25 | 0.7822 |
+| 1 | descend | 87 | 9 | 0.847 | 4.83 | 8.36 | 5.38 | 0.6935 |
+| 2 | settle | 40 | 5 | 0.025 | 2.88 | 4.99 | 5.85 | 0.7346 |
+| 3 | close | 367 | 36 | 0.125 | 1.90 | 3.30 | 7.39 | 1.2206 |
+| 4 | lift | 86 | 9 | 0.745 | 3.70 | 6.41 | 7.29 | 1.3037 |
+| 5 | move_xy | 199 | 20 | 14.612 | 24.08 | 41.71 | 466.02 | 1.1387 |
+| 6 | lower | 87 | 9 | 28.687 | 3.95 | 6.85 | 1097.33 | 1.1776 |
+| 7 | open | 380 | 37 | 28.670 | 2.43 | 4.21 | 1096.60 | 0.8512 |
+| 8 | retract | 86 | 9 | 28.685 | 4.22 | 7.30 | 1096.01 | 0.8678 |
+| 9 | return | 338 | 33 | 16.487 | 15.71 | 27.21 | 1367.70 | 0.8471 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 17.209 |
+| TCP position RMSE (mm, per-axis) | 10.41 |
+| EE position RMS L2 (mm) | 19.66 |
+| TCP rotvec (mrad) | 858.84 |
+| W1 effort mean (A) | 0.9610 |
+| W1 effort per joint (A) | j0=0.2091, j1=1.5747, j2=1.6129, j3=0.7550, j4=0.4278, j5=1.1868 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00191 | -0.00404 | -0.00092 | 0.00456 | 0.038 |
+| 1 | 0.00226 | -0.00430 | -0.00090 | 0.00494 | 0.037 |
+| 2 | 0.00229 | -0.00432 | -0.00119 | 0.00503 | 0.054 |
+| 3 | 0.00128 | -0.00281 | -0.00085 | 0.00320 | 0.308 |
+| 4 | 0.00088 | -0.00282 | -0.00090 | 0.00309 | 0.180 |
+| 5 | 0.00157 | -0.00326 | -0.00016 | 0.00362 | 70.242 |
+| 6 | 0.00225 | -0.00257 | -0.00085 | 0.00353 | 70.218 |
+| 7 | 0.00183 | -0.00378 | 0.00004 | 0.00419 | 70.224 |
+| 8 | 0.00137 | -0.00396 | -0.00013 | 0.00419 | 70.248 |
+| 9 | -0.00001 | -0.00006 | -0.00023 | 0.00024 | 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_0b63dbe3-0717-48e4-87d3-146c1b8cdd8a.md b/gap_reports/gap_0b63dbe3-0717-48e4-87d3-146c1b8cdd8a.md
new file mode 100644
index 0000000000000000000000000000000000000000..8780699fce17d760416032bf1c7d881a79aef2c8
--- /dev/null
+++ b/gap_reports/gap_0b63dbe3-0717-48e4-87d3-146c1b8cdd8a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0b63dbe3-0717-48e4-87d3-146c1b8cdd8a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0b63dbe3-0717-48e4-87d3-146c1b8cdd8a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2370 |
+| Sim rows | 239 |
+| Real episode_id | `0b63dbe3-0717-48e4-87d3-146c1b8cdd8a` |
+| Sim episode_id | `0b63dbe3-0717-48e4-87d3-146c1b8cdd8a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.581 | 14.32 | 24.80 | 1988.31 | 0.6091 |
+| 1 | descend | 293 | 29 | 1.136 | 7.82 | 13.55 | 3624.65 | 0.7471 |
+| 2 | settle | 342 | 34 | 0.027 | 0.97 | 1.68 | 3624.52 | 0.7387 |
+| 3 | close | 94 | 10 | 0.599 | 4.47 | 7.74 | 3348.72 | 1.0048 |
+| 4 | lift | 290 | 29 | 2.300 | 13.70 | 23.73 | 2312.36 | 1.1368 |
+| 5 | move_xy | 403 | 40 | 5.210 | 32.18 | 55.73 | 2814.72 | 0.9286 |
+| 6 | lower | 335 | 33 | 0.101 | 1.77 | 3.07 | 3624.93 | 1.1092 |
+| 7 | open | 95 | 10 | 0.487 | 3.40 | 5.88 | 3624.68 | 0.7552 |
+| 8 | retract | 292 | 29 | 2.289 | 13.75 | 23.81 | 2274.76 | 0.7404 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.267 |
+| TCP position RMSE (mm, per-axis) | 13.80 |
+| EE position RMS L2 (mm) | 27.45 |
+| TCP rotvec (mrad) | 3094.17 |
+| W1 effort mean (A) | 0.8458 |
+| W1 effort per joint (A) | j0=0.2180, j1=1.5389, j2=1.7191, j3=0.7486, j4=0.2754, j5=0.5749 |
+
+## Phase-end anchor (sim - 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 | -0.00057 | -0.00080 | 0.00126 | 0.028 |
+| 1 | 0.00075 | -0.00087 | -0.00122 | 0.00167 | 0.056 |
+| 2 | 0.00078 | -0.00088 | -0.00121 | 0.00168 | 0.057 |
+| 3 | 0.00118 | -0.00080 | -0.00102 | 0.00175 | 0.097 |
+| 4 | 0.00008 | -0.00035 | -0.00032 | 0.00048 | 0.106 |
+| 5 | 0.00215 | -0.00147 | -0.00291 | 0.00391 | 0.202 |
+| 6 | 0.00162 | -0.00122 | -0.00144 | 0.00249 | 0.110 |
+| 7 | 0.00052 | -0.00064 | -0.00099 | 0.00129 | 0.050 |
+| 8 | -0.00011 | -0.00018 | -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_0b9128a4-872d-4408-8aa4-69dde2a8085e.md b/gap_reports/gap_0b9128a4-872d-4408-8aa4-69dde2a8085e.md
new file mode 100644
index 0000000000000000000000000000000000000000..d3d784e0493a9075b705c71e493a6aef47331cd9
--- /dev/null
+++ b/gap_reports/gap_0b9128a4-872d-4408-8aa4-69dde2a8085e.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0b9128a4-872d-4408-8aa4-69dde2a8085e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0b9128a4-872d-4408-8aa4-69dde2a8085e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1565 |
+| Sim rows | 159 |
+| Real episode_id | `0b9128a4-872d-4408-8aa4-69dde2a8085e` |
+| Sim episode_id | `0b9128a4-872d-4408-8aa4-69dde2a8085e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 176 | 18 | 16.269 | 16.51 | 28.60 | 1214.60 | 0.7176 |
+| 1 | descend | 86 | 9 | 28.357 | 3.93 | 6.81 | 1083.41 | 0.9003 |
+| 2 | settle | 40 | 5 | 28.331 | 2.41 | 4.17 | 1083.44 | 0.9721 |
+| 3 | close | 310 | 31 | 28.330 | 2.52 | 4.37 | 1083.02 | 1.2674 |
+| 4 | lift | 88 | 9 | 28.359 | 5.00 | 8.65 | 1082.76 | 1.5067 |
+| 5 | move_xy | 231 | 23 | 14.999 | 25.04 | 43.36 | 1497.84 | 1.3306 |
+| 6 | lower | 86 | 9 | 0.834 | 4.47 | 7.74 | 3623.50 | 1.2336 |
+| 7 | open | 94 | 10 | 0.060 | 3.04 | 5.26 | 7.10 | 0.8353 |
+| 8 | retract | 87 | 9 | 0.767 | 4.16 | 7.21 | 6.76 | 0.8248 |
+| 9 | return | 367 | 36 | 5.017 | 18.50 | 32.04 | 1284.71 | 0.6681 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 19.312 |
+| TCP position RMSE (mm, per-axis) | 11.58 |
+| EE position RMS L2 (mm) | 25.08 |
+| TCP rotvec (mrad) | 1522.89 |
+| W1 effort mean (A) | 0.9688 |
+| W1 effort per joint (A) | j0=0.1554, j1=1.9653, j2=1.5795, j3=0.8451, j4=0.1963, j5=1.0710 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00194 | -0.00368 | 0.00003 | 0.00416 | 69.494 |
+| 1 | 0.00225 | -0.00349 | -0.00017 | 0.00416 | 69.396 |
+| 2 | 0.00224 | -0.00351 | -0.00029 | 0.00418 | 69.396 |
+| 3 | 0.00202 | -0.00398 | -0.00012 | 0.00446 | 69.395 |
+| 4 | 0.00201 | -0.00393 | -0.00092 | 0.00451 | 69.473 |
+| 5 | 0.00321 | -0.00534 | -0.00295 | 0.00690 | 0.234 |
+| 6 | 0.00384 | -0.00508 | -0.00266 | 0.00690 | 0.146 |
+| 7 | 0.00258 | -0.00442 | -0.00151 | 0.00534 | 0.073 |
+| 8 | 0.00224 | -0.00463 | -0.00157 | 0.00538 | 0.078 |
+| 9 | -0.00009 | -0.00012 | -0.00034 | 0.00037 | 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_0b9c53e9-8c78-460b-b49c-ab506d1e4c4b.md b/gap_reports/gap_0b9c53e9-8c78-460b-b49c-ab506d1e4c4b.md
new file mode 100644
index 0000000000000000000000000000000000000000..948d7cfc46f29f5e25c08e771390e743c368e8bb
--- /dev/null
+++ b/gap_reports/gap_0b9c53e9-8c78-460b-b49c-ab506d1e4c4b.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0b9c53e9-8c78-460b-b49c-ab506d1e4c4b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0b9c53e9-8c78-460b-b49c-ab506d1e4c4b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1807 |
+| Sim rows | 183 |
+| Real episode_id | `0b9c53e9-8c78-460b-b49c-ab506d1e4c4b` |
+| Sim episode_id | `0b9c53e9-8c78-460b-b49c-ab506d1e4c4b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.318 | 12.16 | 21.06 | 254.53 | 0.6796 |
+| 1 | descend | 112 | 12 | 1.049 | 5.43 | 9.41 | 4.72 | 0.7296 |
+| 2 | settle | 14 | 2 | 0.027 | 2.51 | 4.35 | 5.37 | 0.7125 |
+| 3 | close | 375 | 37 | 0.111 | 2.16 | 3.74 | 7.50 | 1.2202 |
+| 4 | lift | 114 | 12 | 0.926 | 4.65 | 8.06 | 6.80 | 1.4025 |
+| 5 | move_xy | 195 | 20 | 1.487 | 11.94 | 20.68 | 42.56 | 1.4009 |
+| 6 | lower | 113 | 12 | 1.011 | 5.32 | 9.22 | 8.87 | 1.3191 |
+| 7 | open | 362 | 35 | 0.026 | 3.08 | 5.33 | 6.20 | 0.6466 |
+| 8 | retract | 112 | 12 | 0.868 | 4.97 | 8.61 | 5.60 | 0.8288 |
+| 9 | return | 230 | 23 | 1.879 | 13.54 | 23.45 | 419.38 | 0.6540 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.219 |
+| TCP position RMSE (mm, per-axis) | 7.74 |
+| EE position RMS L2 (mm) | 13.73 |
+| TCP rotvec (mrad) | 155.81 |
+| W1 effort mean (A) | 0.9394 |
+| W1 effort per joint (A) | j0=0.1336, j1=1.8623, j2=1.5429, j3=0.7965, j4=0.7032, j5=0.5977 |
+
+## Phase-end anchor (sim - 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 | -0.00354 | -0.00019 | 0.00416 | 0.040 |
+| 1 | 0.00262 | -0.00345 | -0.00045 | 0.00435 | 0.050 |
+| 2 | 0.00263 | -0.00344 | -0.00052 | 0.00436 | 0.056 |
+| 3 | 0.00232 | -0.00288 | -0.00081 | 0.00378 | 0.209 |
+| 4 | 0.00181 | -0.00309 | -0.00055 | 0.00362 | 0.245 |
+| 5 | 0.00214 | -0.00387 | -0.00094 | 0.00452 | 0.195 |
+| 6 | 0.00265 | -0.00370 | -0.00158 | 0.00482 | 0.194 |
+| 7 | 0.00256 | -0.00452 | -0.00110 | 0.00531 | 0.058 |
+| 8 | 0.00206 | -0.00453 | -0.00120 | 0.00511 | 0.057 |
+| 9 | -0.00011 | -0.00014 | -0.00035 | 0.00039 | 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_0bc6e34b-75cc-4d70-ae9d-c3cf39e0c916.md b/gap_reports/gap_0bc6e34b-75cc-4d70-ae9d-c3cf39e0c916.md
new file mode 100644
index 0000000000000000000000000000000000000000..f95d2c1e3ffff5de1a19ac915a4834b239b1a5ae
--- /dev/null
+++ b/gap_reports/gap_0bc6e34b-75cc-4d70-ae9d-c3cf39e0c916.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0bc6e34b-75cc-4d70-ae9d-c3cf39e0c916.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0bc6e34b-75cc-4d70-ae9d-c3cf39e0c916.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1736 |
+| Sim rows | 175 |
+| Real episode_id | `0bc6e34b-75cc-4d70-ae9d-c3cf39e0c916` |
+| Sim episode_id | `0bc6e34b-75cc-4d70-ae9d-c3cf39e0c916` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 137 | 14 | 2.530 | 8.52 | 14.75 | 1302.81 | 0.7413 |
+| 1 | descend | 77 | 9 | 0.759 | 3.76 | 6.51 | 4.01 | 0.5333 |
+| 2 | settle | 36 | 4 | 0.024 | 2.58 | 4.47 | 4.58 | 0.5039 |
+| 3 | close | 379 | 37 | 0.096 | 3.16 | 5.48 | 7.18 | 0.9235 |
+| 4 | lift | 83 | 9 | 0.751 | 4.12 | 7.13 | 6.47 | 1.0813 |
+| 5 | move_xy | 204 | 20 | 9.730 | 11.05 | 19.13 | 326.51 | 1.0173 |
+| 6 | lower | 81 | 9 | 18.941 | 3.36 | 5.83 | 730.90 | 1.0835 |
+| 7 | open | 370 | 36 | 18.929 | 2.62 | 4.54 | 732.09 | 0.7885 |
+| 8 | retract | 80 | 9 | 18.946 | 3.84 | 6.66 | 731.55 | 0.7917 |
+| 9 | return | 289 | 28 | 9.926 | 7.82 | 13.54 | 1204.84 | 0.7856 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 11.299 |
+| TCP position RMSE (mm, per-axis) | 5.80 |
+| EE position RMS L2 (mm) | 10.49 |
+| TCP rotvec (mrad) | 697.21 |
+| W1 effort mean (A) | 0.8357 |
+| W1 effort per joint (A) | j0=0.1770, j1=1.1781, j2=1.5678, j3=0.7130, j4=0.4066, j5=0.9719 |
+
+## Phase-end anchor (sim - 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 | -0.00357 | -0.00042 | 0.00402 | 0.048 |
+| 1 | 0.00210 | -0.00394 | -0.00029 | 0.00448 | 0.053 |
+| 2 | 0.00208 | -0.00393 | -0.00042 | 0.00447 | 0.027 |
+| 3 | 0.00290 | -0.00454 | -0.00094 | 0.00547 | 0.148 |
+| 4 | 0.00236 | -0.00418 | -0.00129 | 0.00497 | 0.138 |
+| 5 | 0.00104 | -0.00415 | -0.00037 | 0.00429 | 46.408 |
+| 6 | 0.00166 | -0.00406 | -0.00031 | 0.00440 | 46.368 |
+| 7 | 0.00190 | -0.00411 | -0.00009 | 0.00453 | 46.367 |
+| 8 | 0.00135 | -0.00406 | -0.00023 | 0.00429 | 46.375 |
+| 9 | -0.00003 | -0.00005 | -0.00021 | 0.00022 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0bcbf3a3-1bba-460b-9cfa-967b67a631d5.md b/gap_reports/gap_0bcbf3a3-1bba-460b-9cfa-967b67a631d5.md
new file mode 100644
index 0000000000000000000000000000000000000000..2a46cda1c6801ef98b027c16dd67181d75b4031e
--- /dev/null
+++ b/gap_reports/gap_0bcbf3a3-1bba-460b-9cfa-967b67a631d5.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0bcbf3a3-1bba-460b-9cfa-967b67a631d5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0bcbf3a3-1bba-460b-9cfa-967b67a631d5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3337 |
+| Sim rows | 293 |
+| Real episode_id | `0bcbf3a3-1bba-460b-9cfa-967b67a631d5` |
+| Sim episode_id | `0bcbf3a3-1bba-460b-9cfa-967b67a631d5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.169 | 13.30 | 23.04 | 2022.85 | 0.5956 |
+| 1 | descend | 774 | 67 | 0.712 | 4.78 | 8.28 | 3625.39 | 0.7055 |
+| 2 | settle | 362 | 32 | 0.024 | 0.82 | 1.43 | 3625.27 | 0.6743 |
+| 3 | close | 145 | 13 | 1.043 | 6.67 | 11.55 | 3625.76 | 0.9773 |
+| 4 | lift | 453 | 39 | 3.767 | 17.08 | 29.59 | 2283.63 | 1.1045 |
+| 5 | move_xy | 387 | 34 | 7.782 | 37.89 | 65.63 | 2624.49 | 0.8691 |
+| 6 | lower | 403 | 35 | 0.090 | 1.50 | 2.60 | 3481.11 | 0.9110 |
+| 7 | open | 146 | 13 | 1.040 | 6.58 | 11.40 | 3625.51 | 0.6281 |
+| 8 | retract | 455 | 39 | 3.642 | 16.77 | 29.05 | 2451.22 | 0.7322 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.346 |
+| TCP position RMSE (mm, per-axis) | 15.98 |
+| EE position RMS L2 (mm) | 28.20 |
+| TCP rotvec (mrad) | 3107.30 |
+| W1 effort mean (A) | 0.7807 |
+| W1 effort per joint (A) | j0=0.2789, j1=1.3109, j2=1.5146, j3=0.6871, j4=0.3146, 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 | 0.00083 | -0.00018 | -0.00056 | 0.00102 | 0.028 |
+| 1 | 0.00086 | -0.00058 | -0.00097 | 0.00142 | 0.047 |
+| 2 | 0.00086 | -0.00059 | -0.00097 | 0.00143 | 0.049 |
+| 3 | 0.00135 | -0.00038 | -0.00032 | 0.00144 | 0.096 |
+| 4 | 0.00007 | -0.00039 | -0.00040 | 0.00056 | 0.109 |
+| 5 | 0.00188 | -0.00080 | -0.00095 | 0.00225 | 0.126 |
+| 6 | 0.00217 | -0.00075 | -0.00149 | 0.00274 | 0.171 |
+| 7 | 0.00064 | -0.00025 | -0.00077 | 0.00103 | 0.056 |
+| 8 | -0.00006 | -0.00008 | -0.00012 | 0.00015 | 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_0bd0b08f-4f45-48fe-a307-40c55820d724.md b/gap_reports/gap_0bd0b08f-4f45-48fe-a307-40c55820d724.md
new file mode 100644
index 0000000000000000000000000000000000000000..182a911ee6ec4dab12dc69ce50e219ad018986a3
--- /dev/null
+++ b/gap_reports/gap_0bd0b08f-4f45-48fe-a307-40c55820d724.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0bd0b08f-4f45-48fe-a307-40c55820d724.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0bd0b08f-4f45-48fe-a307-40c55820d724.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2445 |
+| Sim rows | 238 |
+| Real episode_id | `0bd0b08f-4f45-48fe-a307-40c55820d724` |
+| Sim episode_id | `0bd0b08f-4f45-48fe-a307-40c55820d724` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 177 | 22 | 4.880 | 24.11 | 41.76 | 2092.81 | 0.6461 |
+| 1 | descend | 330 | 29 | 1.261 | 9.00 | 15.59 | 3624.68 | 0.8266 |
+| 2 | settle | 362 | 32 | 0.029 | 1.02 | 1.77 | 3624.59 | 0.7103 |
+| 3 | close | 119 | 11 | 0.695 | 4.95 | 8.57 | 3625.05 | 1.0290 |
+| 4 | lift | 290 | 30 | 3.768 | 19.78 | 34.25 | 2598.46 | 1.1604 |
+| 5 | move_xy | 345 | 35 | 7.161 | 40.51 | 70.17 | 2647.39 | 0.9319 |
+| 6 | lower | 351 | 35 | 0.090 | 1.73 | 3.00 | 3625.06 | 1.0458 |
+| 7 | open | 125 | 12 | 0.769 | 5.62 | 9.73 | 3624.76 | 0.7460 |
+| 8 | retract | 346 | 30 | 3.032 | 16.31 | 28.25 | 2394.63 | 0.7598 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.353 |
+| TCP position RMSE (mm, per-axis) | 18.32 |
+| EE position RMS L2 (mm) | 33.41 |
+| TCP rotvec (mrad) | 3154.74 |
+| W1 effort mean (A) | 0.8579 |
+| W1 effort per joint (A) | j0=0.2487, j1=1.6099, j2=1.5713, j3=0.7754, j4=0.3493, j5=0.5931 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00111 | -0.00026 | -0.00082 | 0.00140 | 0.036 |
+| 1 | 0.00112 | -0.00065 | -0.00119 | 0.00175 | 0.057 |
+| 2 | 0.00111 | -0.00064 | -0.00121 | 0.00176 | 0.060 |
+| 3 | 0.00175 | -0.00035 | -0.00059 | 0.00188 | 0.093 |
+| 4 | 0.00037 | -0.00029 | -0.00050 | 0.00069 | 0.111 |
+| 5 | 0.00217 | -0.00086 | -0.00174 | 0.00291 | 0.123 |
+| 6 | 0.00270 | -0.00094 | -0.00221 | 0.00362 | 0.185 |
+| 7 | 0.00092 | -0.00031 | -0.00092 | 0.00134 | 0.039 |
+| 8 | -0.00014 | -0.00022 | -0.00022 | 0.00034 | 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_0bda6ca8-9e79-4b03-ba72-837954f9c9bc.md b/gap_reports/gap_0bda6ca8-9e79-4b03-ba72-837954f9c9bc.md
new file mode 100644
index 0000000000000000000000000000000000000000..17829ec35acb8d674ebcabf6039198c2cda130ec
--- /dev/null
+++ b/gap_reports/gap_0bda6ca8-9e79-4b03-ba72-837954f9c9bc.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0bda6ca8-9e79-4b03-ba72-837954f9c9bc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0bda6ca8-9e79-4b03-ba72-837954f9c9bc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2397 |
+| Sim rows | 244 |
+| Real episode_id | `0bda6ca8-9e79-4b03-ba72-837954f9c9bc` |
+| Sim episode_id | `0bda6ca8-9e79-4b03-ba72-837954f9c9bc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.475 | 14.93 | 25.86 | 2001.40 | 0.6000 |
+| 1 | descend | 225 | 23 | 0.973 | 6.49 | 11.25 | 3625.25 | 0.7010 |
+| 2 | settle | 342 | 34 | 0.026 | 0.82 | 1.43 | 3625.27 | 0.6624 |
+| 3 | close | 120 | 13 | 0.580 | 4.05 | 7.02 | 3420.39 | 0.9695 |
+| 4 | lift | 348 | 35 | 3.679 | 17.62 | 30.51 | 2239.00 | 1.0773 |
+| 5 | move_xy | 359 | 35 | 8.103 | 39.76 | 68.87 | 2698.95 | 0.8703 |
+| 6 | lower | 322 | 33 | 0.083 | 1.41 | 2.45 | 3392.48 | 0.9443 |
+| 7 | open | 122 | 13 | 0.528 | 3.47 | 6.01 | 3625.46 | 0.6548 |
+| 8 | retract | 349 | 35 | 3.451 | 16.29 | 28.22 | 2328.63 | 0.7252 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.412 |
+| TCP position RMSE (mm, per-axis) | 16.51 |
+| EE position RMS L2 (mm) | 32.21 |
+| TCP rotvec (mrad) | 3061.64 |
+| W1 effort mean (A) | 0.7911 |
+| W1 effort per joint (A) | j0=0.2313, j1=1.3439, j2=1.5213, j3=0.7489, j4=0.3055, 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 | 0.00087 | -0.00040 | -0.00064 | 0.00115 | 0.027 |
+| 1 | 0.00085 | -0.00058 | -0.00099 | 0.00143 | 0.049 |
+| 2 | 0.00085 | -0.00057 | -0.00099 | 0.00142 | 0.049 |
+| 3 | 0.00191 | -0.00040 | -0.00102 | 0.00220 | 0.152 |
+| 4 | 0.00034 | 0.00013 | -0.00002 | 0.00037 | 0.070 |
+| 5 | 0.00162 | -0.00076 | -0.00150 | 0.00233 | 0.114 |
+| 6 | 0.00215 | -0.00082 | -0.00153 | 0.00276 | 0.176 |
+| 7 | 0.00071 | -0.00037 | -0.00072 | 0.00107 | 0.031 |
+| 8 | -0.00010 | -0.00013 | -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_0be7052c-c749-48a0-bd86-6435d7b12890.md b/gap_reports/gap_0be7052c-c749-48a0-bd86-6435d7b12890.md
new file mode 100644
index 0000000000000000000000000000000000000000..5a17b9055246d2c7e9ecc77d4116c2b848204ea4
--- /dev/null
+++ b/gap_reports/gap_0be7052c-c749-48a0-bd86-6435d7b12890.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0be7052c-c749-48a0-bd86-6435d7b12890.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0be7052c-c749-48a0-bd86-6435d7b12890.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1503 |
+| Sim rows | 154 |
+| Real episode_id | `0be7052c-c749-48a0-bd86-6435d7b12890` |
+| Sim episode_id | `0be7052c-c749-48a0-bd86-6435d7b12890` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 132 | 13 | 3.549 | 15.10 | 26.15 | 381.47 | 0.6871 |
+| 1 | descend | 60 | 7 | 1.477 | 2.67 | 4.63 | 60.39 | 0.6837 |
+| 2 | settle | 21 | 3 | 1.454 | 2.53 | 4.39 | 60.68 | 0.7261 |
+| 3 | close | 371 | 37 | 1.459 | 2.76 | 4.78 | 62.27 | 1.1412 |
+| 4 | lift | 59 | 7 | 1.518 | 3.49 | 6.05 | 61.94 | 1.1854 |
+| 5 | move_xy | 173 | 17 | 4.797 | 25.26 | 43.75 | 2220.10 | 1.2346 |
+| 6 | lower | 58 | 7 | 0.358 | 3.66 | 6.33 | 3621.38 | 1.1324 |
+| 7 | open | 367 | 36 | 0.023 | 2.99 | 5.18 | 5.36 | 0.5355 |
+| 8 | retract | 63 | 7 | 0.493 | 3.50 | 6.05 | 4.88 | 0.6730 |
+| 9 | return | 199 | 20 | 2.815 | 18.23 | 31.58 | 1005.63 | 0.6971 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.294 |
+| TCP position RMSE (mm, per-axis) | 11.25 |
+| EE position RMS L2 (mm) | 20.74 |
+| TCP rotvec (mrad) | 1386.19 |
+| W1 effort mean (A) | 0.8312 |
+| W1 effort per joint (A) | j0=0.1395, j1=1.5707, j2=1.5161, j3=0.7784, j4=0.3860, j5=0.5967 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00201 | -0.00355 | -0.00006 | 0.00408 | 3.607 |
+| 1 | 0.00251 | -0.00357 | -0.00016 | 0.00437 | 3.563 |
+| 2 | 0.00248 | -0.00358 | -0.00035 | 0.00437 | 3.560 |
+| 3 | 0.00317 | -0.00286 | -0.00215 | 0.00478 | 3.560 |
+| 4 | 0.00286 | -0.00324 | -0.00217 | 0.00484 | 3.598 |
+| 5 | 0.00237 | -0.00461 | -0.00308 | 0.00603 | 0.280 |
+| 6 | 0.00276 | -0.00463 | -0.00268 | 0.00602 | 0.225 |
+| 7 | 0.00184 | -0.00474 | -0.00103 | 0.00519 | 0.040 |
+| 8 | 0.00159 | -0.00440 | -0.00124 | 0.00484 | 0.062 |
+| 9 | -0.00022 | -0.00010 | -0.00026 | 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_0bf02a89-bb5d-4892-91f8-a99942e64778.md b/gap_reports/gap_0bf02a89-bb5d-4892-91f8-a99942e64778.md
new file mode 100644
index 0000000000000000000000000000000000000000..4b185838ff64e8bdd8eee1bb7accb753c08e21ca
--- /dev/null
+++ b/gap_reports/gap_0bf02a89-bb5d-4892-91f8-a99942e64778.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0bf02a89-bb5d-4892-91f8-a99942e64778.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0bf02a89-bb5d-4892-91f8-a99942e64778.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1997 |
+| Sim rows | 200 |
+| Real episode_id | `0bf02a89-bb5d-4892-91f8-a99942e64778` |
+| Sim episode_id | `0bf02a89-bb5d-4892-91f8-a99942e64778` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 19 | 8.014 | 9.41 | 16.30 | 559.91 | 0.6007 |
+| 1 | descend | 88 | 9 | 14.766 | 3.73 | 6.45 | 572.45 | 0.6518 |
+| 2 | settle | 15 | 2 | 14.748 | 2.69 | 4.65 | 572.99 | 0.6714 |
+| 3 | close | 384 | 38 | 14.748 | 2.76 | 4.77 | 573.41 | 1.0323 |
+| 4 | lift | 89 | 9 | 14.762 | 3.51 | 6.08 | 572.69 | 1.1242 |
+| 5 | move_xy | 271 | 27 | 9.378 | 14.01 | 24.27 | 286.92 | 1.1317 |
+| 6 | lower | 88 | 9 | 0.561 | 3.36 | 5.83 | 1470.30 | 0.9695 |
+| 7 | open | 383 | 38 | 0.020 | 2.57 | 4.46 | 4.75 | 0.5195 |
+| 8 | retract | 89 | 9 | 0.616 | 3.55 | 6.16 | 4.24 | 0.6494 |
+| 9 | return | 403 | 40 | 5.058 | 16.95 | 29.36 | 966.58 | 0.6853 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 10.244 |
+| TCP position RMSE (mm, per-axis) | 8.02 |
+| EE position RMS L2 (mm) | 17.14 |
+| TCP rotvec (mrad) | 693.16 |
+| W1 effort mean (A) | 0.7656 |
+| W1 effort per joint (A) | j0=0.1295, j1=1.1780, j2=1.5325, j3=0.7402, j4=0.2588, j5=0.7548 |
+
+## Phase-end anchor (sim - 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 | -0.00410 | -0.00004 | 0.00433 | 36.130 |
+| 1 | 0.00186 | -0.00428 | 0.00003 | 0.00466 | 36.123 |
+| 2 | 0.00187 | -0.00425 | -0.00009 | 0.00464 | 36.125 |
+| 3 | 0.00181 | -0.00440 | 0.00019 | 0.00476 | 36.125 |
+| 4 | 0.00152 | -0.00421 | -0.00061 | 0.00452 | 36.125 |
+| 5 | 0.00155 | -0.00327 | -0.00149 | 0.00391 | 0.098 |
+| 6 | 0.00206 | -0.00393 | -0.00131 | 0.00463 | 0.090 |
+| 7 | 0.00177 | -0.00398 | -0.00094 | 0.00446 | 0.038 |
+| 8 | 0.00142 | -0.00365 | -0.00103 | 0.00405 | 0.044 |
+| 9 | -0.00007 | -0.00006 | -0.00021 | 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_0bfa0a27-f0a4-47f3-a3ff-2af152702c45.md b/gap_reports/gap_0bfa0a27-f0a4-47f3-a3ff-2af152702c45.md
new file mode 100644
index 0000000000000000000000000000000000000000..8994ed725782731b63ffcfac3ab2f211800b2eca
--- /dev/null
+++ b/gap_reports/gap_0bfa0a27-f0a4-47f3-a3ff-2af152702c45.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0bfa0a27-f0a4-47f3-a3ff-2af152702c45.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0bfa0a27-f0a4-47f3-a3ff-2af152702c45.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2707 |
+| Sim rows | 239 |
+| Real episode_id | `0bfa0a27-f0a4-47f3-a3ff-2af152702c45` |
+| Sim episode_id | `0bfa0a27-f0a4-47f3-a3ff-2af152702c45` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.745 | 14.11 | 24.44 | 1996.96 | 0.6277 |
+| 1 | descend | 405 | 35 | 1.344 | 9.28 | 16.07 | 3624.76 | 0.7555 |
+| 2 | settle | 376 | 33 | 0.026 | 0.96 | 1.67 | 3624.57 | 0.7162 |
+| 3 | close | 188 | 17 | 0.885 | 6.24 | 10.80 | 3625.33 | 1.0043 |
+| 4 | lift | 288 | 25 | 2.776 | 15.07 | 26.10 | 2445.07 | 1.1421 |
+| 5 | move_xy | 381 | 33 | 6.620 | 38.29 | 66.33 | 2877.05 | 0.9432 |
+| 6 | lower | 388 | 34 | 0.095 | 1.73 | 3.00 | 3625.04 | 1.0572 |
+| 7 | open | 190 | 17 | 0.945 | 6.57 | 11.38 | 3624.79 | 0.7321 |
+| 8 | retract | 290 | 25 | 2.955 | 16.02 | 27.76 | 2454.88 | 0.7678 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.814 |
+| TCP position RMSE (mm, per-axis) | 16.06 |
+| EE position RMS L2 (mm) | 29.60 |
+| TCP rotvec (mrad) | 3161.74 |
+| W1 effort mean (A) | 0.8459 |
+| W1 effort per joint (A) | j0=0.2407, j1=1.5509, j2=1.6621, j3=0.7610, j4=0.2830, j5=0.5778 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00086 | -0.00026 | -0.00073 | 0.00116 | 0.030 |
+| 1 | 0.00091 | -0.00073 | -0.00119 | 0.00166 | 0.050 |
+| 2 | 0.00091 | -0.00074 | -0.00117 | 0.00166 | 0.053 |
+| 3 | 0.00169 | -0.00032 | -0.00122 | 0.00211 | 0.105 |
+| 4 | 0.00007 | -0.00055 | -0.00054 | 0.00078 | 0.103 |
+| 5 | 0.00180 | -0.00111 | -0.00170 | 0.00272 | 0.116 |
+| 6 | 0.00229 | -0.00101 | -0.00062 | 0.00258 | 0.177 |
+| 7 | 0.00075 | -0.00035 | -0.00100 | 0.00130 | 0.061 |
+| 8 | -0.00013 | -0.00023 | -0.00020 | 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_0c01c666-12c5-46d0-b381-2a986eb87674.md b/gap_reports/gap_0c01c666-12c5-46d0-b381-2a986eb87674.md
new file mode 100644
index 0000000000000000000000000000000000000000..e74580af6411bba7d54ceb118a0dc9f991a421d4
--- /dev/null
+++ b/gap_reports/gap_0c01c666-12c5-46d0-b381-2a986eb87674.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0c01c666-12c5-46d0-b381-2a986eb87674.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0c01c666-12c5-46d0-b381-2a986eb87674.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1588 |
+| Sim rows | 162 |
+| Real episode_id | `0c01c666-12c5-46d0-b381-2a986eb87674` |
+| Sim episode_id | `0c01c666-12c5-46d0-b381-2a986eb87674` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 22 | 3.367 | 14.96 | 25.91 | 1016.73 | 0.7207 |
+| 1 | descend | 102 | 11 | 0.764 | 4.31 | 7.47 | 5.67 | 0.7097 |
+| 2 | settle | 25 | 3 | 0.027 | 2.31 | 4.01 | 6.20 | 0.6962 |
+| 3 | close | 397 | 39 | 0.154 | 1.91 | 3.30 | 8.86 | 1.1439 |
+| 4 | lift | 104 | 11 | 0.877 | 4.55 | 7.89 | 8.72 | 1.3150 |
+| 5 | move_xy | 279 | 28 | 4.657 | 26.50 | 45.90 | 222.30 | 1.1688 |
+| 6 | lower | 102 | 11 | 0.667 | 4.17 | 7.23 | 10.22 | 1.0131 |
+| 7 | open | 87 | 9 | 0.021 | 3.05 | 5.29 | 5.70 | 0.6797 |
+| 8 | retract | 101 | 11 | 0.775 | 4.33 | 7.50 | 5.05 | 0.7455 |
+| 9 | return | 168 | 17 | 2.327 | 15.93 | 27.59 | 362.55 | 0.7311 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.021 |
+| TCP position RMSE (mm, per-axis) | 11.29 |
+| EE position RMS L2 (mm) | 23.75 |
+| TCP rotvec (mrad) | 348.57 |
+| W1 effort mean (A) | 0.9467 |
+| W1 effort per joint (A) | j0=0.1525, j1=1.7381, j2=1.5452, j3=0.9124, j4=0.6819, j5=0.6499 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00209 | -0.00326 | -0.00026 | 0.00388 | 0.036 |
+| 1 | 0.00245 | -0.00312 | -0.00048 | 0.00399 | 0.050 |
+| 2 | 0.00245 | -0.00314 | -0.00054 | 0.00402 | 0.060 |
+| 3 | 0.00060 | -0.00295 | -0.00143 | 0.00333 | 0.260 |
+| 4 | 0.00011 | -0.00331 | -0.00150 | 0.00364 | 0.262 |
+| 5 | 0.00211 | -0.00413 | -0.00228 | 0.00517 | 0.219 |
+| 6 | 0.00290 | -0.00436 | -0.00237 | 0.00574 | 0.254 |
+| 7 | 0.00191 | -0.00482 | -0.00107 | 0.00530 | 0.043 |
+| 8 | 0.00145 | -0.00451 | -0.00111 | 0.00486 | 0.043 |
+| 9 | -0.00025 | -0.00013 | -0.00028 | 0.00040 | 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_0c148c6f-2065-41cc-84b0-7d425604aea7.md b/gap_reports/gap_0c148c6f-2065-41cc-84b0-7d425604aea7.md
new file mode 100644
index 0000000000000000000000000000000000000000..41be6b9e47b31aa0cd667381de737db6e55e3943
--- /dev/null
+++ b/gap_reports/gap_0c148c6f-2065-41cc-84b0-7d425604aea7.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0c148c6f-2065-41cc-84b0-7d425604aea7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0c148c6f-2065-41cc-84b0-7d425604aea7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2820 |
+| Sim rows | 251 |
+| Real episode_id | `0c148c6f-2065-41cc-84b0-7d425604aea7` |
+| Sim episode_id | `0c148c6f-2065-41cc-84b0-7d425604aea7` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.734 | 17.82 | 30.86 | 1988.24 | 0.6388 |
+| 1 | descend | 412 | 36 | 1.325 | 9.36 | 16.22 | 3624.77 | 0.7537 |
+| 2 | settle | 379 | 33 | 0.026 | 1.01 | 1.75 | 3624.58 | 0.7406 |
+| 3 | close | 171 | 15 | 0.910 | 6.54 | 11.32 | 3625.18 | 1.0239 |
+| 4 | lift | 326 | 29 | 2.976 | 15.76 | 27.29 | 2499.88 | 1.1394 |
+| 5 | move_xy | 419 | 37 | 7.580 | 41.92 | 72.61 | 2777.66 | 0.9102 |
+| 6 | lower | 384 | 34 | 0.085 | 1.65 | 2.86 | 3625.25 | 1.0131 |
+| 7 | open | 169 | 15 | 0.879 | 6.06 | 10.50 | 3624.76 | 0.7349 |
+| 8 | retract | 324 | 29 | 3.044 | 16.10 | 27.88 | 2491.03 | 0.7648 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.213 |
+| TCP position RMSE (mm, per-axis) | 17.49 |
+| EE position RMS L2 (mm) | 33.06 |
+| TCP rotvec (mrad) | 3159.16 |
+| W1 effort mean (A) | 0.8402 |
+| W1 effort per joint (A) | j0=0.2420, j1=1.6042, j2=1.5690, j3=0.7629, j4=0.2572, j5=0.6057 |
+
+## Phase-end anchor (sim - 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 | -0.00011 | -0.00080 | 0.00133 | 0.041 |
+| 1 | 0.00109 | -0.00063 | -0.00117 | 0.00172 | 0.053 |
+| 2 | 0.00114 | -0.00066 | -0.00116 | 0.00176 | 0.055 |
+| 3 | 0.00162 | -0.00029 | -0.00180 | 0.00244 | 0.176 |
+| 4 | 0.00012 | -0.00030 | -0.00022 | 0.00039 | 0.084 |
+| 5 | 0.00208 | -0.00084 | -0.00137 | 0.00263 | 0.110 |
+| 6 | 0.00195 | -0.00089 | -0.00145 | 0.00259 | 0.116 |
+| 7 | 0.00091 | -0.00018 | -0.00104 | 0.00139 | 0.063 |
+| 8 | -0.00013 | -0.00024 | -0.00025 | 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_0c2fd828-946c-409c-8c76-6e772f23feb6.md b/gap_reports/gap_0c2fd828-946c-409c-8c76-6e772f23feb6.md
new file mode 100644
index 0000000000000000000000000000000000000000..73d85af694ebb452c6576e9969cac8e9e1104616
--- /dev/null
+++ b/gap_reports/gap_0c2fd828-946c-409c-8c76-6e772f23feb6.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0c2fd828-946c-409c-8c76-6e772f23feb6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0c2fd828-946c-409c-8c76-6e772f23feb6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1064 |
+| Sim rows | 111 |
+| Real episode_id | `0c2fd828-946c-409c-8c76-6e772f23feb6` |
+| Sim episode_id | `0c2fd828-946c-409c-8c76-6e772f23feb6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 136 | 14 | 3.139 | 14.18 | 24.56 | 292.06 | 0.6542 |
+| 1 | descend | 68 | 7 | 0.719 | 3.57 | 6.18 | 3.83 | 0.5971 |
+| 2 | settle | 31 | 4 | 0.018 | 2.14 | 3.72 | 4.61 | 0.5834 |
+| 3 | close | 33 | 4 | 0.042 | 2.27 | 3.93 | 4.20 | 1.0046 |
+| 4 | lift | 73 | 8 | 0.829 | 4.07 | 7.04 | 3.67 | 1.0244 |
+| 5 | move_xy | 193 | 19 | 7.739 | 32.89 | 56.97 | 125.22 | 1.0860 |
+| 6 | lower | 70 | 8 | 0.687 | 4.76 | 8.25 | 6.40 | 1.1197 |
+| 7 | open | 98 | 10 | 0.021 | 3.10 | 5.36 | 5.87 | 0.6178 |
+| 8 | retract | 70 | 8 | 0.853 | 4.53 | 7.85 | 5.30 | 0.7107 |
+| 9 | return | 292 | 29 | 3.363 | 25.44 | 44.06 | 1144.29 | 0.7031 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.889 |
+| TCP position RMSE (mm, per-axis) | 14.22 |
+| EE position RMS L2 (mm) | 34.88 |
+| TCP rotvec (mrad) | 375.57 |
+| W1 effort mean (A) | 0.7585 |
+| W1 effort per joint (A) | j0=0.1835, j1=1.3511, j2=1.5767, j3=0.7681, j4=0.2859, j5=0.3857 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00140 | -0.00337 | 0.00019 | 0.00365 | 0.052 |
+| 1 | 0.00207 | -0.00303 | 0.00022 | 0.00367 | 0.062 |
+| 2 | 0.00206 | -0.00311 | 0.00010 | 0.00373 | 0.033 |
+| 3 | 0.00218 | -0.00315 | -0.00005 | 0.00383 | 0.077 |
+| 4 | 0.00183 | -0.00366 | -0.00006 | 0.00409 | 0.124 |
+| 5 | 0.00137 | -0.00553 | -0.00176 | 0.00596 | 0.137 |
+| 6 | 0.00161 | -0.00576 | -0.00161 | 0.00620 | 0.113 |
+| 7 | 0.00165 | -0.00495 | -0.00129 | 0.00538 | 0.041 |
+| 8 | 0.00130 | -0.00447 | -0.00141 | 0.00487 | 0.053 |
+| 9 | -0.00015 | -0.00008 | -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_0c474e98-2b60-4d23-be36-38e6a9e32813.md b/gap_reports/gap_0c474e98-2b60-4d23-be36-38e6a9e32813.md
new file mode 100644
index 0000000000000000000000000000000000000000..b8790a4dad06265152f856e6eddd9218a99b655f
--- /dev/null
+++ b/gap_reports/gap_0c474e98-2b60-4d23-be36-38e6a9e32813.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0c474e98-2b60-4d23-be36-38e6a9e32813.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0c474e98-2b60-4d23-be36-38e6a9e32813.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 957 |
+| Sim rows | 110 |
+| Real episode_id | `0c474e98-2b60-4d23-be36-38e6a9e32813` |
+| Sim episode_id | `0c474e98-2b60-4d23-be36-38e6a9e32813` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 746 | 73 | 6.823 | 28.67 | 49.66 | 1110.77 | 0.7151 |
+| 1 | descend | 211 | 21 | 0.021 | 0.74 | 1.27 | 3625.43 | 0.8031 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.825 |
+| TCP position RMSE (mm, per-axis) | 20.28 |
+| EE position RMS L2 (mm) | 43.85 |
+| TCP rotvec (mrad) | 2681.19 |
+| W1 effort mean (A) | 0.7345 |
+| W1 effort per joint (A) | j0=0.1847, j1=1.3308, j2=1.7640, j3=0.8590, j4=0.1033, j5=0.1650 |
+
+## Phase-end anchor (sim - 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 | -0.00043 | 0.00116 | 0.00138 | 0.032 |
+| 1 | -0.00051 | -0.00047 | 0.00104 | 0.00125 | 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_0c7e2ff1-3c90-4346-9518-85c8a1c1377f.md b/gap_reports/gap_0c7e2ff1-3c90-4346-9518-85c8a1c1377f.md
new file mode 100644
index 0000000000000000000000000000000000000000..39c473e166883dcd667cc2becb5deb6bf4c35884
--- /dev/null
+++ b/gap_reports/gap_0c7e2ff1-3c90-4346-9518-85c8a1c1377f.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0c7e2ff1-3c90-4346-9518-85c8a1c1377f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0c7e2ff1-3c90-4346-9518-85c8a1c1377f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 505 |
+| Sim rows | 66 |
+| Real episode_id | `0c7e2ff1-3c90-4346-9518-85c8a1c1377f` |
+| Sim episode_id | `0c7e2ff1-3c90-4346-9518-85c8a1c1377f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 295 | 29 | 1.914 | 6.83 | 11.83 | 3.10 | 0.8077 |
+| 1 | descend | 210 | 21 | 0.023 | 0.43 | 0.75 | 2.11 | 0.7424 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.354 |
+| TCP position RMSE (mm, per-axis) | 4.84 |
+| EE position RMS L2 (mm) | 9.06 |
+| TCP rotvec (mrad) | 2.65 |
+| W1 effort mean (A) | 0.7806 |
+| W1 effort per joint (A) | j0=0.1854, j1=1.6943, j2=1.6586, j3=0.8842, j4=0.1358, j5=0.1250 |
+
+## Phase-end anchor (sim - 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 | -0.00035 | 0.00061 | 0.00070 | 0.045 |
+| 1 | 0.00010 | -0.00038 | 0.00064 | 0.00075 | 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_0c8052db-62b6-4957-9794-6e86f1a92cfc.md b/gap_reports/gap_0c8052db-62b6-4957-9794-6e86f1a92cfc.md
new file mode 100644
index 0000000000000000000000000000000000000000..02fbbb74055aa4a765a2e967081a396673e228cd
--- /dev/null
+++ b/gap_reports/gap_0c8052db-62b6-4957-9794-6e86f1a92cfc.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0c8052db-62b6-4957-9794-6e86f1a92cfc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0c8052db-62b6-4957-9794-6e86f1a92cfc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2702 |
+| Sim rows | 242 |
+| Real episode_id | `0c8052db-62b6-4957-9794-6e86f1a92cfc` |
+| Sim episode_id | `0c8052db-62b6-4957-9794-6e86f1a92cfc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.105 | 13.72 | 23.77 | 1996.49 | 0.5829 |
+| 1 | descend | 304 | 27 | 1.099 | 6.96 | 12.06 | 3625.37 | 0.7450 |
+| 2 | settle | 357 | 32 | 0.024 | 0.77 | 1.33 | 3625.27 | 0.7391 |
+| 3 | close | 143 | 13 | 0.846 | 5.34 | 9.25 | 3419.90 | 0.9409 |
+| 4 | lift | 340 | 30 | 2.695 | 12.39 | 21.46 | 2175.43 | 1.1162 |
+| 5 | move_xy | 458 | 40 | 6.994 | 35.69 | 61.82 | 2785.58 | 0.8875 |
+| 6 | lower | 372 | 33 | 0.089 | 1.42 | 2.45 | 3625.76 | 1.0260 |
+| 7 | open | 145 | 13 | 1.061 | 6.54 | 11.33 | 3625.49 | 0.6572 |
+| 8 | retract | 339 | 30 | 2.594 | 11.83 | 20.49 | 2338.16 | 0.7386 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.898 |
+| TCP position RMSE (mm, per-axis) | 14.45 |
+| EE position RMS L2 (mm) | 28.95 |
+| TCP rotvec (mrad) | 3095.10 |
+| W1 effort mean (A) | 0.8191 |
+| W1 effort per joint (A) | j0=0.2442, j1=1.3412, j2=1.6296, j3=0.7602, j4=0.3536, j5=0.5860 |
+
+## Phase-end anchor (sim - 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 | -0.00071 | 0.00097 | 0.038 |
+| 1 | 0.00060 | -0.00062 | -0.00102 | 0.00133 | 0.049 |
+| 2 | 0.00063 | -0.00063 | -0.00096 | 0.00131 | 0.044 |
+| 3 | 0.00103 | -0.00036 | -0.00078 | 0.00134 | 0.080 |
+| 4 | 0.00023 | -0.00016 | -0.00024 | 0.00037 | 0.095 |
+| 5 | 0.00168 | -0.00100 | -0.00143 | 0.00243 | 0.146 |
+| 6 | 0.00175 | -0.00090 | -0.00172 | 0.00262 | 0.155 |
+| 7 | 0.00045 | -0.00033 | -0.00074 | 0.00093 | 0.050 |
+| 8 | -0.00008 | -0.00013 | -0.00016 | 0.00022 | 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_0c8fe9fa-1e3c-4aba-82f9-9e701206d796.md b/gap_reports/gap_0c8fe9fa-1e3c-4aba-82f9-9e701206d796.md
new file mode 100644
index 0000000000000000000000000000000000000000..a0dd137518858d78d347e57516ca527a823d3fa7
--- /dev/null
+++ b/gap_reports/gap_0c8fe9fa-1e3c-4aba-82f9-9e701206d796.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0c8fe9fa-1e3c-4aba-82f9-9e701206d796.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0c8fe9fa-1e3c-4aba-82f9-9e701206d796.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2628 |
+| Sim rows | 232 |
+| Real episode_id | `0c8fe9fa-1e3c-4aba-82f9-9e701206d796` |
+| Sim episode_id | `0c8fe9fa-1e3c-4aba-82f9-9e701206d796` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 231 | 20 | 2.301 | 9.49 | 16.44 | 1996.00 | 0.5621 |
+| 1 | descend | 386 | 34 | 1.503 | 8.90 | 15.41 | 3626.01 | 0.6967 |
+| 2 | settle | 384 | 33 | 0.022 | 0.57 | 0.98 | 3625.97 | 0.7146 |
+| 3 | close | 133 | 12 | 1.073 | 6.46 | 11.19 | 1542.85 | 0.9289 |
+| 4 | lift | 263 | 23 | 2.463 | 10.16 | 17.60 | 1341.33 | 1.0558 |
+| 5 | move_xy | 436 | 38 | 5.065 | 23.69 | 41.04 | 1867.94 | 0.8894 |
+| 6 | lower | 403 | 35 | 0.080 | 1.01 | 1.74 | 1248.34 | 0.9559 |
+| 7 | open | 131 | 12 | 0.813 | 4.84 | 8.38 | 3626.19 | 0.5958 |
+| 8 | retract | 261 | 23 | 2.594 | 10.70 | 18.53 | 2255.58 | 0.6919 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.305 |
+| TCP position RMSE (mm, per-axis) | 10.62 |
+| EE position RMS L2 (mm) | 20.34 |
+| TCP rotvec (mrad) | 2532.97 |
+| W1 effort mean (A) | 0.7687 |
+| W1 effort per joint (A) | j0=0.2362, j1=1.1181, j2=1.5639, j3=0.7253, j4=0.4147, j5=0.5539 |
+
+## Phase-end anchor (sim - 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 | -0.00054 | 0.00068 | 0.031 |
+| 1 | 0.00016 | -0.00060 | -0.00073 | 0.00096 | 0.031 |
+| 2 | 0.00018 | -0.00057 | -0.00079 | 0.00099 | 0.037 |
+| 3 | 0.00030 | -0.00047 | -0.00022 | 0.00060 | 0.108 |
+| 4 | 0.00016 | -0.00025 | -0.00034 | 0.00045 | 0.092 |
+| 5 | 0.00084 | -0.00070 | -0.00100 | 0.00148 | 0.089 |
+| 6 | 0.00062 | -0.00089 | -0.00151 | 0.00185 | 0.116 |
+| 7 | -0.00003 | -0.00035 | -0.00055 | 0.00065 | 0.039 |
+| 8 | -0.00009 | -0.00012 | -0.00016 | 0.00022 | 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_0c91fc7d-6a38-4864-9b50-3fdfa9f91b05.md b/gap_reports/gap_0c91fc7d-6a38-4864-9b50-3fdfa9f91b05.md
new file mode 100644
index 0000000000000000000000000000000000000000..d043bca8bac93531ed37438df91143f0080bf709
--- /dev/null
+++ b/gap_reports/gap_0c91fc7d-6a38-4864-9b50-3fdfa9f91b05.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0c91fc7d-6a38-4864-9b50-3fdfa9f91b05.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0c91fc7d-6a38-4864-9b50-3fdfa9f91b05.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2737 |
+| Sim rows | 246 |
+| Real episode_id | `0c91fc7d-6a38-4864-9b50-3fdfa9f91b05` |
+| Sim episode_id | `0c91fc7d-6a38-4864-9b50-3fdfa9f91b05` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.375 | 11.24 | 19.47 | 2012.02 | 0.5635 |
+| 1 | descend | 451 | 40 | 0.674 | 4.36 | 7.56 | 3625.38 | 0.7358 |
+| 2 | settle | 361 | 32 | 0.025 | 0.76 | 1.32 | 3625.18 | 0.6178 |
+| 3 | close | 124 | 12 | 0.928 | 5.96 | 10.32 | 3507.51 | 1.0107 |
+| 4 | lift | 304 | 27 | 2.662 | 13.14 | 22.76 | 2268.53 | 1.0974 |
+| 5 | move_xy | 452 | 39 | 5.689 | 30.92 | 53.56 | 2724.87 | 0.9266 |
+| 6 | lower | 382 | 34 | 0.084 | 1.29 | 2.23 | 3476.67 | 1.0600 |
+| 7 | open | 125 | 12 | 0.809 | 5.19 | 8.99 | 3625.30 | 0.7318 |
+| 8 | retract | 301 | 27 | 2.551 | 12.65 | 21.90 | 2317.52 | 0.7182 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.440 |
+| TCP position RMSE (mm, per-axis) | 12.91 |
+| EE position RMS L2 (mm) | 25.21 |
+| TCP rotvec (mrad) | 3087.76 |
+| W1 effort mean (A) | 0.8093 |
+| W1 effort per joint (A) | j0=0.2542, j1=1.3021, j2=1.6218, j3=0.7823, j4=0.2577, j5=0.6379 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00046 | -0.00042 | -0.00081 | 0.00102 | 0.040 |
+| 1 | 0.00040 | -0.00074 | -0.00100 | 0.00130 | 0.048 |
+| 2 | 0.00046 | -0.00072 | -0.00098 | 0.00130 | 0.042 |
+| 3 | 0.00075 | -0.00056 | -0.00049 | 0.00106 | 0.087 |
+| 4 | 0.00018 | -0.00021 | -0.00022 | 0.00036 | 0.100 |
+| 5 | 0.00148 | -0.00109 | -0.00140 | 0.00232 | 0.157 |
+| 6 | 0.00176 | -0.00090 | -0.00054 | 0.00205 | 0.167 |
+| 7 | 0.00026 | -0.00045 | -0.00077 | 0.00093 | 0.037 |
+| 8 | -0.00011 | -0.00016 | -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_0c94b7e5-e527-42a1-8400-536b21d1ded6.md b/gap_reports/gap_0c94b7e5-e527-42a1-8400-536b21d1ded6.md
new file mode 100644
index 0000000000000000000000000000000000000000..da1a68ce0c1c9f9d902d3e7de7658de3c3801ec2
--- /dev/null
+++ b/gap_reports/gap_0c94b7e5-e527-42a1-8400-536b21d1ded6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0c94b7e5-e527-42a1-8400-536b21d1ded6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0c94b7e5-e527-42a1-8400-536b21d1ded6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2303 |
+| Sim rows | 207 |
+| Real episode_id | `0c94b7e5-e527-42a1-8400-536b21d1ded6` |
+| Sim episode_id | `0c94b7e5-e527-42a1-8400-536b21d1ded6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.057 | 10.28 | 17.81 | 1904.78 | 0.5707 |
+| 1 | descend | 230 | 21 | 1.007 | 6.53 | 11.31 | 3625.27 | 0.7404 |
+| 2 | settle | 379 | 33 | 0.025 | 0.75 | 1.29 | 3625.24 | 0.6976 |
+| 3 | close | 103 | 10 | 0.492 | 3.32 | 5.74 | 3625.75 | 1.0100 |
+| 4 | lift | 296 | 26 | 2.448 | 12.61 | 21.84 | 2210.22 | 1.0990 |
+| 5 | move_xy | 327 | 29 | 4.737 | 26.23 | 45.44 | 2511.50 | 0.8643 |
+| 6 | lower | 377 | 33 | 0.081 | 1.26 | 2.18 | 3549.63 | 1.0455 |
+| 7 | open | 103 | 10 | 0.482 | 3.13 | 5.43 | 3625.41 | 0.6844 |
+| 8 | retract | 296 | 26 | 2.483 | 12.80 | 22.18 | 2209.99 | 0.7122 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.117 |
+| TCP position RMSE (mm, per-axis) | 11.46 |
+| EE position RMS L2 (mm) | 21.47 |
+| TCP rotvec (mrad) | 3071.00 |
+| W1 effort mean (A) | 0.8077 |
+| W1 effort per joint (A) | j0=0.2084, j1=1.3708, j2=1.5926, j3=0.7492, j4=0.3477, 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 | 0.00046 | -0.00045 | -0.00070 | 0.00095 | 0.037 |
+| 1 | 0.00042 | -0.00070 | -0.00098 | 0.00128 | 0.043 |
+| 2 | 0.00043 | -0.00072 | -0.00097 | 0.00128 | 0.046 |
+| 3 | 0.00098 | -0.00058 | -0.00122 | 0.00167 | 0.103 |
+| 4 | 0.00016 | -0.00043 | -0.00054 | 0.00071 | 0.105 |
+| 5 | 0.00132 | -0.00097 | -0.00135 | 0.00213 | 0.119 |
+| 6 | 0.00118 | -0.00095 | -0.00081 | 0.00172 | 0.111 |
+| 7 | 0.00019 | -0.00052 | -0.00080 | 0.00098 | 0.040 |
+| 8 | -0.00012 | -0.00017 | -0.00019 | 0.00027 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0ca13322-a26e-4066-a462-9540316780e4.md b/gap_reports/gap_0ca13322-a26e-4066-a462-9540316780e4.md
new file mode 100644
index 0000000000000000000000000000000000000000..1ef2f26f95154e522e4328032853b190b736898a
--- /dev/null
+++ b/gap_reports/gap_0ca13322-a26e-4066-a462-9540316780e4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0ca13322-a26e-4066-a462-9540316780e4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0ca13322-a26e-4066-a462-9540316780e4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2530 |
+| Sim rows | 254 |
+| Real episode_id | `0ca13322-a26e-4066-a462-9540316780e4` |
+| Sim episode_id | `0ca13322-a26e-4066-a462-9540316780e4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 195 | 19 | 2.512 | 13.67 | 23.67 | 1942.60 | 0.6207 |
+| 1 | descend | 461 | 45 | 0.773 | 5.40 | 9.36 | 3624.73 | 0.7480 |
+| 2 | settle | 316 | 31 | 0.027 | 0.97 | 1.68 | 3624.53 | 0.7827 |
+| 3 | close | 163 | 17 | 1.027 | 7.06 | 12.24 | 3471.72 | 1.0251 |
+| 4 | lift | 255 | 26 | 2.480 | 14.10 | 24.42 | 2424.00 | 1.1470 |
+| 5 | move_xy | 379 | 38 | 6.566 | 39.43 | 68.29 | 2920.36 | 0.9632 |
+| 6 | lower | 339 | 33 | 0.095 | 1.70 | 2.95 | 3625.02 | 1.0986 |
+| 7 | open | 165 | 17 | 1.114 | 7.61 | 13.18 | 3624.76 | 0.7413 |
+| 8 | retract | 257 | 26 | 2.449 | 13.91 | 24.10 | 2435.40 | 0.7509 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.677 |
+| TCP position RMSE (mm, per-axis) | 15.90 |
+| EE position RMS L2 (mm) | 29.99 |
+| TCP rotvec (mrad) | 3139.66 |
+| W1 effort mean (A) | 0.8547 |
+| W1 effort per joint (A) | j0=0.2502, j1=1.6125, j2=1.7019, j3=0.6996, j4=0.2917, j5=0.5721 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00075 | -0.00038 | -0.00070 | 0.00109 | 0.030 |
+| 1 | 0.00077 | -0.00088 | -0.00123 | 0.00170 | 0.060 |
+| 2 | 0.00079 | -0.00086 | -0.00121 | 0.00168 | 0.054 |
+| 3 | 0.00167 | -0.00041 | -0.00103 | 0.00200 | 0.123 |
+| 4 | 0.00034 | 0.00002 | -0.00013 | 0.00036 | 0.087 |
+| 5 | 0.00180 | -0.00118 | -0.00160 | 0.00268 | 0.126 |
+| 6 | 0.00190 | -0.00114 | -0.00164 | 0.00276 | 0.172 |
+| 7 | 0.00062 | -0.00049 | -0.00101 | 0.00128 | 0.062 |
+| 8 | -0.00013 | -0.00021 | -0.00021 | 0.00033 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0cba2c55-ca38-4579-b023-b86cfa1d09b0.md b/gap_reports/gap_0cba2c55-ca38-4579-b023-b86cfa1d09b0.md
new file mode 100644
index 0000000000000000000000000000000000000000..b5421fa5cd8c3cbb786a20863b9b84e2516a53e1
--- /dev/null
+++ b/gap_reports/gap_0cba2c55-ca38-4579-b023-b86cfa1d09b0.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0cba2c55-ca38-4579-b023-b86cfa1d09b0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0cba2c55-ca38-4579-b023-b86cfa1d09b0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2870 |
+| Sim rows | 254 |
+| Real episode_id | `0cba2c55-ca38-4579-b023-b86cfa1d09b0` |
+| Sim episode_id | `0cba2c55-ca38-4579-b023-b86cfa1d09b0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 243 | 21 | 3.422 | 16.66 | 28.86 | 3.61 | 0.6369 |
+| 1 | descend | 365 | 32 | 0.589 | 4.56 | 7.90 | 5.60 | 0.7785 |
+| 2 | settle | 379 | 33 | 0.028 | 1.21 | 2.09 | 5.68 | 0.6804 |
+| 3 | close | 140 | 13 | 0.557 | 4.43 | 7.67 | 7.72 | 0.9741 |
+| 4 | lift | 402 | 35 | 3.504 | 19.34 | 33.50 | 5.15 | 1.1241 |
+| 5 | move_xy | 405 | 35 | 7.930 | 44.00 | 76.20 | 5.71 | 0.9009 |
+| 6 | lower | 396 | 35 | 0.095 | 1.99 | 3.44 | 7.85 | 0.9964 |
+| 7 | open | 139 | 13 | 0.497 | 3.45 | 5.98 | 5.56 | 0.6419 |
+| 8 | retract | 401 | 35 | 3.349 | 18.27 | 31.65 | 3.72 | 0.7436 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.317 |
+| TCP position RMSE (mm, per-axis) | 18.19 |
+| EE position RMS L2 (mm) | 34.67 |
+| TCP rotvec (mrad) | 5.79 |
+| W1 effort mean (A) | 0.8206 |
+| W1 effort per joint (A) | j0=0.2496, j1=1.5251, j2=1.5320, j3=0.6703, j4=0.3637, j5=0.5831 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00141 | -0.00067 | -0.00082 | 0.00176 | 0.031 |
+| 1 | 0.00141 | -0.00092 | -0.00123 | 0.00208 | 0.057 |
+| 2 | 0.00145 | -0.00094 | -0.00120 | 0.00210 | 0.057 |
+| 3 | 0.00281 | -0.00078 | -0.00107 | 0.00311 | 0.201 |
+| 4 | 0.00015 | -0.00017 | -0.00023 | 0.00032 | 0.094 |
+| 5 | 0.00224 | -0.00114 | -0.00211 | 0.00328 | 0.148 |
+| 6 | 0.00274 | -0.00101 | -0.00248 | 0.00383 | 0.173 |
+| 7 | 0.00126 | -0.00069 | -0.00098 | 0.00174 | 0.043 |
+| 8 | -0.00014 | -0.00021 | -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_0cbbea65-395a-411e-81f5-5de1d673708e.md b/gap_reports/gap_0cbbea65-395a-411e-81f5-5de1d673708e.md
new file mode 100644
index 0000000000000000000000000000000000000000..843fbee1d11a89bf2818bb777b8023b149523839
--- /dev/null
+++ b/gap_reports/gap_0cbbea65-395a-411e-81f5-5de1d673708e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0cbbea65-395a-411e-81f5-5de1d673708e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0cbbea65-395a-411e-81f5-5de1d673708e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2788 |
+| Sim rows | 249 |
+| Real episode_id | `0cbbea65-395a-411e-81f5-5de1d673708e` |
+| Sim episode_id | `0cbbea65-395a-411e-81f5-5de1d673708e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 195 | 18 | 3.168 | 11.47 | 19.86 | 1960.48 | 0.5919 |
+| 1 | descend | 314 | 28 | 1.141 | 6.90 | 11.95 | 3625.99 | 0.6469 |
+| 2 | settle | 376 | 33 | 0.024 | 0.69 | 1.19 | 3626.00 | 0.6497 |
+| 3 | close | 129 | 12 | 0.992 | 5.64 | 9.76 | 1112.60 | 0.9020 |
+| 4 | lift | 457 | 40 | 3.719 | 15.22 | 26.36 | 1915.55 | 1.0796 |
+| 5 | move_xy | 356 | 31 | 8.337 | 36.16 | 62.63 | 2108.60 | 0.8709 |
+| 6 | lower | 378 | 33 | 0.078 | 1.19 | 2.05 | 1382.28 | 0.8889 |
+| 7 | open | 128 | 12 | 0.970 | 5.63 | 9.75 | 3626.22 | 0.5773 |
+| 8 | retract | 455 | 40 | 3.587 | 14.74 | 25.53 | 2299.45 | 0.7017 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.488 |
+| TCP position RMSE (mm, per-axis) | 14.91 |
+| EE position RMS L2 (mm) | 27.83 |
+| TCP rotvec (mrad) | 2578.55 |
+| W1 effort mean (A) | 0.7622 |
+| W1 effort per joint (A) | j0=0.2632, j1=1.1868, j2=1.4517, j3=0.6532, j4=0.3827, j5=0.6355 |
+
+## Phase-end anchor (sim - 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 | -0.00022 | -0.00041 | 0.00081 | 0.040 |
+| 1 | 0.00069 | -0.00054 | -0.00078 | 0.00117 | 0.037 |
+| 2 | 0.00069 | -0.00055 | -0.00077 | 0.00117 | 0.039 |
+| 3 | 0.00093 | -0.00018 | -0.00074 | 0.00120 | 0.064 |
+| 4 | 0.00039 | 0.00000 | -0.00016 | 0.00042 | 0.083 |
+| 5 | 0.00191 | -0.00058 | -0.00191 | 0.00276 | 0.172 |
+| 6 | 0.00144 | -0.00073 | -0.00139 | 0.00213 | 0.112 |
+| 7 | 0.00045 | -0.00022 | -0.00052 | 0.00072 | 0.040 |
+| 8 | -0.00005 | -0.00007 | -0.00013 | 0.00015 | 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_0ceaf1cb-066b-467e-a60e-c6fbc29aa4f5.md b/gap_reports/gap_0ceaf1cb-066b-467e-a60e-c6fbc29aa4f5.md
new file mode 100644
index 0000000000000000000000000000000000000000..db0cf1a01dba25ba6b2482d068769d7bd5643508
--- /dev/null
+++ b/gap_reports/gap_0ceaf1cb-066b-467e-a60e-c6fbc29aa4f5.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0ceaf1cb-066b-467e-a60e-c6fbc29aa4f5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0ceaf1cb-066b-467e-a60e-c6fbc29aa4f5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2482 |
+| Sim rows | 221 |
+| Real episode_id | `0ceaf1cb-066b-467e-a60e-c6fbc29aa4f5` |
+| Sim episode_id | `0ceaf1cb-066b-467e-a60e-c6fbc29aa4f5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 233 | 21 | 2.775 | 11.42 | 19.78 | 1885.21 | 0.6016 |
+| 1 | descend | 261 | 23 | 0.533 | 3.76 | 6.51 | 3625.40 | 0.7067 |
+| 2 | settle | 366 | 32 | 0.022 | 0.76 | 1.32 | 3625.31 | 0.6965 |
+| 3 | close | 93 | 9 | 0.328 | 2.57 | 4.45 | 3625.88 | 0.9686 |
+| 4 | lift | 343 | 30 | 3.676 | 17.31 | 29.98 | 2291.30 | 1.1265 |
+| 5 | move_xy | 351 | 31 | 7.123 | 34.31 | 59.42 | 2557.73 | 0.8704 |
+| 6 | lower | 396 | 34 | 0.083 | 1.36 | 2.36 | 3047.50 | 0.9352 |
+| 7 | open | 95 | 9 | 0.346 | 2.12 | 3.68 | 3625.40 | 0.6672 |
+| 8 | retract | 344 | 30 | 3.787 | 17.86 | 30.93 | 2304.40 | 0.7271 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.106 |
+| TCP position RMSE (mm, per-axis) | 14.73 |
+| EE position RMS L2 (mm) | 28.28 |
+| TCP rotvec (mrad) | 3028.03 |
+| W1 effort mean (A) | 0.8007 |
+| W1 effort per joint (A) | j0=0.1957, j1=1.3275, j2=1.6001, j3=0.7774, j4=0.2767, j5=0.6266 |
+
+## Phase-end anchor (sim - 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 | -0.00036 | -0.00063 | 0.00115 | 0.037 |
+| 1 | 0.00085 | -0.00052 | -0.00087 | 0.00132 | 0.040 |
+| 2 | 0.00086 | -0.00053 | -0.00089 | 0.00134 | 0.045 |
+| 3 | 0.00169 | -0.00029 | -0.00135 | 0.00219 | 0.123 |
+| 4 | 0.00033 | -0.00014 | -0.00049 | 0.00061 | 0.101 |
+| 5 | 0.00147 | -0.00079 | -0.00069 | 0.00181 | 0.111 |
+| 6 | 0.00160 | -0.00069 | -0.00097 | 0.00199 | 0.119 |
+| 7 | 0.00075 | -0.00036 | -0.00075 | 0.00112 | 0.035 |
+| 8 | -0.00012 | -0.00018 | -0.00017 | 0.00027 | 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_0d0ee4f8-0d65-46b2-a483-6f7023c99b99.md b/gap_reports/gap_0d0ee4f8-0d65-46b2-a483-6f7023c99b99.md
new file mode 100644
index 0000000000000000000000000000000000000000..65ae49e7fa0a16a1ea1397db99c8170bfa76183d
--- /dev/null
+++ b/gap_reports/gap_0d0ee4f8-0d65-46b2-a483-6f7023c99b99.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0d0ee4f8-0d65-46b2-a483-6f7023c99b99.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0d0ee4f8-0d65-46b2-a483-6f7023c99b99.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2877 |
+| Sim rows | 255 |
+| Real episode_id | `0d0ee4f8-0d65-46b2-a483-6f7023c99b99` |
+| Sim episode_id | `0d0ee4f8-0d65-46b2-a483-6f7023c99b99` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.388 | 13.36 | 23.13 | 1949.82 | 0.6126 |
+| 1 | descend | 697 | 60 | 0.410 | 2.81 | 4.87 | 3624.69 | 0.7600 |
+| 2 | settle | 351 | 31 | 0.027 | 0.96 | 1.67 | 3624.51 | 0.7949 |
+| 3 | close | 167 | 15 | 0.803 | 5.61 | 9.72 | 3625.06 | 1.0959 |
+| 4 | lift | 274 | 24 | 2.246 | 12.95 | 22.42 | 2409.22 | 1.1248 |
+| 5 | move_xy | 350 | 31 | 5.263 | 31.94 | 55.32 | 2767.67 | 0.9677 |
+| 6 | lower | 400 | 35 | 0.102 | 1.78 | 3.09 | 3625.04 | 1.0589 |
+| 7 | open | 166 | 15 | 0.961 | 6.60 | 11.43 | 3624.75 | 0.7191 |
+| 8 | retract | 275 | 24 | 2.235 | 12.94 | 22.42 | 2414.42 | 0.7573 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.241 |
+| TCP position RMSE (mm, per-axis) | 13.42 |
+| EE position RMS L2 (mm) | 22.92 |
+| TCP rotvec (mrad) | 3140.98 |
+| W1 effort mean (A) | 0.8486 |
+| W1 effort per joint (A) | j0=0.2559, j1=1.5935, j2=1.6969, j3=0.7186, j4=0.2886, j5=0.5380 |
+
+## Phase-end anchor (sim - 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 | -0.00040 | -0.00069 | 0.00112 | 0.032 |
+| 1 | 0.00074 | -0.00085 | -0.00126 | 0.00170 | 0.062 |
+| 2 | 0.00077 | -0.00084 | -0.00123 | 0.00168 | 0.056 |
+| 3 | 0.00158 | -0.00046 | -0.00073 | 0.00181 | 0.114 |
+| 4 | 0.00022 | -0.00004 | -0.00019 | 0.00030 | 0.067 |
+| 5 | 0.00165 | -0.00133 | -0.00291 | 0.00360 | 0.204 |
+| 6 | 0.00183 | -0.00127 | -0.00214 | 0.00309 | 0.143 |
+| 7 | 0.00056 | -0.00053 | -0.00100 | 0.00127 | 0.058 |
+| 8 | -0.00013 | -0.00019 | -0.00020 | 0.00031 | 0.037 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0d32e4ff-6e1b-403b-93ab-06624a6ca02e.md b/gap_reports/gap_0d32e4ff-6e1b-403b-93ab-06624a6ca02e.md
new file mode 100644
index 0000000000000000000000000000000000000000..bfbaa886b3a602427345468109eb8c1a4aaa4d11
--- /dev/null
+++ b/gap_reports/gap_0d32e4ff-6e1b-403b-93ab-06624a6ca02e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0d32e4ff-6e1b-403b-93ab-06624a6ca02e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0d32e4ff-6e1b-403b-93ab-06624a6ca02e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2499 |
+| Sim rows | 250 |
+| Real episode_id | `0d32e4ff-6e1b-403b-93ab-06624a6ca02e` |
+| Sim episode_id | `0d32e4ff-6e1b-403b-93ab-06624a6ca02e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 175 | 18 | 2.978 | 11.07 | 19.17 | 1957.46 | 0.5832 |
+| 1 | descend | 318 | 32 | 0.986 | 5.74 | 9.94 | 3626.09 | 0.7261 |
+| 2 | settle | 329 | 32 | 0.021 | 0.60 | 1.05 | 3625.99 | 0.7236 |
+| 3 | close | 137 | 14 | 0.887 | 5.10 | 8.84 | 1530.59 | 0.9436 |
+| 4 | lift | 355 | 35 | 3.266 | 13.14 | 22.76 | 1811.09 | 1.0704 |
+| 5 | move_xy | 332 | 33 | 6.485 | 29.36 | 50.85 | 1921.06 | 0.8722 |
+| 6 | lower | 357 | 35 | 0.085 | 1.17 | 2.02 | 1134.28 | 0.9501 |
+| 7 | open | 139 | 14 | 1.174 | 6.89 | 11.93 | 3626.26 | 0.6112 |
+| 8 | retract | 357 | 35 | 3.223 | 13.03 | 22.57 | 2365.95 | 0.7027 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.889 |
+| TCP position RMSE (mm, per-axis) | 12.63 |
+| EE position RMS L2 (mm) | 23.26 |
+| TCP rotvec (mrad) | 2570.67 |
+| W1 effort mean (A) | 0.7896 |
+| W1 effort per joint (A) | j0=0.2491, j1=1.2202, j2=1.6130, j3=0.7008, j4=0.3349, j5=0.6196 |
+
+## Phase-end anchor (sim - 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 | -0.00024 | -0.00047 | 0.00065 | 0.034 |
+| 1 | 0.00041 | -0.00056 | -0.00079 | 0.00105 | 0.036 |
+| 2 | 0.00042 | -0.00056 | -0.00075 | 0.00102 | 0.034 |
+| 3 | 0.00068 | -0.00033 | -0.00094 | 0.00121 | 0.095 |
+| 4 | 0.00036 | 0.00003 | -0.00011 | 0.00038 | 0.071 |
+| 5 | 0.00115 | -0.00075 | -0.00143 | 0.00198 | 0.127 |
+| 6 | 0.00106 | -0.00079 | -0.00159 | 0.00207 | 0.113 |
+| 7 | 0.00026 | -0.00031 | -0.00056 | 0.00069 | 0.038 |
+| 8 | -0.00005 | -0.00007 | -0.00013 | 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_0d3ac997-4efc-4e7d-abe2-42ddfb8ca1ae.md b/gap_reports/gap_0d3ac997-4efc-4e7d-abe2-42ddfb8ca1ae.md
new file mode 100644
index 0000000000000000000000000000000000000000..a130c1b4e2c6168abc1d0d9b319538549e3a7e71
--- /dev/null
+++ b/gap_reports/gap_0d3ac997-4efc-4e7d-abe2-42ddfb8ca1ae.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0d3ac997-4efc-4e7d-abe2-42ddfb8ca1ae.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0d3ac997-4efc-4e7d-abe2-42ddfb8ca1ae.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1780 |
+| Sim rows | 179 |
+| Real episode_id | `0d3ac997-4efc-4e7d-abe2-42ddfb8ca1ae` |
+| Sim episode_id | `0d3ac997-4efc-4e7d-abe2-42ddfb8ca1ae` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 6.108 | 20.82 | 36.06 | 1419.69 | 0.7931 |
+| 1 | descend | 96 | 10 | 0.988 | 4.71 | 8.16 | 4.55 | 0.6011 |
+| 2 | settle | 41 | 5 | 0.017 | 2.61 | 4.53 | 5.03 | 0.6592 |
+| 3 | close | 377 | 37 | 0.114 | 2.06 | 3.57 | 3.90 | 0.9846 |
+| 4 | lift | 95 | 10 | 0.814 | 3.95 | 6.85 | 3.13 | 1.0568 |
+| 5 | move_xy | 232 | 23 | 8.809 | 37.70 | 65.30 | 16.31 | 0.9662 |
+| 6 | lower | 98 | 10 | 0.912 | 3.94 | 6.83 | 8.36 | 1.0805 |
+| 7 | open | 379 | 37 | 0.022 | 2.02 | 3.50 | 4.62 | 0.5646 |
+| 8 | retract | 97 | 10 | 1.000 | 4.44 | 7.70 | 3.88 | 0.6516 |
+| 9 | return | 166 | 17 | 2.829 | 13.43 | 23.26 | 760.05 | 0.7640 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.555 |
+| TCP position RMSE (mm, per-axis) | 14.57 |
+| EE position RMS L2 (mm) | 27.74 |
+| TCP rotvec (mrad) | 509.28 |
+| W1 effort mean (A) | 0.7933 |
+| W1 effort per joint (A) | j0=0.1915, j1=1.3810, j2=1.5634, j3=0.9022, j4=0.2744, j5=0.4472 |
+
+## Phase-end anchor (sim - 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 | -0.00366 | -0.00104 | 0.00402 | 0.034 |
+| 1 | 0.00150 | -0.00412 | -0.00097 | 0.00450 | 0.027 |
+| 2 | 0.00150 | -0.00412 | -0.00110 | 0.00452 | 0.037 |
+| 3 | 0.00072 | -0.00338 | -0.00052 | 0.00349 | 0.152 |
+| 4 | 0.00063 | -0.00292 | -0.00131 | 0.00327 | 0.180 |
+| 5 | -0.00118 | -0.00326 | -0.00006 | 0.00347 | 0.661 |
+| 6 | 0.00040 | -0.00246 | -0.00133 | 0.00283 | 0.311 |
+| 7 | 0.00181 | -0.00297 | 0.00001 | 0.00348 | 0.036 |
+| 8 | 0.00135 | -0.00321 | -0.00004 | 0.00348 | 0.044 |
+| 9 | 0.00004 | -0.00018 | -0.00023 | 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_0d45afa0-c339-49f5-93c2-70cdd6d283a5.md b/gap_reports/gap_0d45afa0-c339-49f5-93c2-70cdd6d283a5.md
new file mode 100644
index 0000000000000000000000000000000000000000..4cd56539232ecff7de193e6d77d91ed6910f7582
--- /dev/null
+++ b/gap_reports/gap_0d45afa0-c339-49f5-93c2-70cdd6d283a5.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0d45afa0-c339-49f5-93c2-70cdd6d283a5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0d45afa0-c339-49f5-93c2-70cdd6d283a5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3157 |
+| Sim rows | 314 |
+| Real episode_id | `0d45afa0-c339-49f5-93c2-70cdd6d283a5` |
+| Sim episode_id | `0d45afa0-c339-49f5-93c2-70cdd6d283a5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 242 | 24 | 3.952 | 19.29 | 33.41 | 2031.36 | 0.6325 |
+| 1 | descend | 729 | 71 | 0.352 | 2.35 | 4.07 | 3624.77 | 0.7774 |
+| 2 | settle | 320 | 32 | 0.026 | 1.01 | 1.74 | 3624.58 | 0.7388 |
+| 3 | close | 124 | 13 | 1.104 | 7.60 | 13.16 | 3516.04 | 1.0286 |
+| 4 | lift | 417 | 41 | 3.507 | 18.29 | 31.68 | 2485.39 | 1.1404 |
+| 5 | move_xy | 439 | 43 | 8.162 | 44.73 | 77.48 | 2811.12 | 0.9256 |
+| 6 | lower | 342 | 34 | 0.094 | 1.77 | 3.06 | 3625.17 | 1.0456 |
+| 7 | open | 123 | 13 | 1.198 | 8.08 | 14.00 | 3624.72 | 0.7403 |
+| 8 | retract | 421 | 41 | 3.393 | 17.80 | 30.82 | 2467.07 | 0.7536 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.477 |
+| TCP position RMSE (mm, per-axis) | 18.73 |
+| EE position RMS L2 (mm) | 34.63 |
+| TCP rotvec (mrad) | 3148.40 |
+| W1 effort mean (A) | 0.8400 |
+| W1 effort per joint (A) | j0=0.2642, j1=1.5551, j2=1.6207, j3=0.7549, j4=0.2548, j5=0.5903 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00107 | -0.00015 | -0.00087 | 0.00139 | 0.039 |
+| 1 | 0.00114 | -0.00063 | -0.00123 | 0.00179 | 0.061 |
+| 2 | 0.00112 | -0.00065 | -0.00117 | 0.00175 | 0.055 |
+| 3 | 0.00162 | -0.00025 | -0.00052 | 0.00172 | 0.120 |
+| 4 | 0.00023 | 0.00012 | 0.00001 | 0.00026 | 0.054 |
+| 5 | 0.00247 | -0.00098 | -0.00135 | 0.00298 | 0.167 |
+| 6 | 0.00222 | -0.00088 | -0.00195 | 0.00309 | 0.131 |
+| 7 | 0.00085 | -0.00019 | -0.00103 | 0.00136 | 0.064 |
+| 8 | -0.00007 | -0.00010 | -0.00013 | 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_0d56ff36-ce2f-43d6-8a2c-25ec5630dafb.md b/gap_reports/gap_0d56ff36-ce2f-43d6-8a2c-25ec5630dafb.md
new file mode 100644
index 0000000000000000000000000000000000000000..ef7454a392d908756077d8da6b9c70f525d23721
--- /dev/null
+++ b/gap_reports/gap_0d56ff36-ce2f-43d6-8a2c-25ec5630dafb.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0d56ff36-ce2f-43d6-8a2c-25ec5630dafb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0d56ff36-ce2f-43d6-8a2c-25ec5630dafb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 457 |
+| Sim rows | 61 |
+| Real episode_id | `0d56ff36-ce2f-43d6-8a2c-25ec5630dafb` |
+| Sim episode_id | `0d56ff36-ce2f-43d6-8a2c-25ec5630dafb` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 24 | 2.155 | 10.00 | 17.33 | 351.97 | 0.8081 |
+| 1 | descend | 211 | 21 | 0.022 | 2.26 | 3.91 | 2.03 | 0.8614 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.524 |
+| TCP position RMSE (mm, per-axis) | 7.25 |
+| EE position RMS L2 (mm) | 12.99 |
+| TCP rotvec (mrad) | 248.88 |
+| W1 effort mean (A) | 0.8327 |
+| W1 effort per joint (A) | j0=0.1519, j1=1.8414, j2=1.8761, j3=0.8384, j4=0.1470, j5=0.1415 |
+
+## Phase-end anchor (sim - 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 | -0.00308 | 0.00059 | 0.00402 | 0.034 |
+| 1 | -0.00237 | -0.00304 | 0.00048 | 0.00388 | 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_0d676426-7470-472d-9e0c-9025c5856a1d.md b/gap_reports/gap_0d676426-7470-472d-9e0c-9025c5856a1d.md
new file mode 100644
index 0000000000000000000000000000000000000000..05695ef4ecb749fa06af4e874829265ada9e5e30
--- /dev/null
+++ b/gap_reports/gap_0d676426-7470-472d-9e0c-9025c5856a1d.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0d676426-7470-472d-9e0c-9025c5856a1d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0d676426-7470-472d-9e0c-9025c5856a1d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1680 |
+| Sim rows | 173 |
+| Real episode_id | `0d676426-7470-472d-9e0c-9025c5856a1d` |
+| Sim episode_id | `0d676426-7470-472d-9e0c-9025c5856a1d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 153 | 16 | 2.061 | 9.76 | 16.90 | 652.73 | 0.6727 |
+| 1 | descend | 78 | 9 | 0.563 | 3.58 | 6.20 | 4.48 | 0.6230 |
+| 2 | settle | 23 | 3 | 0.021 | 2.79 | 4.83 | 4.90 | 0.6300 |
+| 3 | close | 366 | 36 | 0.136 | 3.14 | 5.43 | 705.70 | 1.0694 |
+| 4 | lift | 77 | 9 | 0.553 | 3.57 | 6.19 | 8.66 | 1.1395 |
+| 5 | move_xy | 177 | 18 | 14.373 | 13.69 | 23.71 | 500.64 | 1.0733 |
+| 6 | lower | 81 | 9 | 27.769 | 3.47 | 6.01 | 1064.18 | 1.1914 |
+| 7 | open | 377 | 37 | 27.760 | 2.50 | 4.33 | 1063.46 | 0.7287 |
+| 8 | retract | 79 | 9 | 27.767 | 3.35 | 5.80 | 1062.99 | 0.8270 |
+| 9 | return | 269 | 27 | 15.970 | 13.91 | 24.10 | 1383.30 | 0.8318 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 16.671 |
+| TCP position RMSE (mm, per-axis) | 7.41 |
+| EE position RMS L2 (mm) | 14.00 |
+| TCP rotvec (mrad) | 805.09 |
+| W1 effort mean (A) | 0.8775 |
+| W1 effort per joint (A) | j0=0.1750, j1=1.3007, j2=1.4274, j3=0.7577, j4=0.4815, j5=1.1224 |
+
+## Phase-end anchor (sim - 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 | -0.00399 | -0.00052 | 0.00447 | 0.030 |
+| 1 | 0.00229 | -0.00422 | -0.00047 | 0.00482 | 0.031 |
+| 2 | 0.00230 | -0.00421 | -0.00057 | 0.00483 | 0.034 |
+| 3 | 0.00313 | -0.00375 | -0.00258 | 0.00552 | 0.242 |
+| 4 | 0.00235 | -0.00365 | -0.00267 | 0.00509 | 0.260 |
+| 5 | 0.00179 | -0.00353 | -0.00156 | 0.00425 | 67.912 |
+| 6 | 0.00235 | -0.00305 | -0.00145 | 0.00411 | 67.995 |
+| 7 | 0.00176 | -0.00395 | 0.00005 | 0.00433 | 67.997 |
+| 8 | 0.00136 | -0.00404 | -0.00001 | 0.00426 | 68.000 |
+| 9 | -0.00000 | -0.00006 | -0.00019 | 0.00019 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0d7000e3-dc94-423d-887b-0be8d9473b0d.md b/gap_reports/gap_0d7000e3-dc94-423d-887b-0be8d9473b0d.md
new file mode 100644
index 0000000000000000000000000000000000000000..503069616700410aa5ffdf2ca4c115bc8d0af13b
--- /dev/null
+++ b/gap_reports/gap_0d7000e3-dc94-423d-887b-0be8d9473b0d.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0d7000e3-dc94-423d-887b-0be8d9473b0d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0d7000e3-dc94-423d-887b-0be8d9473b0d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 566 |
+| Sim rows | 72 |
+| Real episode_id | `0d7000e3-dc94-423d-887b-0be8d9473b0d` |
+| Sim episode_id | `0d7000e3-dc94-423d-887b-0be8d9473b0d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 7.294 | 29.36 | 50.85 | 26.31 | 0.7750 |
+| 1 | descend | 208 | 21 | 0.026 | 7.34 | 12.70 | 1.94 | 0.7926 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.158 |
+| TCP position RMSE (mm, per-axis) | 21.40 |
+| EE position RMS L2 (mm) | 41.17 |
+| TCP rotvec (mrad) | 18.66 |
+| W1 effort mean (A) | 0.7815 |
+| W1 effort per joint (A) | j0=0.1587, j1=1.7616, j2=1.6430, j3=0.7740, j4=0.1825, j5=0.1689 |
+
+## Phase-end anchor (sim - 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 | -0.01253 | -0.00079 | 0.01266 | 0.062 |
+| 1 | 0.00172 | -0.01258 | -0.00086 | 0.01272 | 0.054 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0d702040-5f33-4741-b156-be258e79e234.md b/gap_reports/gap_0d702040-5f33-4741-b156-be258e79e234.md
new file mode 100644
index 0000000000000000000000000000000000000000..1cc1b4c57fbc150666c5a0f84a676a4108727b3b
--- /dev/null
+++ b/gap_reports/gap_0d702040-5f33-4741-b156-be258e79e234.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0d702040-5f33-4741-b156-be258e79e234.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0d702040-5f33-4741-b156-be258e79e234.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3701 |
+| Sim rows | 790 |
+| Real episode_id | `0d702040-5f33-4741-b156-be258e79e234` |
+| Sim episode_id | `0d702040-5f33-4741-b156-be258e79e234` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.580 | 9.43 | 16.34 | 2062.47 | 0.5904 |
+| 1 | descend | 861 | 74 | 0.410 | 2.51 | 4.35 | 3626.09 | 0.6733 |
+| 2 | settle | 534 | 512 | 4.300 | 15.20 | 26.34 | 3625.27 | 0.7273 |
+| 3 | close | 176 | 16 | 0.940 | 6.67 | 11.56 | 3625.54 | 1.0159 |
+| 4 | lift | 435 | 38 | 3.108 | 16.67 | 28.87 | 2421.13 | 1.1245 |
+| 5 | move_xy | 532 | 46 | 7.083 | 40.72 | 70.53 | 2815.77 | 0.9437 |
+| 6 | lower | 383 | 33 | 0.096 | 1.74 | 3.01 | 3625.05 | 1.1144 |
+| 7 | open | 174 | 16 | 0.862 | 5.99 | 10.37 | 3624.74 | 0.7482 |
+| 8 | retract | 436 | 38 | 3.089 | 16.62 | 28.78 | 2430.46 | 0.7499 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.272 |
+| TCP position RMSE (mm, per-axis) | 17.07 |
+| EE position RMS L2 (mm) | 32.24 |
+| TCP rotvec (mrad) | 3156.42 |
+| W1 effort mean (A) | 0.8210 |
+| W1 effort per joint (A) | j0=0.2826, j1=1.3757, j2=1.6529, j3=0.6991, j4=0.3699, j5=0.5458 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00038 | -0.00023 | -0.00043 | 0.00062 | 0.038 |
+| 1 | 0.00043 | -0.00056 | -0.00075 | 0.00103 | 0.033 |
+| 2 | 0.00090 | -0.00074 | -0.00116 | 0.00165 | 0.052 |
+| 3 | 0.00156 | -0.00032 | -0.00082 | 0.00179 | 0.102 |
+| 4 | 0.00027 | -0.00019 | -0.00031 | 0.00046 | 0.096 |
+| 5 | 0.00226 | -0.00098 | -0.00059 | 0.00254 | 0.174 |
+| 6 | 0.00179 | -0.00099 | -0.00113 | 0.00233 | 0.120 |
+| 7 | 0.00074 | -0.00034 | -0.00103 | 0.00131 | 0.064 |
+| 8 | -0.00008 | -0.00010 | -0.00013 | 0.00018 | 0.018 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0d761984-d5f5-4f91-99fd-a922fe30c472.md b/gap_reports/gap_0d761984-d5f5-4f91-99fd-a922fe30c472.md
new file mode 100644
index 0000000000000000000000000000000000000000..c3fcd3dc29335a78c16f111684e7e670bf655ad1
--- /dev/null
+++ b/gap_reports/gap_0d761984-d5f5-4f91-99fd-a922fe30c472.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0d761984-d5f5-4f91-99fd-a922fe30c472.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0d761984-d5f5-4f91-99fd-a922fe30c472.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2832 |
+| Sim rows | 250 |
+| Real episode_id | `0d761984-d5f5-4f91-99fd-a922fe30c472` |
+| Sim episode_id | `0d761984-d5f5-4f91-99fd-a922fe30c472` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 216 | 19 | 3.376 | 16.30 | 28.24 | 1926.38 | 0.6380 |
+| 1 | descend | 496 | 43 | 0.681 | 4.81 | 8.32 | 3624.75 | 0.7926 |
+| 2 | settle | 369 | 32 | 0.026 | 1.00 | 1.73 | 3624.59 | 0.7297 |
+| 3 | close | 158 | 14 | 0.932 | 6.56 | 11.37 | 3624.73 | 1.0625 |
+| 4 | lift | 319 | 28 | 3.440 | 17.96 | 31.11 | 2485.89 | 1.1386 |
+| 5 | move_xy | 387 | 34 | 8.466 | 46.43 | 80.41 | 2812.51 | 0.9462 |
+| 6 | lower | 410 | 36 | 0.087 | 1.70 | 2.94 | 3625.09 | 1.0652 |
+| 7 | open | 155 | 14 | 1.212 | 8.26 | 14.32 | 3624.77 | 0.7402 |
+| 8 | retract | 322 | 28 | 3.516 | 18.45 | 31.96 | 2490.53 | 0.7651 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.497 |
+| TCP position RMSE (mm, per-axis) | 18.92 |
+| EE position RMS L2 (mm) | 34.67 |
+| TCP rotvec (mrad) | 3156.98 |
+| W1 effort mean (A) | 0.8535 |
+| W1 effort per joint (A) | j0=0.2557, j1=1.6232, j2=1.5803, j3=0.7633, j4=0.2855, j5=0.6133 |
+
+## Phase-end anchor (sim - 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 | -0.00018 | -0.00069 | 0.00129 | 0.027 |
+| 1 | 0.00109 | -0.00063 | -0.00120 | 0.00174 | 0.058 |
+| 2 | 0.00110 | -0.00064 | -0.00116 | 0.00172 | 0.053 |
+| 3 | 0.00240 | -0.00008 | -0.00178 | 0.00298 | 0.205 |
+| 4 | 0.00029 | 0.00020 | -0.00015 | 0.00038 | 0.087 |
+| 5 | 0.00259 | -0.00080 | -0.00186 | 0.00329 | 0.184 |
+| 6 | 0.00254 | -0.00098 | -0.00265 | 0.00380 | 0.207 |
+| 7 | 0.00091 | -0.00024 | -0.00097 | 0.00135 | 0.063 |
+| 8 | -0.00013 | -0.00022 | -0.00022 | 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_0dad75b6-e905-41e2-a5d1-bc5449320c4a.md b/gap_reports/gap_0dad75b6-e905-41e2-a5d1-bc5449320c4a.md
new file mode 100644
index 0000000000000000000000000000000000000000..ac074dbb7e139ea7746cf09edfcc5aacf31a21b2
--- /dev/null
+++ b/gap_reports/gap_0dad75b6-e905-41e2-a5d1-bc5449320c4a.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0dad75b6-e905-41e2-a5d1-bc5449320c4a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0dad75b6-e905-41e2-a5d1-bc5449320c4a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 541 |
+| Sim rows | 70 |
+| Real episode_id | `0dad75b6-e905-41e2-a5d1-bc5449320c4a` |
+| Sim episode_id | `0dad75b6-e905-41e2-a5d1-bc5449320c4a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 332 | 33 | 3.512 | 16.12 | 27.92 | 7.45 | 0.7913 |
+| 1 | descend | 209 | 21 | 0.029 | 0.49 | 0.85 | 2.17 | 0.7618 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.484 |
+| TCP position RMSE (mm, per-axis) | 11.40 |
+| EE position RMS L2 (mm) | 21.88 |
+| TCP rotvec (mrad) | 5.49 |
+| W1 effort mean (A) | 0.7797 |
+| W1 effort per joint (A) | j0=0.1805, j1=1.6603, j2=1.7125, j3=0.8681, j4=0.0888, j5=0.1682 |
+
+## Phase-end anchor (sim - 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 | -0.00049 | 0.00079 | 0.00094 | 0.042 |
+| 1 | 0.00005 | -0.00051 | 0.00064 | 0.00082 | 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_0dbf902e-560d-45c9-9ca4-e8d9f98691a4.md b/gap_reports/gap_0dbf902e-560d-45c9-9ca4-e8d9f98691a4.md
new file mode 100644
index 0000000000000000000000000000000000000000..25550118b04188a354424d16cdc57fa90042952c
--- /dev/null
+++ b/gap_reports/gap_0dbf902e-560d-45c9-9ca4-e8d9f98691a4.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0dbf902e-560d-45c9-9ca4-e8d9f98691a4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0dbf902e-560d-45c9-9ca4-e8d9f98691a4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 949 |
+| Sim rows | 109 |
+| Real episode_id | `0dbf902e-560d-45c9-9ca4-e8d9f98691a4` |
+| Sim episode_id | `0dbf902e-560d-45c9-9ca4-e8d9f98691a4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 741 | 72 | 2.792 | 14.42 | 24.98 | 6.82 | 0.7752 |
+| 1 | descend | 208 | 21 | 0.025 | 0.39 | 0.68 | 2.01 | 0.7471 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.975 |
+| TCP position RMSE (mm, per-axis) | 10.20 |
+| EE position RMS L2 (mm) | 22.08 |
+| TCP rotvec (mrad) | 5.03 |
+| W1 effort mean (A) | 0.7687 |
+| W1 effort per joint (A) | j0=0.1847, j1=1.6400, j2=1.7548, j3=0.7553, j4=0.1158, j5=0.1613 |
+
+## Phase-end anchor (sim - 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 | -0.00028 | 0.00065 | 0.00071 | 0.045 |
+| 1 | 0.00012 | -0.00026 | 0.00065 | 0.00071 | 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_0de70256-382f-43c2-9a50-1cc7a7bff186.md b/gap_reports/gap_0de70256-382f-43c2-9a50-1cc7a7bff186.md
new file mode 100644
index 0000000000000000000000000000000000000000..c576fedc30979dbf946a881ce7a361fcab62f945
--- /dev/null
+++ b/gap_reports/gap_0de70256-382f-43c2-9a50-1cc7a7bff186.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0de70256-382f-43c2-9a50-1cc7a7bff186.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0de70256-382f-43c2-9a50-1cc7a7bff186.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2186 |
+| Sim rows | 220 |
+| Real episode_id | `0de70256-382f-43c2-9a50-1cc7a7bff186` |
+| Sim episode_id | `0de70256-382f-43c2-9a50-1cc7a7bff186` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.409 | 13.25 | 22.95 | 1945.45 | 0.6150 |
+| 1 | descend | 231 | 23 | 0.824 | 5.69 | 9.86 | 3624.62 | 0.7895 |
+| 2 | settle | 331 | 33 | 0.027 | 0.97 | 1.67 | 3624.52 | 0.7785 |
+| 3 | close | 101 | 11 | 0.506 | 3.87 | 6.70 | 3625.11 | 1.0154 |
+| 4 | lift | 293 | 29 | 2.497 | 15.24 | 26.39 | 2171.39 | 1.1177 |
+| 5 | move_xy | 304 | 30 | 5.135 | 31.96 | 55.35 | 2749.94 | 0.9563 |
+| 6 | lower | 349 | 34 | 0.092 | 1.67 | 2.89 | 3625.06 | 1.0787 |
+| 7 | open | 100 | 10 | 0.523 | 3.67 | 6.36 | 3624.67 | 0.7558 |
+| 8 | retract | 293 | 29 | 2.450 | 14.93 | 25.86 | 2310.02 | 0.7315 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.252 |
+| TCP position RMSE (mm, per-axis) | 13.81 |
+| EE position RMS L2 (mm) | 25.87 |
+| TCP rotvec (mrad) | 3110.80 |
+| W1 effort mean (A) | 0.8637 |
+| W1 effort per joint (A) | j0=0.2108, j1=1.6016, j2=1.7297, j3=0.7621, j4=0.2723, j5=0.6056 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00080 | -0.00054 | -0.00078 | 0.00124 | 0.035 |
+| 1 | 0.00076 | -0.00087 | -0.00127 | 0.00172 | 0.062 |
+| 2 | 0.00077 | -0.00087 | -0.00123 | 0.00170 | 0.059 |
+| 3 | 0.00142 | -0.00094 | -0.00178 | 0.00246 | 0.141 |
+| 4 | 0.00037 | -0.00028 | -0.00043 | 0.00063 | 0.117 |
+| 5 | 0.00182 | -0.00113 | -0.00142 | 0.00257 | 0.126 |
+| 6 | 0.00159 | -0.00117 | -0.00134 | 0.00239 | 0.109 |
+| 7 | 0.00052 | -0.00063 | -0.00101 | 0.00130 | 0.049 |
+| 8 | -0.00011 | -0.00016 | -0.00016 | 0.00025 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0de830d7-0302-4ddc-8aae-caa1c43ce7c6.md b/gap_reports/gap_0de830d7-0302-4ddc-8aae-caa1c43ce7c6.md
new file mode 100644
index 0000000000000000000000000000000000000000..ca88fb299df0b182c9737ee7ae93aa1753b8f566
--- /dev/null
+++ b/gap_reports/gap_0de830d7-0302-4ddc-8aae-caa1c43ce7c6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0de830d7-0302-4ddc-8aae-caa1c43ce7c6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0de830d7-0302-4ddc-8aae-caa1c43ce7c6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2358 |
+| Sim rows | 210 |
+| Real episode_id | `0de830d7-0302-4ddc-8aae-caa1c43ce7c6` |
+| Sim episode_id | `0de830d7-0302-4ddc-8aae-caa1c43ce7c6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.225 | 10.47 | 18.14 | 2.74 | 0.5692 |
+| 1 | descend | 259 | 23 | 0.730 | 4.86 | 8.42 | 3.86 | 0.7434 |
+| 2 | settle | 362 | 32 | 0.026 | 0.92 | 1.59 | 3.98 | 0.6617 |
+| 3 | close | 111 | 10 | 0.563 | 3.85 | 6.67 | 5.89 | 1.0006 |
+| 4 | lift | 307 | 27 | 2.382 | 12.03 | 20.83 | 4.13 | 1.0678 |
+| 5 | move_xy | 333 | 29 | 5.373 | 30.37 | 52.61 | 4.73 | 0.9098 |
+| 6 | lower | 387 | 34 | 0.091 | 1.56 | 2.70 | 6.33 | 0.9962 |
+| 7 | open | 111 | 10 | 0.471 | 3.14 | 5.43 | 3.98 | 0.6550 |
+| 8 | retract | 306 | 27 | 2.531 | 13.06 | 22.62 | 2.92 | 0.7024 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.285 |
+| TCP position RMSE (mm, per-axis) | 12.47 |
+| EE position RMS L2 (mm) | 23.50 |
+| TCP rotvec (mrad) | 4.43 |
+| W1 effort mean (A) | 0.7932 |
+| W1 effort per joint (A) | j0=0.2498, j1=1.3388, j2=1.4459, j3=0.6602, j4=0.4526, 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 | 0.00076 | -0.00073 | -0.00064 | 0.00123 | 0.030 |
+| 1 | 0.00069 | -0.00099 | -0.00102 | 0.00158 | 0.046 |
+| 2 | 0.00068 | -0.00101 | -0.00100 | 0.00157 | 0.047 |
+| 3 | 0.00164 | -0.00087 | -0.00125 | 0.00224 | 0.134 |
+| 4 | 0.00065 | 0.00018 | -0.00005 | 0.00067 | 0.122 |
+| 5 | 0.00188 | -0.00125 | -0.00123 | 0.00257 | 0.155 |
+| 6 | 0.00183 | -0.00130 | -0.00188 | 0.00292 | 0.158 |
+| 7 | 0.00049 | -0.00082 | -0.00084 | 0.00127 | 0.041 |
+| 8 | -0.00013 | -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_0df1fdbf-3b9b-4dbd-8eed-76daa876c5ec.md b/gap_reports/gap_0df1fdbf-3b9b-4dbd-8eed-76daa876c5ec.md
new file mode 100644
index 0000000000000000000000000000000000000000..e8fdb8805294d658c3743a48b0cda1d1cf752620
--- /dev/null
+++ b/gap_reports/gap_0df1fdbf-3b9b-4dbd-8eed-76daa876c5ec.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0df1fdbf-3b9b-4dbd-8eed-76daa876c5ec.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0df1fdbf-3b9b-4dbd-8eed-76daa876c5ec.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1597 |
+| Sim rows | 159 |
+| Real episode_id | `0df1fdbf-3b9b-4dbd-8eed-76daa876c5ec` |
+| Sim episode_id | `0df1fdbf-3b9b-4dbd-8eed-76daa876c5ec` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 140 | 14 | 2.607 | 12.65 | 21.92 | 553.85 | 0.7031 |
+| 1 | descend | 79 | 8 | 0.689 | 4.23 | 7.33 | 4.98 | 0.6592 |
+| 2 | settle | 32 | 4 | 0.020 | 2.95 | 5.10 | 5.23 | 0.6749 |
+| 3 | close | 380 | 37 | 0.125 | 3.47 | 6.02 | 9.61 | 1.0653 |
+| 4 | lift | 78 | 8 | 0.710 | 4.21 | 7.29 | 9.17 | 1.2039 |
+| 5 | move_xy | 142 | 14 | 1.835 | 15.98 | 27.67 | 44.94 | 1.1043 |
+| 6 | lower | 77 | 8 | 0.720 | 4.74 | 8.22 | 8.53 | 1.0974 |
+| 7 | open | 378 | 37 | 0.025 | 2.68 | 4.63 | 4.90 | 0.6002 |
+| 8 | retract | 78 | 8 | 0.598 | 3.81 | 6.60 | 4.32 | 0.7228 |
+| 9 | return | 213 | 21 | 2.569 | 11.60 | 20.08 | 995.41 | 0.7997 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.365 |
+| TCP position RMSE (mm, per-axis) | 8.06 |
+| EE position RMS L2 (mm) | 13.74 |
+| TCP rotvec (mrad) | 360.55 |
+| W1 effort mean (A) | 0.8346 |
+| W1 effort per joint (A) | j0=0.1492, j1=1.5693, j2=1.5470, j3=0.7337, j4=0.4847, j5=0.5235 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00180 | -0.00435 | -0.00064 | 0.00475 | 0.030 |
+| 1 | 0.00217 | -0.00456 | -0.00065 | 0.00509 | 0.038 |
+| 2 | 0.00216 | -0.00455 | -0.00081 | 0.00510 | 0.046 |
+| 3 | 0.00323 | -0.00442 | -0.00286 | 0.00617 | 0.240 |
+| 4 | 0.00235 | -0.00448 | -0.00285 | 0.00581 | 0.233 |
+| 5 | 0.00249 | -0.00363 | -0.00235 | 0.00500 | 0.220 |
+| 6 | 0.00323 | -0.00334 | -0.00208 | 0.00509 | 0.182 |
+| 7 | 0.00249 | -0.00388 | -0.00050 | 0.00464 | 0.052 |
+| 8 | 0.00208 | -0.00397 | -0.00066 | 0.00453 | 0.063 |
+| 9 | -0.00008 | -0.00014 | -0.00029 | 0.00033 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0e12bd8f-1239-41d7-ab40-6a5006c47c9b.md b/gap_reports/gap_0e12bd8f-1239-41d7-ab40-6a5006c47c9b.md
new file mode 100644
index 0000000000000000000000000000000000000000..efe57f3009d63d067621fa3cfe036e3e90d668a6
--- /dev/null
+++ b/gap_reports/gap_0e12bd8f-1239-41d7-ab40-6a5006c47c9b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0e12bd8f-1239-41d7-ab40-6a5006c47c9b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0e12bd8f-1239-41d7-ab40-6a5006c47c9b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2930 |
+| Sim rows | 258 |
+| Real episode_id | `0e12bd8f-1239-41d7-ab40-6a5006c47c9b` |
+| Sim episode_id | `0e12bd8f-1239-41d7-ab40-6a5006c47c9b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.565 | 13.38 | 23.17 | 1975.88 | 0.5837 |
+| 1 | descend | 385 | 34 | 1.129 | 6.81 | 11.80 | 3626.03 | 0.6630 |
+| 2 | settle | 356 | 31 | 0.021 | 0.67 | 1.17 | 3625.96 | 0.6382 |
+| 3 | close | 179 | 16 | 0.869 | 5.11 | 8.86 | 1077.00 | 0.9089 |
+| 4 | lift | 402 | 35 | 4.096 | 16.96 | 29.37 | 1866.61 | 1.0631 |
+| 5 | move_xy | 417 | 36 | 7.916 | 34.58 | 59.89 | 2090.47 | 0.8595 |
+| 6 | lower | 380 | 33 | 0.079 | 1.19 | 2.06 | 1616.59 | 0.8990 |
+| 7 | open | 180 | 16 | 0.904 | 5.19 | 8.99 | 3626.16 | 0.6001 |
+| 8 | retract | 402 | 35 | 4.046 | 16.88 | 29.23 | 2329.95 | 0.7061 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.518 |
+| TCP position RMSE (mm, per-axis) | 15.09 |
+| EE position RMS L2 (mm) | 28.58 |
+| TCP rotvec (mrad) | 2590.69 |
+| W1 effort mean (A) | 0.7565 |
+| W1 effort per joint (A) | j0=0.2260, j1=1.1825, j2=1.4650, j3=0.7257, j4=0.3072, j5=0.6327 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00067 | -0.00023 | -0.00045 | 0.00084 | 0.031 |
+| 1 | 0.00069 | -0.00053 | -0.00078 | 0.00117 | 0.037 |
+| 2 | 0.00069 | -0.00055 | -0.00075 | 0.00116 | 0.036 |
+| 3 | 0.00114 | -0.00022 | -0.00107 | 0.00158 | 0.115 |
+| 4 | 0.00007 | -0.00041 | -0.00047 | 0.00062 | 0.112 |
+| 5 | 0.00136 | -0.00067 | -0.00152 | 0.00215 | 0.105 |
+| 6 | 0.00159 | -0.00049 | -0.00236 | 0.00289 | 0.193 |
+| 7 | 0.00053 | -0.00023 | -0.00052 | 0.00077 | 0.038 |
+| 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_0e176471-af73-44d7-89f7-42e5dab1709c.md b/gap_reports/gap_0e176471-af73-44d7-89f7-42e5dab1709c.md
new file mode 100644
index 0000000000000000000000000000000000000000..3e41041510adb7e26f287479822d57bd4f2a832d
--- /dev/null
+++ b/gap_reports/gap_0e176471-af73-44d7-89f7-42e5dab1709c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0e176471-af73-44d7-89f7-42e5dab1709c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0e176471-af73-44d7-89f7-42e5dab1709c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2838 |
+| Sim rows | 252 |
+| Real episode_id | `0e176471-af73-44d7-89f7-42e5dab1709c` |
+| Sim episode_id | `0e176471-af73-44d7-89f7-42e5dab1709c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.647 | 12.84 | 22.24 | 2030.73 | 0.6318 |
+| 1 | descend | 438 | 38 | 1.411 | 9.89 | 17.13 | 3624.76 | 0.9382 |
+| 2 | settle | 369 | 33 | 0.030 | 1.00 | 1.73 | 3624.50 | 0.7285 |
+| 3 | close | 156 | 14 | 1.121 | 7.61 | 13.19 | 3625.31 | 1.0549 |
+| 4 | lift | 375 | 33 | 2.980 | 16.24 | 28.12 | 2426.44 | 1.1547 |
+| 5 | move_xy | 368 | 32 | 7.005 | 40.80 | 70.66 | 2865.78 | 0.9498 |
+| 6 | lower | 415 | 36 | 0.091 | 1.69 | 2.93 | 3625.04 | 1.1512 |
+| 7 | open | 155 | 14 | 1.098 | 7.59 | 13.14 | 3624.62 | 0.8460 |
+| 8 | retract | 374 | 33 | 2.926 | 16.00 | 27.71 | 2422.28 | 0.7524 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.944 |
+| TCP position RMSE (mm, per-axis) | 16.89 |
+| EE position RMS L2 (mm) | 30.85 |
+| TCP rotvec (mrad) | 3158.57 |
+| W1 effort mean (A) | 0.8960 |
+| W1 effort per joint (A) | j0=0.2493, j1=1.5766, j2=1.7134, j3=0.9330, j4=0.2555, j5=0.6483 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00088 | -0.00027 | -0.00073 | 0.00117 | 0.030 |
+| 1 | 0.00093 | -0.00075 | -0.00121 | 0.00170 | 0.053 |
+| 2 | 0.00094 | -0.00077 | -0.00125 | 0.00174 | 0.062 |
+| 3 | 0.00137 | -0.00050 | -0.00085 | 0.00169 | 0.087 |
+| 4 | 0.00008 | -0.00045 | -0.00053 | 0.00070 | 0.082 |
+| 5 | 0.00200 | -0.00089 | -0.00108 | 0.00244 | 0.118 |
+| 6 | 0.00210 | -0.00099 | -0.00132 | 0.00267 | 0.140 |
+| 7 | 0.00065 | -0.00039 | -0.00101 | 0.00126 | 0.066 |
+| 8 | -0.00011 | -0.00017 | -0.00016 | 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_0e2fb9fa-3b6b-4d66-ae5c-c4ed0f39e243.md b/gap_reports/gap_0e2fb9fa-3b6b-4d66-ae5c-c4ed0f39e243.md
new file mode 100644
index 0000000000000000000000000000000000000000..59e544bf1bec918ac4a35a3d9b793808146eab88
--- /dev/null
+++ b/gap_reports/gap_0e2fb9fa-3b6b-4d66-ae5c-c4ed0f39e243.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0e2fb9fa-3b6b-4d66-ae5c-c4ed0f39e243.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0e2fb9fa-3b6b-4d66-ae5c-c4ed0f39e243.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1562 |
+| Sim rows | 159 |
+| Real episode_id | `0e2fb9fa-3b6b-4d66-ae5c-c4ed0f39e243` |
+| Sim episode_id | `0e2fb9fa-3b6b-4d66-ae5c-c4ed0f39e243` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 18 | 2.834 | 13.07 | 22.63 | 277.14 | 0.7230 |
+| 1 | descend | 89 | 9 | 3.601 | 4.72 | 8.18 | 139.90 | 0.7297 |
+| 2 | settle | 21 | 3 | 3.506 | 3.10 | 5.37 | 140.13 | 0.7349 |
+| 3 | close | 315 | 31 | 3.506 | 3.76 | 6.52 | 141.61 | 1.0884 |
+| 4 | lift | 89 | 9 | 3.585 | 4.86 | 8.42 | 141.21 | 1.3047 |
+| 5 | move_xy | 235 | 23 | 6.871 | 40.08 | 69.41 | 279.99 | 1.2774 |
+| 6 | lower | 88 | 9 | 4.755 | 4.12 | 7.14 | 186.59 | 1.3304 |
+| 7 | open | 258 | 27 | 4.674 | 2.29 | 3.97 | 185.12 | 0.8022 |
+| 8 | retract | 89 | 9 | 4.743 | 3.95 | 6.84 | 185.04 | 0.8301 |
+| 9 | return | 205 | 21 | 4.021 | 22.72 | 39.36 | 618.32 | 0.7941 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.345 |
+| TCP position RMSE (mm, per-axis) | 15.49 |
+| EE position RMS L2 (mm) | 31.78 |
+| TCP rotvec (mrad) | 268.34 |
+| W1 effort mean (A) | 0.9580 |
+| W1 effort per joint (A) | j0=0.2130, j1=1.9383, j2=1.6042, j3=0.8702, j4=0.3134, j5=0.8086 |
+
+## Phase-end anchor (sim - 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 | -0.00469 | -0.00090 | 0.00503 | 8.657 |
+| 1 | 0.00199 | -0.00485 | -0.00102 | 0.00534 | 8.587 |
+| 2 | 0.00200 | -0.00488 | -0.00115 | 0.00540 | 8.588 |
+| 3 | 0.00291 | -0.00510 | -0.00261 | 0.00642 | 8.580 |
+| 4 | 0.00208 | -0.00511 | -0.00215 | 0.00592 | 8.648 |
+| 5 | 0.00341 | -0.00239 | -0.00189 | 0.00458 | 11.553 |
+| 6 | 0.00342 | -0.00182 | -0.00219 | 0.00445 | 11.448 |
+| 7 | 0.00274 | -0.00287 | -0.00048 | 0.00400 | 11.447 |
+| 8 | 0.00279 | -0.00305 | -0.00071 | 0.00419 | 11.545 |
+| 9 | -0.00007 | -0.00021 | -0.00033 | 0.00040 | 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_0e7589b1-d62e-4fec-817d-156cb39d6ae6.md b/gap_reports/gap_0e7589b1-d62e-4fec-817d-156cb39d6ae6.md
new file mode 100644
index 0000000000000000000000000000000000000000..4644fe6d1becf2d98306c1e42464f9aee98a7f37
--- /dev/null
+++ b/gap_reports/gap_0e7589b1-d62e-4fec-817d-156cb39d6ae6.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0e7589b1-d62e-4fec-817d-156cb39d6ae6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0e7589b1-d62e-4fec-817d-156cb39d6ae6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 969 |
+| Sim rows | 102 |
+| Real episode_id | `0e7589b1-d62e-4fec-817d-156cb39d6ae6` |
+| Sim episode_id | `0e7589b1-d62e-4fec-817d-156cb39d6ae6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 130 | 13 | 2.032 | 11.67 | 20.22 | 303.64 | 0.7193 |
+| 1 | descend | 75 | 8 | 0.673 | 3.95 | 6.84 | 4.99 | 0.6545 |
+| 2 | settle | 40 | 5 | 0.020 | 2.96 | 5.13 | 5.32 | 0.6831 |
+| 3 | close | 39 | 5 | 0.141 | 3.50 | 6.06 | 2562.97 | 1.1099 |
+| 4 | lift | 94 | 10 | 0.985 | 5.99 | 10.37 | 2081.18 | 1.0916 |
+| 5 | move_xy | 150 | 15 | 3.988 | 28.47 | 49.31 | 598.32 | 1.0515 |
+| 6 | lower | 78 | 8 | 0.852 | 5.29 | 9.16 | 9.73 | 1.1591 |
+| 7 | open | 89 | 10 | 0.031 | 2.75 | 4.77 | 5.58 | 0.7822 |
+| 8 | retract | 76 | 8 | 0.779 | 4.49 | 7.77 | 5.01 | 0.8196 |
+| 9 | return | 198 | 20 | 2.468 | 13.56 | 23.49 | 617.68 | 0.7443 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.700 |
+| TCP position RMSE (mm, per-axis) | 11.22 |
+| EE position RMS L2 (mm) | 23.96 |
+| TCP rotvec (mrad) | 1083.14 |
+| W1 effort mean (A) | 0.8478 |
+| W1 effort per joint (A) | j0=0.2459, j1=1.6886, j2=1.5385, j3=0.6865, j4=0.4296, j5=0.4976 |
+
+## Phase-end anchor (sim - 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 | -0.00433 | -0.00074 | 0.00477 | 0.032 |
+| 1 | 0.00218 | -0.00456 | -0.00070 | 0.00511 | 0.047 |
+| 2 | 0.00222 | -0.00454 | -0.00091 | 0.00514 | 0.044 |
+| 3 | 0.00309 | -0.00434 | -0.00298 | 0.00610 | 0.232 |
+| 4 | 0.00221 | -0.00420 | -0.00287 | 0.00555 | 0.236 |
+| 5 | 0.00287 | -0.00359 | -0.00246 | 0.00521 | 0.279 |
+| 6 | 0.00366 | -0.00313 | -0.00270 | 0.00552 | 0.211 |
+| 7 | 0.00289 | -0.00375 | -0.00070 | 0.00479 | 0.064 |
+| 8 | 0.00253 | -0.00399 | -0.00097 | 0.00482 | 0.078 |
+| 9 | -0.00011 | -0.00017 | -0.00033 | 0.00038 | 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_0e767ecd-afdc-4565-bccf-843b4576af73.md b/gap_reports/gap_0e767ecd-afdc-4565-bccf-843b4576af73.md
new file mode 100644
index 0000000000000000000000000000000000000000..c5348a5114a8ac8afe81eced384e0cf338d18c86
--- /dev/null
+++ b/gap_reports/gap_0e767ecd-afdc-4565-bccf-843b4576af73.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0e767ecd-afdc-4565-bccf-843b4576af73.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0e767ecd-afdc-4565-bccf-843b4576af73.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1073 |
+| Sim rows | 111 |
+| Real episode_id | `0e767ecd-afdc-4565-bccf-843b4576af73` |
+| Sim episode_id | `0e767ecd-afdc-4565-bccf-843b4576af73` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 146 | 15 | 4.056 | 13.98 | 24.22 | 1281.91 | 0.7875 |
+| 1 | descend | 86 | 9 | 0.892 | 4.64 | 8.04 | 4.62 | 0.6681 |
+| 2 | settle | 36 | 4 | 0.022 | 2.69 | 4.66 | 5.37 | 0.7447 |
+| 3 | close | 37 | 4 | 0.109 | 2.38 | 4.12 | 7.74 | 1.2050 |
+| 4 | lift | 107 | 11 | 1.177 | 5.67 | 9.82 | 704.63 | 1.1656 |
+| 5 | move_xy | 166 | 17 | 3.765 | 18.84 | 32.63 | 16.07 | 1.0418 |
+| 6 | lower | 72 | 8 | 0.693 | 3.57 | 6.19 | 7.68 | 1.0942 |
+| 7 | open | 97 | 10 | 0.022 | 2.18 | 3.77 | 4.91 | 0.6081 |
+| 8 | retract | 71 | 8 | 0.642 | 3.56 | 6.17 | 4.18 | 0.7107 |
+| 9 | return | 255 | 25 | 2.626 | 14.85 | 25.71 | 801.03 | 0.7630 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.015 |
+| TCP position RMSE (mm, per-axis) | 9.31 |
+| EE position RMS L2 (mm) | 20.60 |
+| TCP rotvec (mrad) | 527.44 |
+| W1 effort mean (A) | 0.8264 |
+| W1 effort per joint (A) | j0=0.2437, j1=1.5276, j2=1.5932, j3=0.7677, j4=0.4212, j5=0.4047 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00162 | -0.00374 | -0.00102 | 0.00420 | 0.044 |
+| 1 | 0.00206 | -0.00405 | -0.00091 | 0.00463 | 0.047 |
+| 2 | 0.00208 | -0.00407 | -0.00109 | 0.00469 | 0.052 |
+| 3 | 0.00163 | -0.00351 | -0.00146 | 0.00414 | 0.244 |
+| 4 | 0.00084 | -0.00324 | -0.00186 | 0.00383 | 0.178 |
+| 5 | 0.00069 | -0.00297 | -0.00043 | 0.00308 | 0.348 |
+| 6 | 0.00159 | -0.00275 | -0.00032 | 0.00319 | 0.271 |
+| 7 | 0.00217 | -0.00309 | -0.00016 | 0.00378 | 0.049 |
+| 8 | 0.00178 | -0.00331 | -0.00027 | 0.00376 | 0.056 |
+| 9 | -0.00003 | -0.00010 | -0.00024 | 0.00026 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0e7d14bc-b2f1-4605-9442-2a312597a632.md b/gap_reports/gap_0e7d14bc-b2f1-4605-9442-2a312597a632.md
new file mode 100644
index 0000000000000000000000000000000000000000..0e3eacb6be4d5e40d281f26b249aac900d5b0bb5
--- /dev/null
+++ b/gap_reports/gap_0e7d14bc-b2f1-4605-9442-2a312597a632.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0e7d14bc-b2f1-4605-9442-2a312597a632.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0e7d14bc-b2f1-4605-9442-2a312597a632.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2470 |
+| Sim rows | 221 |
+| Real episode_id | `0e7d14bc-b2f1-4605-9442-2a312597a632` |
+| Sim episode_id | `0e7d14bc-b2f1-4605-9442-2a312597a632` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.125 | 9.98 | 17.29 | 1926.46 | 0.5838 |
+| 1 | descend | 384 | 34 | 1.182 | 7.65 | 13.25 | 3625.31 | 0.7843 |
+| 2 | settle | 370 | 33 | 0.024 | 0.74 | 1.28 | 3625.25 | 0.6510 |
+| 3 | close | 138 | 13 | 0.709 | 4.63 | 8.01 | 3419.87 | 0.9813 |
+| 4 | lift | 273 | 24 | 2.340 | 11.89 | 20.59 | 2190.35 | 1.0679 |
+| 5 | move_xy | 321 | 28 | 5.776 | 31.88 | 55.22 | 2746.19 | 0.9218 |
+| 6 | lower | 400 | 35 | 0.080 | 1.25 | 2.17 | 3625.76 | 1.0489 |
+| 7 | open | 140 | 13 | 0.606 | 3.97 | 6.87 | 3625.42 | 0.6787 |
+| 8 | retract | 274 | 24 | 2.288 | 11.67 | 20.22 | 2254.90 | 0.7144 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.377 |
+| TCP position RMSE (mm, per-axis) | 12.87 |
+| EE position RMS L2 (mm) | 23.31 |
+| TCP rotvec (mrad) | 3080.51 |
+| W1 effort mean (A) | 0.8149 |
+| W1 effort per joint (A) | j0=0.2309, j1=1.3778, j2=1.5994, j3=0.7534, j4=0.3560, j5=0.5720 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00043 | -0.00045 | -0.00068 | 0.00092 | 0.034 |
+| 1 | 0.00043 | -0.00071 | -0.00096 | 0.00127 | 0.041 |
+| 2 | 0.00041 | -0.00071 | -0.00096 | 0.00126 | 0.045 |
+| 3 | 0.00104 | -0.00073 | -0.00176 | 0.00217 | 0.133 |
+| 4 | 0.00015 | -0.00018 | -0.00011 | 0.00026 | 0.090 |
+| 5 | 0.00142 | -0.00112 | -0.00201 | 0.00271 | 0.150 |
+| 6 | 0.00128 | -0.00101 | -0.00147 | 0.00220 | 0.116 |
+| 7 | 0.00029 | -0.00048 | -0.00078 | 0.00096 | 0.044 |
+| 8 | -0.00013 | -0.00018 | -0.00020 | 0.00030 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0e807c33-bc04-4332-9a6e-31f4daeb6fef.md b/gap_reports/gap_0e807c33-bc04-4332-9a6e-31f4daeb6fef.md
new file mode 100644
index 0000000000000000000000000000000000000000..4071831f0c48dcb44b0f6844cfd3e57006275885
--- /dev/null
+++ b/gap_reports/gap_0e807c33-bc04-4332-9a6e-31f4daeb6fef.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0e807c33-bc04-4332-9a6e-31f4daeb6fef.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0e807c33-bc04-4332-9a6e-31f4daeb6fef.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2685 |
+| Sim rows | 239 |
+| Real episode_id | `0e807c33-bc04-4332-9a6e-31f4daeb6fef` |
+| Sim episode_id | `0e807c33-bc04-4332-9a6e-31f4daeb6fef` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.059 | 11.90 | 20.62 | 1920.78 | 0.5787 |
+| 1 | descend | 305 | 27 | 1.151 | 6.92 | 11.99 | 3625.98 | 0.7178 |
+| 2 | settle | 367 | 32 | 0.023 | 0.61 | 1.05 | 3625.99 | 0.6714 |
+| 3 | close | 108 | 10 | 0.589 | 3.58 | 6.21 | 1573.37 | 0.9765 |
+| 4 | lift | 423 | 37 | 3.250 | 13.15 | 22.78 | 1780.46 | 1.0625 |
+| 5 | move_xy | 363 | 32 | 6.871 | 31.32 | 54.24 | 2272.91 | 0.9095 |
+| 6 | lower | 389 | 34 | 0.076 | 1.06 | 1.83 | 1782.94 | 1.0330 |
+| 7 | open | 111 | 10 | 0.634 | 3.75 | 6.49 | 3626.25 | 0.5988 |
+| 8 | retract | 423 | 37 | 3.198 | 13.08 | 22.66 | 2229.90 | 0.6926 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.971 |
+| TCP position RMSE (mm, per-axis) | 13.09 |
+| EE position RMS L2 (mm) | 24.73 |
+| TCP rotvec (mrad) | 2626.74 |
+| W1 effort mean (A) | 0.8023 |
+| W1 effort per joint (A) | j0=0.2490, j1=1.2274, j2=1.5977, j3=0.6832, j4=0.4339, j5=0.6227 |
+
+## Phase-end anchor (sim - 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 | -0.00043 | 0.00070 | 0.031 |
+| 1 | 0.00040 | -0.00055 | -0.00077 | 0.00102 | 0.034 |
+| 2 | 0.00041 | -0.00058 | -0.00075 | 0.00104 | 0.035 |
+| 3 | 0.00115 | -0.00038 | -0.00062 | 0.00136 | 0.122 |
+| 4 | 0.00026 | -0.00017 | -0.00031 | 0.00044 | 0.091 |
+| 5 | 0.00093 | -0.00090 | -0.00141 | 0.00192 | 0.121 |
+| 6 | 0.00134 | -0.00078 | -0.00159 | 0.00222 | 0.135 |
+| 7 | 0.00017 | -0.00034 | -0.00059 | 0.00070 | 0.036 |
+| 8 | -0.00006 | -0.00007 | -0.00012 | 0.00016 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0e8af7ea-4b07-49eb-b6f3-a924ce556ef8.md b/gap_reports/gap_0e8af7ea-4b07-49eb-b6f3-a924ce556ef8.md
new file mode 100644
index 0000000000000000000000000000000000000000..141a2b6d6d4b7f17d207eb4a0a9ea66e600ca318
--- /dev/null
+++ b/gap_reports/gap_0e8af7ea-4b07-49eb-b6f3-a924ce556ef8.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0e8af7ea-4b07-49eb-b6f3-a924ce556ef8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0e8af7ea-4b07-49eb-b6f3-a924ce556ef8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 433 |
+| Sim rows | 59 |
+| Real episode_id | `0e8af7ea-4b07-49eb-b6f3-a924ce556ef8` |
+| Sim episode_id | `0e8af7ea-4b07-49eb-b6f3-a924ce556ef8` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 22 | 1.631 | 7.04 | 12.19 | 6.72 | 0.7926 |
+| 1 | descend | 209 | 21 | 0.023 | 2.64 | 4.57 | 2.15 | 0.8655 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.153 |
+| TCP position RMSE (mm, per-axis) | 5.31 |
+| EE position RMS L2 (mm) | 9.32 |
+| TCP rotvec (mrad) | 4.99 |
+| W1 effort mean (A) | 0.8277 |
+| W1 effort per joint (A) | j0=0.1508, j1=1.7998, j2=1.7825, j3=0.9139, j4=0.2144, j5=0.1050 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00421 | -0.00102 | 0.00066 | 0.00438 | 0.038 |
+| 1 | 0.00446 | -0.00100 | 0.00047 | 0.00459 | 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_0e9273b5-4943-4dd1-bc5e-36650878b410.md b/gap_reports/gap_0e9273b5-4943-4dd1-bc5e-36650878b410.md
new file mode 100644
index 0000000000000000000000000000000000000000..597db7ac61e4e58d9475d9828118dfd7621d4f76
--- /dev/null
+++ b/gap_reports/gap_0e9273b5-4943-4dd1-bc5e-36650878b410.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0e9273b5-4943-4dd1-bc5e-36650878b410.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0e9273b5-4943-4dd1-bc5e-36650878b410.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 486 |
+| Sim rows | 65 |
+| Real episode_id | `0e9273b5-4943-4dd1-bc5e-36650878b410` |
+| Sim episode_id | `0e9273b5-4943-4dd1-bc5e-36650878b410` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 28 | 2.562 | 12.48 | 21.61 | 6.70 | 0.8173 |
+| 1 | descend | 210 | 21 | 0.025 | 0.53 | 0.91 | 2.15 | 0.8012 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.811 |
+| TCP position RMSE (mm, per-axis) | 8.83 |
+| EE position RMS L2 (mm) | 16.30 |
+| TCP rotvec (mrad) | 4.97 |
+| W1 effort mean (A) | 0.8102 |
+| W1 effort per joint (A) | j0=0.1454, j1=1.8089, j2=1.7827, j3=0.8609, j4=0.0790, j5=0.1840 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00002 | -0.00062 | 0.00070 | 0.00094 | 0.044 |
+| 1 | 0.00028 | -0.00060 | 0.00065 | 0.00093 | 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_0e93d2aa-1194-4299-8480-8e6a1efe91f0.md b/gap_reports/gap_0e93d2aa-1194-4299-8480-8e6a1efe91f0.md
new file mode 100644
index 0000000000000000000000000000000000000000..19854cea613a549b4af51e8d9088dda82293d996
--- /dev/null
+++ b/gap_reports/gap_0e93d2aa-1194-4299-8480-8e6a1efe91f0.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0e93d2aa-1194-4299-8480-8e6a1efe91f0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0e93d2aa-1194-4299-8480-8e6a1efe91f0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2859 |
+| Sim rows | 253 |
+| Real episode_id | `0e93d2aa-1194-4299-8480-8e6a1efe91f0` |
+| Sim episode_id | `0e93d2aa-1194-4299-8480-8e6a1efe91f0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.108 | 11.19 | 19.38 | 1879.47 | 0.6192 |
+| 1 | descend | 578 | 50 | 0.552 | 3.85 | 6.67 | 3624.71 | 0.8001 |
+| 2 | settle | 359 | 31 | 0.028 | 0.98 | 1.70 | 3624.52 | 0.7475 |
+| 3 | close | 154 | 14 | 0.986 | 6.81 | 11.80 | 3625.14 | 1.0354 |
+| 4 | lift | 343 | 30 | 2.498 | 14.47 | 25.06 | 2225.68 | 1.1163 |
+| 5 | move_xy | 357 | 31 | 5.742 | 34.90 | 60.45 | 2845.47 | 0.9593 |
+| 6 | lower | 387 | 34 | 0.096 | 1.71 | 2.97 | 3625.02 | 1.1145 |
+| 7 | open | 155 | 14 | 0.762 | 5.27 | 9.14 | 3624.76 | 0.7460 |
+| 8 | retract | 340 | 30 | 2.464 | 14.29 | 24.75 | 2399.66 | 0.7485 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.394 |
+| TCP position RMSE (mm, per-axis) | 14.34 |
+| EE position RMS L2 (mm) | 25.52 |
+| TCP rotvec (mrad) | 3127.62 |
+| W1 effort mean (A) | 0.8626 |
+| W1 effort per joint (A) | j0=0.2545, j1=1.5805, j2=1.7268, j3=0.7556, j4=0.3174, j5=0.5408 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00075 | -0.00043 | -0.00078 | 0.00117 | 0.037 |
+| 1 | 0.00075 | -0.00088 | -0.00120 | 0.00167 | 0.057 |
+| 2 | 0.00078 | -0.00088 | -0.00121 | 0.00169 | 0.057 |
+| 3 | 0.00195 | -0.00056 | -0.00125 | 0.00238 | 0.173 |
+| 4 | 0.00030 | -0.00011 | -0.00030 | 0.00044 | 0.097 |
+| 5 | 0.00147 | -0.00120 | -0.00207 | 0.00281 | 0.132 |
+| 6 | 0.00161 | -0.00117 | -0.00144 | 0.00246 | 0.108 |
+| 7 | 0.00061 | -0.00052 | -0.00100 | 0.00129 | 0.050 |
+| 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_0ea4d842-ee4e-4af8-886b-2f0754534115.md b/gap_reports/gap_0ea4d842-ee4e-4af8-886b-2f0754534115.md
new file mode 100644
index 0000000000000000000000000000000000000000..de8b54436218d43f158c013dd613ea4adc4fca9f
--- /dev/null
+++ b/gap_reports/gap_0ea4d842-ee4e-4af8-886b-2f0754534115.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0ea4d842-ee4e-4af8-886b-2f0754534115.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0ea4d842-ee4e-4af8-886b-2f0754534115.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2429 |
+| Sim rows | 243 |
+| Real episode_id | `0ea4d842-ee4e-4af8-886b-2f0754534115` |
+| Sim episode_id | `0ea4d842-ee4e-4af8-886b-2f0754534115` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 216 | 22 | 3.243 | 17.26 | 29.89 | 1942.01 | 0.6245 |
+| 1 | descend | 234 | 23 | 1.099 | 7.76 | 13.44 | 3624.66 | 0.7976 |
+| 2 | settle | 344 | 34 | 0.026 | 0.96 | 1.66 | 3624.54 | 0.7249 |
+| 3 | close | 106 | 11 | 0.549 | 4.08 | 7.07 | 3625.05 | 1.0413 |
+| 4 | lift | 354 | 35 | 2.828 | 15.95 | 27.62 | 2336.21 | 1.1024 |
+| 5 | move_xy | 344 | 34 | 5.692 | 33.05 | 57.24 | 2701.09 | 0.9235 |
+| 6 | lower | 364 | 36 | 0.094 | 1.70 | 2.95 | 3625.18 | 1.0139 |
+| 7 | open | 107 | 11 | 0.534 | 3.77 | 6.52 | 3624.64 | 0.7673 |
+| 8 | retract | 360 | 35 | 3.007 | 17.11 | 29.63 | 2316.25 | 0.7424 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.620 |
+| TCP position RMSE (mm, per-axis) | 15.03 |
+| EE position RMS L2 (mm) | 28.42 |
+| TCP rotvec (mrad) | 3119.59 |
+| W1 effort mean (A) | 0.8440 |
+| W1 effort per joint (A) | j0=0.2098, j1=1.5107, j2=1.7317, j3=0.7660, j4=0.2495, j5=0.5965 |
+
+## Phase-end anchor (sim - 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 | -0.00045 | -0.00084 | 0.00134 | 0.031 |
+| 1 | 0.00090 | -0.00073 | -0.00121 | 0.00168 | 0.057 |
+| 2 | 0.00093 | -0.00073 | -0.00118 | 0.00167 | 0.052 |
+| 3 | 0.00149 | -0.00067 | -0.00099 | 0.00191 | 0.107 |
+| 4 | 0.00013 | -0.00020 | -0.00010 | 0.00026 | 0.094 |
+| 5 | 0.00207 | -0.00099 | -0.00131 | 0.00264 | 0.135 |
+| 6 | 0.00197 | -0.00104 | -0.00200 | 0.00300 | 0.130 |
+| 7 | 0.00072 | -0.00047 | -0.00100 | 0.00132 | 0.044 |
+| 8 | -0.00009 | -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_0eaf69c1-8144-4859-b92a-81d51b1acf45.md b/gap_reports/gap_0eaf69c1-8144-4859-b92a-81d51b1acf45.md
new file mode 100644
index 0000000000000000000000000000000000000000..fd6acaf084c4d580e05e8dc3dbc7a9165bd12362
--- /dev/null
+++ b/gap_reports/gap_0eaf69c1-8144-4859-b92a-81d51b1acf45.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0eaf69c1-8144-4859-b92a-81d51b1acf45.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0eaf69c1-8144-4859-b92a-81d51b1acf45.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 431 |
+| Sim rows | 59 |
+| Real episode_id | `0eaf69c1-8144-4859-b92a-81d51b1acf45` |
+| Sim episode_id | `0eaf69c1-8144-4859-b92a-81d51b1acf45` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 7.148 | 24.90 | 43.13 | 17.04 | 0.8063 |
+| 1 | descend | 210 | 21 | 0.027 | 2.35 | 4.08 | 2.07 | 0.7037 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.054 |
+| TCP position RMSE (mm, per-axis) | 17.69 |
+| EE position RMS L2 (mm) | 31.01 |
+| TCP rotvec (mrad) | 12.14 |
+| W1 effort mean (A) | 0.7559 |
+| W1 effort per joint (A) | j0=0.1484, j1=1.6023, j2=1.5703, j3=0.8706, j4=0.2307, j5=0.1129 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00201 | -0.00331 | 0.00050 | 0.00390 | 0.095 |
+| 1 | 0.00223 | -0.00341 | 0.00049 | 0.00410 | 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_0ecf9a03-0055-4e3d-8192-6f8f5eeac08a.md b/gap_reports/gap_0ecf9a03-0055-4e3d-8192-6f8f5eeac08a.md
new file mode 100644
index 0000000000000000000000000000000000000000..b99bf3246445ca6a731c38582d84427109476bc4
--- /dev/null
+++ b/gap_reports/gap_0ecf9a03-0055-4e3d-8192-6f8f5eeac08a.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0ecf9a03-0055-4e3d-8192-6f8f5eeac08a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0ecf9a03-0055-4e3d-8192-6f8f5eeac08a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 593 |
+| Sim rows | 75 |
+| Real episode_id | `0ecf9a03-0055-4e3d-8192-6f8f5eeac08a` |
+| Sim episode_id | `0ecf9a03-0055-4e3d-8192-6f8f5eeac08a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 382 | 38 | 4.335 | 20.64 | 35.75 | 8.60 | 0.7641 |
+| 1 | descend | 211 | 21 | 0.024 | 0.53 | 0.92 | 2.06 | 0.8098 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.066 |
+| TCP position RMSE (mm, per-axis) | 14.60 |
+| EE position RMS L2 (mm) | 28.70 |
+| TCP rotvec (mrad) | 6.25 |
+| W1 effort mean (A) | 0.7803 |
+| W1 effort per joint (A) | j0=0.1875, j1=1.5743, j2=1.7867, j3=0.8163, j4=0.1542, j5=0.1630 |
+
+## Phase-end anchor (sim - 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 | -0.00049 | 0.00080 | 0.00100 | 0.036 |
+| 1 | 0.00054 | -0.00041 | 0.00061 | 0.00091 | 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_0ed99f03-3bab-43e3-a1aa-e81673cea0f8.md b/gap_reports/gap_0ed99f03-3bab-43e3-a1aa-e81673cea0f8.md
new file mode 100644
index 0000000000000000000000000000000000000000..3e51c3197a69ea0c6fe64409b5f3b70a5d5da20d
--- /dev/null
+++ b/gap_reports/gap_0ed99f03-3bab-43e3-a1aa-e81673cea0f8.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0ed99f03-3bab-43e3-a1aa-e81673cea0f8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0ed99f03-3bab-43e3-a1aa-e81673cea0f8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3006 |
+| Sim rows | 267 |
+| Real episode_id | `0ed99f03-3bab-43e3-a1aa-e81673cea0f8` |
+| Sim episode_id | `0ed99f03-3bab-43e3-a1aa-e81673cea0f8` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.977 | 19.61 | 33.97 | 1926.73 | 0.6267 |
+| 1 | descend | 604 | 53 | 0.573 | 4.02 | 6.96 | 3624.76 | 0.8279 |
+| 2 | settle | 360 | 32 | 0.027 | 1.01 | 1.75 | 3624.59 | 0.6820 |
+| 3 | close | 153 | 14 | 1.025 | 7.02 | 12.15 | 3625.39 | 1.0399 |
+| 4 | lift | 299 | 26 | 3.413 | 18.07 | 31.29 | 2454.18 | 1.1667 |
+| 5 | move_xy | 490 | 43 | 8.470 | 46.49 | 80.53 | 2826.81 | 0.9264 |
+| 6 | lower | 380 | 33 | 0.090 | 1.72 | 2.99 | 3625.12 | 1.0646 |
+| 7 | open | 152 | 14 | 0.985 | 6.76 | 11.70 | 3624.74 | 0.7690 |
+| 8 | retract | 299 | 26 | 3.548 | 18.82 | 32.60 | 2453.73 | 0.7719 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.561 |
+| TCP position RMSE (mm, per-axis) | 19.27 |
+| EE position RMS L2 (mm) | 37.27 |
+| TCP rotvec (mrad) | 3152.55 |
+| W1 effort mean (A) | 0.8533 |
+| W1 effort per joint (A) | j0=0.2498, j1=1.5764, j2=1.6059, j3=0.8252, j4=0.2586, j5=0.6040 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00108 | -0.00021 | -0.00081 | 0.00137 | 0.032 |
+| 1 | 0.00110 | -0.00063 | -0.00119 | 0.00174 | 0.056 |
+| 2 | 0.00112 | -0.00065 | -0.00117 | 0.00174 | 0.055 |
+| 3 | 0.00173 | -0.00032 | -0.00091 | 0.00198 | 0.097 |
+| 4 | 0.00033 | 0.00005 | -0.00010 | 0.00034 | 0.078 |
+| 5 | 0.00224 | -0.00088 | -0.00060 | 0.00248 | 0.129 |
+| 6 | 0.00255 | -0.00095 | -0.00259 | 0.00375 | 0.195 |
+| 7 | 0.00092 | -0.00027 | -0.00099 | 0.00138 | 0.062 |
+| 8 | -0.00016 | -0.00025 | -0.00024 | 0.00039 | 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_0edefba7-155c-4c98-90ef-8eded784d5a6.md b/gap_reports/gap_0edefba7-155c-4c98-90ef-8eded784d5a6.md
new file mode 100644
index 0000000000000000000000000000000000000000..d2878e0495b5d772436d8d52109f711b97065483
--- /dev/null
+++ b/gap_reports/gap_0edefba7-155c-4c98-90ef-8eded784d5a6.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0edefba7-155c-4c98-90ef-8eded784d5a6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0edefba7-155c-4c98-90ef-8eded784d5a6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1196 |
+| Sim rows | 125 |
+| Real episode_id | `0edefba7-155c-4c98-90ef-8eded784d5a6` |
+| Sim episode_id | `0edefba7-155c-4c98-90ef-8eded784d5a6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 5.097 | 20.80 | 36.02 | 1040.49 | 0.7073 |
+| 1 | descend | 83 | 9 | 4.909 | 4.25 | 7.36 | 189.14 | 0.8876 |
+| 2 | settle | 37 | 4 | 4.772 | 2.39 | 4.13 | 189.03 | 0.8363 |
+| 3 | close | 50 | 6 | 4.772 | 2.45 | 4.24 | 188.78 | 1.1931 |
+| 4 | lift | 87 | 9 | 4.989 | 5.40 | 9.36 | 188.96 | 1.1339 |
+| 5 | move_xy | 219 | 22 | 12.441 | 35.58 | 61.63 | 100.14 | 1.1694 |
+| 6 | lower | 84 | 9 | 0.982 | 4.26 | 7.38 | 5.32 | 0.7861 |
+| 7 | open | 69 | 8 | 0.019 | 2.48 | 4.30 | 4.78 | 0.5121 |
+| 8 | retract | 84 | 9 | 1.084 | 4.12 | 7.14 | 4.40 | 0.5962 |
+| 9 | return | 298 | 30 | 5.358 | 15.29 | 26.48 | 1096.71 | 0.5604 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.533 |
+| TCP position RMSE (mm, per-axis) | 14.26 |
+| EE position RMS L2 (mm) | 33.03 |
+| TCP rotvec (mrad) | 493.80 |
+| W1 effort mean (A) | 0.7594 |
+| W1 effort per joint (A) | j0=0.1972, j1=1.2931, j2=1.6665, j3=0.7974, j4=0.1386, j5=0.4636 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00317 | -0.00288 | -0.00098 | 0.00439 | 11.811 |
+| 1 | 0.00307 | -0.00272 | -0.00040 | 0.00413 | 11.689 |
+| 2 | 0.00308 | -0.00271 | -0.00059 | 0.00414 | 11.688 |
+| 3 | 0.00301 | -0.00284 | -0.00094 | 0.00424 | 11.688 |
+| 4 | 0.00330 | -0.00313 | -0.00126 | 0.00472 | 11.811 |
+| 5 | 0.00181 | -0.00371 | -0.00089 | 0.00422 | 0.123 |
+| 6 | 0.00206 | -0.00413 | -0.00099 | 0.00472 | 0.115 |
+| 7 | 0.00165 | -0.00395 | -0.00045 | 0.00430 | 0.026 |
+| 8 | 0.00137 | -0.00329 | -0.00055 | 0.00360 | 0.053 |
+| 9 | -0.00015 | -0.00008 | -0.00026 | 0.00032 | 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_0ee47b96-93f7-4a99-9a9f-127bbf233374.md b/gap_reports/gap_0ee47b96-93f7-4a99-9a9f-127bbf233374.md
new file mode 100644
index 0000000000000000000000000000000000000000..be366f1db1a045438cf84676ea73b802ae0119cf
--- /dev/null
+++ b/gap_reports/gap_0ee47b96-93f7-4a99-9a9f-127bbf233374.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0ee47b96-93f7-4a99-9a9f-127bbf233374.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0ee47b96-93f7-4a99-9a9f-127bbf233374.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2837 |
+| Sim rows | 249 |
+| Real episode_id | `0ee47b96-93f7-4a99-9a9f-127bbf233374` |
+| Sim episode_id | `0ee47b96-93f7-4a99-9a9f-127bbf233374` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 22 | 3.807 | 18.49 | 32.03 | 3.63 | 0.6367 |
+| 1 | descend | 417 | 36 | 0.513 | 3.86 | 6.69 | 5.56 | 0.7321 |
+| 2 | settle | 360 | 31 | 0.028 | 1.20 | 2.07 | 5.67 | 0.6847 |
+| 3 | close | 121 | 11 | 0.629 | 4.70 | 8.14 | 7.68 | 0.9820 |
+| 4 | lift | 366 | 32 | 2.893 | 15.17 | 26.28 | 4.95 | 1.1355 |
+| 5 | move_xy | 450 | 39 | 8.441 | 46.27 | 80.14 | 5.86 | 0.9564 |
+| 6 | lower | 382 | 33 | 0.105 | 2.08 | 3.61 | 8.28 | 0.9801 |
+| 7 | open | 121 | 11 | 0.653 | 4.65 | 8.06 | 5.62 | 0.6529 |
+| 8 | retract | 364 | 32 | 3.121 | 16.61 | 28.77 | 3.69 | 0.7504 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.415 |
+| TCP position RMSE (mm, per-axis) | 18.42 |
+| EE position RMS L2 (mm) | 36.35 |
+| TCP rotvec (mrad) | 5.85 |
+| W1 effort mean (A) | 0.8243 |
+| W1 effort per joint (A) | j0=0.2656, j1=1.4896, j2=1.5257, j3=0.6724, j4=0.3931, j5=0.5994 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00137 | -0.00061 | -0.00076 | 0.00168 | 0.026 |
+| 1 | 0.00139 | -0.00090 | -0.00120 | 0.00204 | 0.056 |
+| 2 | 0.00141 | -0.00094 | -0.00117 | 0.00206 | 0.057 |
+| 3 | 0.00203 | -0.00068 | -0.00155 | 0.00264 | 0.122 |
+| 4 | 0.00022 | -0.00020 | -0.00021 | 0.00036 | 0.103 |
+| 5 | 0.00225 | -0.00120 | -0.00124 | 0.00283 | 0.116 |
+| 6 | 0.00251 | -0.00113 | -0.00157 | 0.00317 | 0.126 |
+| 7 | 0.00123 | -0.00060 | -0.00093 | 0.00165 | 0.041 |
+| 8 | -0.00015 | -0.00023 | -0.00021 | 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_0eebad57-d83f-456c-a7ed-f0a808077579.md b/gap_reports/gap_0eebad57-d83f-456c-a7ed-f0a808077579.md
new file mode 100644
index 0000000000000000000000000000000000000000..dd9bc76382994f216902e78a2fdc5ca2b7803d8d
--- /dev/null
+++ b/gap_reports/gap_0eebad57-d83f-456c-a7ed-f0a808077579.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0eebad57-d83f-456c-a7ed-f0a808077579.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0eebad57-d83f-456c-a7ed-f0a808077579.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2749 |
+| Sim rows | 244 |
+| Real episode_id | `0eebad57-d83f-456c-a7ed-f0a808077579` |
+| Sim episode_id | `0eebad57-d83f-456c-a7ed-f0a808077579` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 204 | 18 | 2.235 | 12.83 | 22.22 | 1882.18 | 0.6159 |
+| 1 | descend | 525 | 46 | 0.450 | 3.20 | 5.54 | 3624.64 | 0.7359 |
+| 2 | settle | 366 | 32 | 0.027 | 0.97 | 1.67 | 3624.53 | 0.7688 |
+| 3 | close | 121 | 11 | 0.586 | 4.30 | 7.45 | 3624.99 | 1.0479 |
+| 4 | lift | 331 | 29 | 2.430 | 14.67 | 25.41 | 2297.95 | 1.1079 |
+| 5 | move_xy | 364 | 32 | 5.450 | 33.63 | 58.24 | 2716.17 | 0.9367 |
+| 6 | lower | 384 | 34 | 0.099 | 1.75 | 3.03 | 3551.09 | 1.0714 |
+| 7 | open | 123 | 11 | 0.579 | 4.01 | 6.95 | 3624.70 | 0.7401 |
+| 8 | retract | 331 | 29 | 2.392 | 14.42 | 24.97 | 2314.89 | 0.7413 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.291 |
+| TCP position RMSE (mm, per-axis) | 14.01 |
+| EE position RMS L2 (mm) | 25.51 |
+| TCP rotvec (mrad) | 3104.19 |
+| W1 effort mean (A) | 0.8438 |
+| W1 effort per joint (A) | j0=0.2357, j1=1.5807, j2=1.7120, j3=0.7022, j4=0.2665, j5=0.5654 |
+
+## Phase-end anchor (sim - 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 | -0.00052 | -0.00076 | 0.00123 | 0.034 |
+| 1 | 0.00076 | -0.00087 | -0.00121 | 0.00167 | 0.053 |
+| 2 | 0.00077 | -0.00086 | -0.00122 | 0.00168 | 0.056 |
+| 3 | 0.00179 | -0.00090 | -0.00238 | 0.00310 | 0.169 |
+| 4 | 0.00005 | -0.00059 | -0.00049 | 0.00077 | 0.120 |
+| 5 | 0.00193 | -0.00123 | -0.00192 | 0.00298 | 0.150 |
+| 6 | 0.00186 | -0.00122 | -0.00136 | 0.00260 | 0.135 |
+| 7 | 0.00056 | -0.00063 | -0.00100 | 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_0f0e699c-eadf-4717-b21c-92fba0e1668c.md b/gap_reports/gap_0f0e699c-eadf-4717-b21c-92fba0e1668c.md
new file mode 100644
index 0000000000000000000000000000000000000000..705391c26905c528a624ebdd0305ec7a8beec234
--- /dev/null
+++ b/gap_reports/gap_0f0e699c-eadf-4717-b21c-92fba0e1668c.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0f0e699c-eadf-4717-b21c-92fba0e1668c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0f0e699c-eadf-4717-b21c-92fba0e1668c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1643 |
+| Sim rows | 166 |
+| Real episode_id | `0f0e699c-eadf-4717-b21c-92fba0e1668c` |
+| Sim episode_id | `0f0e699c-eadf-4717-b21c-92fba0e1668c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 211 | 21 | 3.354 | 15.47 | 26.79 | 434.01 | 0.6889 |
+| 1 | descend | 88 | 9 | 1.777 | 3.31 | 5.73 | 70.80 | 0.7169 |
+| 2 | settle | 39 | 5 | 1.716 | 2.53 | 4.39 | 70.91 | 0.7644 |
+| 3 | close | 315 | 31 | 1.720 | 2.90 | 5.02 | 72.53 | 1.2454 |
+| 4 | lift | 86 | 9 | 1.778 | 3.38 | 5.86 | 72.39 | 1.3535 |
+| 5 | move_xy | 254 | 25 | 6.554 | 29.64 | 51.33 | 1347.33 | 1.3596 |
+| 6 | lower | 87 | 9 | 0.563 | 3.55 | 6.14 | 1302.16 | 1.1535 |
+| 7 | open | 270 | 27 | 0.024 | 2.78 | 4.82 | 4.81 | 0.6024 |
+| 8 | retract | 87 | 9 | 0.478 | 3.29 | 5.70 | 4.39 | 0.6387 |
+| 9 | return | 206 | 21 | 3.278 | 15.61 | 27.04 | 1162.16 | 0.6807 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.788 |
+| TCP position RMSE (mm, per-axis) | 11.96 |
+| EE position RMS L2 (mm) | 24.65 |
+| TCP rotvec (mrad) | 712.07 |
+| W1 effort mean (A) | 0.9134 |
+| W1 effort per joint (A) | j0=0.1733, j1=1.7333, j2=1.6754, j3=0.8723, j4=0.4424, j5=0.5838 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00248 | -0.00354 | -0.00011 | 0.00433 | 4.247 |
+| 1 | 0.00272 | -0.00341 | -0.00037 | 0.00438 | 4.205 |
+| 2 | 0.00271 | -0.00342 | -0.00046 | 0.00439 | 4.203 |
+| 3 | 0.00342 | -0.00254 | -0.00252 | 0.00495 | 4.199 |
+| 4 | 0.00317 | -0.00319 | -0.00284 | 0.00532 | 4.245 |
+| 5 | 0.00188 | -0.00341 | -0.00140 | 0.00414 | 0.116 |
+| 6 | 0.00259 | -0.00375 | -0.00206 | 0.00500 | 0.171 |
+| 7 | 0.00211 | -0.00427 | -0.00082 | 0.00483 | 0.038 |
+| 8 | 0.00179 | -0.00400 | -0.00084 | 0.00446 | 0.041 |
+| 9 | -0.00018 | -0.00010 | -0.00026 | 0.00033 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0f158e5b-4892-410a-b170-5570b0f7a7ed.md b/gap_reports/gap_0f158e5b-4892-410a-b170-5570b0f7a7ed.md
new file mode 100644
index 0000000000000000000000000000000000000000..3fc0ffb553601b7278f40ba0e6d23ceb2774f98c
--- /dev/null
+++ b/gap_reports/gap_0f158e5b-4892-410a-b170-5570b0f7a7ed.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0f158e5b-4892-410a-b170-5570b0f7a7ed.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0f158e5b-4892-410a-b170-5570b0f7a7ed.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1207 |
+| Sim rows | 125 |
+| Real episode_id | `0f158e5b-4892-410a-b170-5570b0f7a7ed` |
+| Sim episode_id | `0f158e5b-4892-410a-b170-5570b0f7a7ed` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 159 | 16 | 10.810 | 12.89 | 22.32 | 668.52 | 0.6873 |
+| 1 | descend | 94 | 10 | 19.604 | 5.35 | 9.27 | 754.97 | 0.8207 |
+| 2 | settle | 29 | 4 | 19.557 | 2.53 | 4.38 | 755.15 | 0.8807 |
+| 3 | close | 28 | 4 | 19.557 | 2.72 | 4.71 | 756.42 | 1.2703 |
+| 4 | lift | 95 | 10 | 19.597 | 5.36 | 9.28 | 756.06 | 1.3058 |
+| 5 | move_xy | 203 | 20 | 10.988 | 22.71 | 39.33 | 911.48 | 1.2114 |
+| 6 | lower | 92 | 10 | 0.877 | 4.51 | 7.80 | 981.28 | 1.0449 |
+| 7 | open | 77 | 8 | 0.020 | 2.76 | 4.79 | 5.25 | 0.6960 |
+| 8 | retract | 93 | 10 | 1.015 | 5.12 | 8.87 | 4.51 | 0.7208 |
+| 9 | return | 337 | 33 | 3.663 | 16.75 | 29.01 | 1295.96 | 0.6946 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 13.365 |
+| TCP position RMSE (mm, per-axis) | 10.43 |
+| EE position RMS L2 (mm) | 24.23 |
+| TCP rotvec (mrad) | 787.67 |
+| W1 effort mean (A) | 0.8370 |
+| W1 effort per joint (A) | j0=0.1531, j1=1.5472, j2=1.6341, j3=0.7646, j4=0.2512, j5=0.6716 |
+
+## Phase-end anchor (sim - 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 | -0.00385 | 0.00003 | 0.00432 | 47.950 |
+| 1 | 0.00237 | -0.00368 | -0.00021 | 0.00438 | 47.904 |
+| 2 | 0.00232 | -0.00369 | -0.00033 | 0.00438 | 47.904 |
+| 3 | 0.00292 | -0.00272 | -0.00240 | 0.00466 | 47.903 |
+| 4 | 0.00259 | -0.00360 | -0.00201 | 0.00487 | 47.989 |
+| 5 | 0.00142 | -0.00321 | -0.00250 | 0.00431 | 0.169 |
+| 6 | 0.00190 | -0.00349 | -0.00098 | 0.00409 | 0.116 |
+| 7 | 0.00211 | -0.00417 | -0.00102 | 0.00479 | 0.044 |
+| 8 | 0.00155 | -0.00380 | -0.00120 | 0.00428 | 0.059 |
+| 9 | -0.00010 | -0.00008 | -0.00023 | 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_0f52044e-8410-4ab3-9d96-5840f8707a9b.md b/gap_reports/gap_0f52044e-8410-4ab3-9d96-5840f8707a9b.md
new file mode 100644
index 0000000000000000000000000000000000000000..887c9880cddcc410cb2802270532bae589dfde8e
--- /dev/null
+++ b/gap_reports/gap_0f52044e-8410-4ab3-9d96-5840f8707a9b.md
@@ -0,0 +1,69 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0f52044e-8410-4ab3-9d96-5840f8707a9b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0f52044e-8410-4ab3-9d96-5840f8707a9b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1110 |
+| Sim rows | 107 |
+| Real episode_id | `0f52044e-8410-4ab3-9d96-5840f8707a9b` |
+| Sim episode_id | `0f52044e-8410-4ab3-9d96-5840f8707a9b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.293 | 12.64 | 21.89 | 2003.03 | 0.5876 |
+| 1 | descend | 147 | 13 | 0.691 | 3.57 | 6.18 | 3192.42 | 0.8768 |
+| 2 | settle | 384 | 34 | 0.022 | 1.53 | 2.65 | 4.85 | 0.6163 |
+| 3 | close | 8 | 2 | 0.060 | 1.08 | 1.86 | 6.35 | 1.0128 |
+| 4 | lift | 8 | 2 | 0.071 | 1.28 | 2.21 | 6.49 | 0.9024 |
+| 5 | move_xy | 63 | 6 | 0.075 | 1.13 | 1.96 | 6.80 | 0.9643 |
+| 6 | lower | 287 | 25 | 0.074 | 1.20 | 2.08 | 6.69 | 0.9446 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.273 |
+| TCP position RMSE (mm, per-axis) | 5.07 |
+| EE position RMS L2 (mm) | 10.04 |
+| TCP rotvec (mrad) | 1424.47 |
+| W1 effort mean (A) | 0.7227 |
+| W1 effort per joint (A) | j0=0.1900, j1=1.0497, j2=1.5629, j3=0.9432, j4=0.2145, j5=0.3756 |
+
+## Phase-end anchor (sim - 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 | -0.00027 | -0.00047 | 0.00087 | 0.039 |
+| 1 | -0.00245 | 0.00075 | -0.00059 | 0.00263 | 0.043 |
+| 2 | -0.00242 | 0.00087 | -0.00076 | 0.00268 | 0.032 |
+| 3 | -0.00170 | 0.00068 | -0.00016 | 0.00184 | 0.145 |
+| 4 | -0.00170 | 0.00068 | -0.00103 | 0.00210 | 0.113 |
+| 5 | -0.00174 | 0.00071 | -0.00017 | 0.00188 | 0.103 |
+| 6 | -0.00177 | 0.00079 | -0.00044 | 0.00199 | 0.092 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0f6d81c1-1351-48c4-b845-e9009a33959f.md b/gap_reports/gap_0f6d81c1-1351-48c4-b845-e9009a33959f.md
new file mode 100644
index 0000000000000000000000000000000000000000..7c1cbff103ee65789780f23f869ac788a75ac3c1
--- /dev/null
+++ b/gap_reports/gap_0f6d81c1-1351-48c4-b845-e9009a33959f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0f6d81c1-1351-48c4-b845-e9009a33959f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0f6d81c1-1351-48c4-b845-e9009a33959f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2671 |
+| Sim rows | 238 |
+| Real episode_id | `0f6d81c1-1351-48c4-b845-e9009a33959f` |
+| Sim episode_id | `0f6d81c1-1351-48c4-b845-e9009a33959f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.486 | 17.94 | 31.08 | 1866.20 | 0.6183 |
+| 1 | descend | 335 | 29 | 1.224 | 8.63 | 14.94 | 3624.73 | 0.8198 |
+| 2 | settle | 367 | 32 | 0.027 | 0.97 | 1.68 | 3624.58 | 0.7588 |
+| 3 | close | 132 | 12 | 0.809 | 5.79 | 10.02 | 3625.11 | 1.0259 |
+| 4 | lift | 304 | 27 | 2.788 | 15.07 | 26.11 | 2451.49 | 1.1459 |
+| 5 | move_xy | 463 | 41 | 6.948 | 40.16 | 69.56 | 2829.08 | 0.9219 |
+| 6 | lower | 386 | 34 | 0.093 | 1.70 | 2.94 | 3625.13 | 1.0617 |
+| 7 | open | 132 | 12 | 1.020 | 7.01 | 12.14 | 3624.72 | 0.7499 |
+| 8 | retract | 303 | 27 | 3.004 | 16.40 | 28.41 | 2446.33 | 0.7566 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.989 |
+| TCP position RMSE (mm, per-axis) | 16.97 |
+| EE position RMS L2 (mm) | 33.76 |
+| TCP rotvec (mrad) | 3147.81 |
+| W1 effort mean (A) | 0.8540 |
+| W1 effort per joint (A) | j0=0.2421, j1=1.5051, j2=1.6977, j3=0.8019, j4=0.2717, j5=0.6055 |
+
+## Phase-end anchor (sim - 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 | -0.00083 | 0.00127 | 0.034 |
+| 1 | 0.00090 | -0.00073 | -0.00120 | 0.00167 | 0.055 |
+| 2 | 0.00092 | -0.00075 | -0.00120 | 0.00169 | 0.059 |
+| 3 | 0.00188 | -0.00030 | -0.00162 | 0.00250 | 0.125 |
+| 4 | 0.00009 | -0.00036 | -0.00032 | 0.00049 | 0.093 |
+| 5 | 0.00222 | -0.00100 | -0.00205 | 0.00318 | 0.169 |
+| 6 | 0.00244 | -0.00114 | -0.00257 | 0.00373 | 0.222 |
+| 7 | 0.00068 | -0.00039 | -0.00104 | 0.00130 | 0.065 |
+| 8 | -0.00013 | -0.00023 | -0.00020 | 0.00033 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0f7c84c5-eafa-4e8b-aa1c-93bd26ab4389.md b/gap_reports/gap_0f7c84c5-eafa-4e8b-aa1c-93bd26ab4389.md
new file mode 100644
index 0000000000000000000000000000000000000000..8817f64ac928dadbba40c045b13056bd3d462610
--- /dev/null
+++ b/gap_reports/gap_0f7c84c5-eafa-4e8b-aa1c-93bd26ab4389.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0f7c84c5-eafa-4e8b-aa1c-93bd26ab4389.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0f7c84c5-eafa-4e8b-aa1c-93bd26ab4389.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1036 |
+| Sim rows | 109 |
+| Real episode_id | `0f7c84c5-eafa-4e8b-aa1c-93bd26ab4389` |
+| Sim episode_id | `0f7c84c5-eafa-4e8b-aa1c-93bd26ab4389` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 167 | 17 | 2.729 | 10.74 | 18.60 | 401.41 | 0.6705 |
+| 1 | descend | 86 | 9 | 0.898 | 4.41 | 7.63 | 3.97 | 0.6270 |
+| 2 | settle | 32 | 4 | 0.023 | 2.17 | 3.77 | 4.53 | 0.6952 |
+| 3 | close | 43 | 5 | 0.151 | 1.69 | 2.94 | 6.75 | 1.0715 |
+| 4 | lift | 86 | 9 | 0.688 | 3.42 | 5.92 | 6.87 | 1.1328 |
+| 5 | move_xy | 165 | 17 | 1.696 | 12.18 | 21.09 | 41.80 | 1.1091 |
+| 6 | lower | 85 | 9 | 0.811 | 3.63 | 6.28 | 8.28 | 1.0513 |
+| 7 | open | 101 | 11 | 0.020 | 2.69 | 4.66 | 4.97 | 0.6609 |
+| 8 | retract | 84 | 9 | 0.730 | 3.98 | 6.90 | 4.38 | 0.7338 |
+| 9 | return | 187 | 19 | 2.519 | 11.87 | 20.55 | 864.41 | 0.7077 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.384 |
+| TCP position RMSE (mm, per-axis) | 6.92 |
+| EE position RMS L2 (mm) | 14.85 |
+| TCP rotvec (mrad) | 301.72 |
+| W1 effort mean (A) | 0.7969 |
+| W1 effort per joint (A) | j0=0.1636, j1=1.4749, j2=1.5224, j3=0.7713, j4=0.4766, j5=0.3725 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00145 | -0.00324 | -0.00002 | 0.00355 | 0.030 |
+| 1 | 0.00204 | -0.00318 | -0.00001 | 0.00378 | 0.037 |
+| 2 | 0.00205 | -0.00314 | -0.00018 | 0.00376 | 0.043 |
+| 3 | 0.00046 | -0.00292 | -0.00056 | 0.00301 | 0.242 |
+| 4 | -0.00033 | -0.00297 | -0.00091 | 0.00312 | 0.409 |
+| 5 | 0.00108 | -0.00245 | -0.00160 | 0.00312 | 0.296 |
+| 6 | 0.00128 | -0.00213 | -0.00127 | 0.00279 | 0.425 |
+| 7 | 0.00226 | -0.00399 | -0.00086 | 0.00467 | 0.046 |
+| 8 | 0.00174 | -0.00375 | -0.00097 | 0.00424 | 0.049 |
+| 9 | -0.00019 | -0.00009 | -0.00024 | 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_0fa3b9ad-e917-4ff8-ad04-f6e1f20e4e0a.md b/gap_reports/gap_0fa3b9ad-e917-4ff8-ad04-f6e1f20e4e0a.md
new file mode 100644
index 0000000000000000000000000000000000000000..215a0a2bbc13b379773a51fb0fa69f2c90ba2ea9
--- /dev/null
+++ b/gap_reports/gap_0fa3b9ad-e917-4ff8-ad04-f6e1f20e4e0a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0fa3b9ad-e917-4ff8-ad04-f6e1f20e4e0a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0fa3b9ad-e917-4ff8-ad04-f6e1f20e4e0a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2485 |
+| Sim rows | 221 |
+| Real episode_id | `0fa3b9ad-e917-4ff8-ad04-f6e1f20e4e0a` |
+| Sim episode_id | `0fa3b9ad-e917-4ff8-ad04-f6e1f20e4e0a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 216 | 19 | 3.488 | 14.88 | 25.78 | 2019.13 | 0.5940 |
+| 1 | descend | 280 | 25 | 0.711 | 4.83 | 8.37 | 3625.39 | 0.6662 |
+| 2 | settle | 357 | 31 | 0.022 | 0.77 | 1.33 | 3625.34 | 0.7472 |
+| 3 | close | 107 | 10 | 0.509 | 3.45 | 5.98 | 3192.02 | 0.9751 |
+| 4 | lift | 332 | 29 | 3.572 | 16.47 | 28.52 | 2043.71 | 1.1242 |
+| 5 | move_xy | 346 | 30 | 7.711 | 36.91 | 63.93 | 2561.21 | 0.8497 |
+| 6 | lower | 410 | 36 | 0.084 | 1.40 | 2.42 | 3412.71 | 1.0135 |
+| 7 | open | 107 | 10 | 0.479 | 3.13 | 5.42 | 3625.43 | 0.6680 |
+| 8 | retract | 330 | 29 | 3.771 | 17.58 | 30.45 | 2335.87 | 0.7324 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.327 |
+| TCP position RMSE (mm, per-axis) | 15.68 |
+| EE position RMS L2 (mm) | 29.51 |
+| TCP rotvec (mrad) | 3009.90 |
+| W1 effort mean (A) | 0.8128 |
+| W1 effort per joint (A) | j0=0.2359, j1=1.3310, j2=1.5535, j3=0.7839, j4=0.3119, j5=0.6608 |
+
+## Phase-end anchor (sim - 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 | -0.00030 | -0.00059 | 0.00108 | 0.030 |
+| 1 | 0.00085 | -0.00050 | -0.00091 | 0.00134 | 0.044 |
+| 2 | 0.00085 | -0.00049 | -0.00093 | 0.00135 | 0.045 |
+| 3 | 0.00147 | -0.00020 | -0.00189 | 0.00240 | 0.154 |
+| 4 | 0.00034 | -0.00005 | -0.00021 | 0.00041 | 0.076 |
+| 5 | 0.00153 | -0.00078 | -0.00070 | 0.00186 | 0.105 |
+| 6 | 0.00144 | -0.00069 | -0.00137 | 0.00211 | 0.105 |
+| 7 | 0.00066 | -0.00028 | -0.00075 | 0.00104 | 0.042 |
+| 8 | -0.00016 | -0.00023 | -0.00021 | 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_0fa79911-251d-42b0-9b4b-72373451cd03.md b/gap_reports/gap_0fa79911-251d-42b0-9b4b-72373451cd03.md
new file mode 100644
index 0000000000000000000000000000000000000000..8ee2269606ca7bad4f6270b8eb65c14943744a35
--- /dev/null
+++ b/gap_reports/gap_0fa79911-251d-42b0-9b4b-72373451cd03.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0fa79911-251d-42b0-9b4b-72373451cd03.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0fa79911-251d-42b0-9b4b-72373451cd03.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2743 |
+| Sim rows | 243 |
+| Real episode_id | `0fa79911-251d-42b0-9b4b-72373451cd03` |
+| Sim episode_id | `0fa79911-251d-42b0-9b4b-72373451cd03` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.812 | 10.32 | 17.88 | 1964.91 | 0.5695 |
+| 1 | descend | 303 | 27 | 0.799 | 4.75 | 8.23 | 3626.07 | 0.6832 |
+| 2 | settle | 389 | 34 | 0.022 | 0.55 | 0.96 | 3626.04 | 0.6405 |
+| 3 | close | 130 | 12 | 0.737 | 4.45 | 7.71 | 2014.05 | 0.9142 |
+| 4 | lift | 347 | 30 | 3.049 | 12.47 | 21.60 | 1695.04 | 1.0820 |
+| 5 | move_xy | 445 | 39 | 7.389 | 32.46 | 56.22 | 2095.30 | 0.8548 |
+| 6 | lower | 401 | 35 | 0.080 | 1.04 | 1.79 | 1603.53 | 0.9588 |
+| 7 | open | 131 | 12 | 0.732 | 4.19 | 7.27 | 3626.16 | 0.6191 |
+| 8 | retract | 345 | 30 | 3.213 | 13.05 | 22.60 | 2301.49 | 0.7017 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.052 |
+| TCP position RMSE (mm, per-axis) | 13.11 |
+| EE position RMS L2 (mm) | 26.05 |
+| TCP rotvec (mrad) | 2635.12 |
+| W1 effort mean (A) | 0.7681 |
+| W1 effort per joint (A) | j0=0.2254, j1=1.1221, j2=1.5634, j3=0.7714, j4=0.3162, j5=0.6104 |
+
+## Phase-end anchor (sim - 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 | -0.00031 | -0.00047 | 0.00068 | 0.026 |
+| 1 | 0.00037 | -0.00049 | -0.00072 | 0.00095 | 0.036 |
+| 2 | 0.00041 | -0.00048 | -0.00070 | 0.00094 | 0.035 |
+| 3 | 0.00083 | -0.00026 | -0.00022 | 0.00089 | 0.093 |
+| 4 | 0.00053 | 0.00009 | -0.00023 | 0.00059 | 0.112 |
+| 5 | 0.00107 | -0.00064 | -0.00235 | 0.00266 | 0.199 |
+| 6 | 0.00145 | -0.00069 | -0.00118 | 0.00199 | 0.157 |
+| 7 | 0.00019 | -0.00030 | -0.00054 | 0.00064 | 0.035 |
+| 8 | -0.00008 | -0.00012 | -0.00015 | 0.00021 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_0fbc7357-5bbe-4646-b9e3-199d87b5f9b7.md b/gap_reports/gap_0fbc7357-5bbe-4646-b9e3-199d87b5f9b7.md
new file mode 100644
index 0000000000000000000000000000000000000000..e1fadacdd5fe7b2d1c97e0e21b8100c4af2717d6
--- /dev/null
+++ b/gap_reports/gap_0fbc7357-5bbe-4646-b9e3-199d87b5f9b7.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0fbc7357-5bbe-4646-b9e3-199d87b5f9b7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0fbc7357-5bbe-4646-b9e3-199d87b5f9b7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2521 |
+| Sim rows | 225 |
+| Real episode_id | `0fbc7357-5bbe-4646-b9e3-199d87b5f9b7` |
+| Sim episode_id | `0fbc7357-5bbe-4646-b9e3-199d87b5f9b7` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 215 | 19 | 2.355 | 13.44 | 23.28 | 1993.09 | 0.6112 |
+| 1 | descend | 224 | 20 | 0.543 | 3.93 | 6.81 | 3624.65 | 0.7838 |
+| 2 | settle | 386 | 34 | 0.026 | 0.90 | 1.56 | 3624.64 | 0.7996 |
+| 3 | close | 92 | 9 | 0.366 | 3.06 | 5.30 | 3625.45 | 1.0630 |
+| 4 | lift | 385 | 34 | 2.346 | 14.14 | 24.49 | 2262.85 | 1.1261 |
+| 5 | move_xy | 335 | 29 | 5.185 | 32.01 | 55.45 | 2657.01 | 0.9081 |
+| 6 | lower | 404 | 35 | 0.097 | 1.67 | 2.89 | 3624.99 | 1.0645 |
+| 7 | open | 92 | 9 | 0.299 | 2.24 | 3.89 | 3624.67 | 0.7371 |
+| 8 | retract | 388 | 34 | 2.395 | 14.57 | 25.24 | 2268.73 | 0.7368 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.216 |
+| TCP position RMSE (mm, per-axis) | 13.55 |
+| EE position RMS L2 (mm) | 25.53 |
+| TCP rotvec (mrad) | 3109.10 |
+| W1 effort mean (A) | 0.8690 |
+| W1 effort per joint (A) | j0=0.2167, j1=1.5301, j2=1.7261, j3=0.7738, j4=0.3597, 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 | 0.00081 | -0.00053 | -0.00073 | 0.00121 | 0.033 |
+| 1 | 0.00077 | -0.00081 | -0.00110 | 0.00157 | 0.051 |
+| 2 | 0.00076 | -0.00077 | -0.00115 | 0.00158 | 0.052 |
+| 3 | 0.00197 | -0.00076 | -0.00137 | 0.00252 | 0.193 |
+| 4 | 0.00026 | -0.00007 | -0.00012 | 0.00030 | 0.111 |
+| 5 | 0.00151 | -0.00121 | -0.00247 | 0.00314 | 0.190 |
+| 6 | 0.00150 | -0.00113 | -0.00184 | 0.00263 | 0.125 |
+| 7 | 0.00051 | -0.00063 | -0.00102 | 0.00131 | 0.052 |
+| 8 | -0.00013 | -0.00016 | -0.00016 | 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_0ffc89e2-6587-49aa-9979-16bde223cd03.md b/gap_reports/gap_0ffc89e2-6587-49aa-9979-16bde223cd03.md
new file mode 100644
index 0000000000000000000000000000000000000000..0e06ae137434519f38c22c996c43f963b961c3da
--- /dev/null
+++ b/gap_reports/gap_0ffc89e2-6587-49aa-9979-16bde223cd03.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0ffc89e2-6587-49aa-9979-16bde223cd03.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0ffc89e2-6587-49aa-9979-16bde223cd03.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1536 |
+| Sim rows | 156 |
+| Real episode_id | `0ffc89e2-6587-49aa-9979-16bde223cd03` |
+| Sim episode_id | `0ffc89e2-6587-49aa-9979-16bde223cd03` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 146 | 15 | 2.434 | 11.14 | 19.29 | 986.97 | 0.7112 |
+| 1 | descend | 74 | 8 | 0.587 | 3.63 | 6.28 | 4.47 | 0.6019 |
+| 2 | settle | 30 | 4 | 0.019 | 2.81 | 4.87 | 4.84 | 0.6360 |
+| 3 | close | 300 | 30 | 0.130 | 3.11 | 5.40 | 3452.39 | 1.0634 |
+| 4 | lift | 76 | 8 | 0.589 | 3.64 | 6.31 | 3622.87 | 1.1973 |
+| 5 | move_xy | 219 | 22 | 11.628 | 33.85 | 58.63 | 1254.65 | 1.2285 |
+| 6 | lower | 76 | 8 | 17.521 | 3.26 | 5.65 | 678.09 | 1.3547 |
+| 7 | open | 299 | 29 | 17.500 | 2.25 | 3.90 | 676.88 | 0.8788 |
+| 8 | retract | 75 | 8 | 17.516 | 2.98 | 5.16 | 676.79 | 0.9282 |
+| 9 | return | 241 | 24 | 10.114 | 23.99 | 41.55 | 520.00 | 0.8166 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 10.790 |
+| TCP position RMSE (mm, per-axis) | 13.83 |
+| EE position RMS L2 (mm) | 28.50 |
+| TCP rotvec (mrad) | 1709.94 |
+| W1 effort mean (A) | 0.9451 |
+| W1 effort per joint (A) | j0=0.2529, j1=1.6761, j2=1.5492, j3=0.7991, j4=0.4710, j5=0.9221 |
+
+## Phase-end anchor (sim - 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 | -0.00408 | -0.00043 | 0.00455 | 0.033 |
+| 1 | 0.00219 | -0.00431 | -0.00048 | 0.00485 | 0.042 |
+| 2 | 0.00217 | -0.00430 | -0.00060 | 0.00485 | 0.033 |
+| 3 | 0.00305 | -0.00390 | -0.00246 | 0.00553 | 0.250 |
+| 4 | 0.00223 | -0.00360 | -0.00243 | 0.00488 | 0.260 |
+| 5 | 0.00257 | -0.00244 | -0.00307 | 0.00468 | 42.924 |
+| 6 | 0.00260 | -0.00171 | -0.00285 | 0.00422 | 42.876 |
+| 7 | 0.00240 | -0.00304 | -0.00034 | 0.00389 | 42.865 |
+| 8 | 0.00233 | -0.00329 | -0.00048 | 0.00406 | 42.925 |
+| 9 | -0.00004 | -0.00016 | -0.00036 | 0.00040 | 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_10036e89-8997-4f29-a63e-7d90c5196f30.md b/gap_reports/gap_10036e89-8997-4f29-a63e-7d90c5196f30.md
new file mode 100644
index 0000000000000000000000000000000000000000..76c872fa034878ff07e391acd90453b74857304f
--- /dev/null
+++ b/gap_reports/gap_10036e89-8997-4f29-a63e-7d90c5196f30.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/10036e89-8997-4f29-a63e-7d90c5196f30.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/10036e89-8997-4f29-a63e-7d90c5196f30.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2478 |
+| Sim rows | 220 |
+| Real episode_id | `10036e89-8997-4f29-a63e-7d90c5196f30` |
+| Sim episode_id | `10036e89-8997-4f29-a63e-7d90c5196f30` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.488 | 16.89 | 29.25 | 1949.05 | 0.6368 |
+| 1 | descend | 272 | 24 | 0.764 | 5.70 | 9.88 | 3624.76 | 0.8320 |
+| 2 | settle | 363 | 32 | 0.026 | 0.95 | 1.64 | 3624.67 | 0.7071 |
+| 3 | close | 113 | 10 | 0.570 | 4.22 | 7.31 | 3625.39 | 1.0029 |
+| 4 | lift | 320 | 28 | 3.469 | 18.59 | 32.20 | 2448.68 | 1.1455 |
+| 5 | move_xy | 364 | 32 | 8.495 | 46.31 | 80.22 | 2655.72 | 0.9222 |
+| 6 | lower | 406 | 35 | 0.089 | 1.65 | 2.86 | 3625.31 | 1.0180 |
+| 7 | open | 111 | 10 | 0.496 | 3.52 | 6.10 | 3624.76 | 0.7440 |
+| 8 | retract | 318 | 28 | 3.551 | 18.89 | 32.71 | 2447.69 | 0.7670 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.498 |
+| TCP position RMSE (mm, per-axis) | 18.85 |
+| EE position RMS L2 (mm) | 36.14 |
+| TCP rotvec (mrad) | 3136.54 |
+| W1 effort mean (A) | 0.8559 |
+| W1 effort per joint (A) | j0=0.1846, j1=1.6231, j2=1.6338, j3=0.7764, j4=0.3020, j5=0.6157 |
+
+## Phase-end anchor (sim - 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 | -0.00027 | -0.00069 | 0.00131 | 0.031 |
+| 1 | 0.00111 | -0.00056 | -0.00114 | 0.00168 | 0.055 |
+| 2 | 0.00105 | -0.00056 | -0.00109 | 0.00161 | 0.052 |
+| 3 | 0.00201 | -0.00035 | -0.00159 | 0.00259 | 0.125 |
+| 4 | 0.00014 | -0.00028 | -0.00025 | 0.00040 | 0.090 |
+| 5 | 0.00251 | -0.00075 | -0.00158 | 0.00306 | 0.174 |
+| 6 | 0.00246 | -0.00069 | -0.00195 | 0.00322 | 0.162 |
+| 7 | 0.00090 | -0.00027 | -0.00095 | 0.00134 | 0.042 |
+| 8 | -0.00015 | -0.00024 | -0.00023 | 0.00037 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1004c767-64d6-44a2-9dff-ac519165896c.md b/gap_reports/gap_1004c767-64d6-44a2-9dff-ac519165896c.md
new file mode 100644
index 0000000000000000000000000000000000000000..2b9f8a617976344c83ac7407b8ca4175df611bf4
--- /dev/null
+++ b/gap_reports/gap_1004c767-64d6-44a2-9dff-ac519165896c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1004c767-64d6-44a2-9dff-ac519165896c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1004c767-64d6-44a2-9dff-ac519165896c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2906 |
+| Sim rows | 258 |
+| Real episode_id | `1004c767-64d6-44a2-9dff-ac519165896c` |
+| Sim episode_id | `1004c767-64d6-44a2-9dff-ac519165896c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 221 | 20 | 3.527 | 13.46 | 23.31 | 1996.46 | 0.5832 |
+| 1 | descend | 337 | 30 | 1.216 | 7.42 | 12.85 | 3626.01 | 0.5958 |
+| 2 | settle | 388 | 34 | 0.023 | 0.67 | 1.16 | 3625.94 | 0.5780 |
+| 3 | close | 109 | 10 | 0.688 | 4.17 | 7.22 | 1043.42 | 0.8987 |
+| 4 | lift | 484 | 42 | 3.964 | 16.40 | 28.41 | 2000.96 | 1.1194 |
+| 5 | move_xy | 371 | 33 | 7.986 | 34.42 | 59.62 | 2198.42 | 0.8465 |
+| 6 | lower | 403 | 35 | 0.084 | 1.25 | 2.17 | 1901.69 | 0.8903 |
+| 7 | open | 110 | 10 | 0.717 | 4.24 | 7.34 | 3626.23 | 0.5723 |
+| 8 | retract | 483 | 42 | 3.995 | 16.54 | 28.65 | 2291.89 | 0.6952 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.502 |
+| TCP position RMSE (mm, per-axis) | 14.91 |
+| EE position RMS L2 (mm) | 28.11 |
+| TCP rotvec (mrad) | 2629.44 |
+| W1 effort mean (A) | 0.7465 |
+| W1 effort per joint (A) | j0=0.2256, j1=1.1656, j2=1.4151, j3=0.6536, j4=0.3988, j5=0.6205 |
+
+## Phase-end anchor (sim - 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 | -0.00029 | -0.00049 | 0.00091 | 0.034 |
+| 1 | 0.00072 | -0.00056 | -0.00079 | 0.00121 | 0.042 |
+| 2 | 0.00069 | -0.00056 | -0.00076 | 0.00117 | 0.038 |
+| 3 | 0.00120 | -0.00027 | -0.00097 | 0.00156 | 0.087 |
+| 4 | 0.00005 | -0.00051 | -0.00061 | 0.00079 | 0.099 |
+| 5 | 0.00142 | -0.00072 | -0.00101 | 0.00189 | 0.108 |
+| 6 | 0.00180 | -0.00076 | -0.00154 | 0.00249 | 0.172 |
+| 7 | 0.00042 | -0.00028 | -0.00056 | 0.00075 | 0.034 |
+| 8 | -0.00004 | -0.00005 | -0.00012 | 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_101be848-bad9-45bf-9271-7f058ca37dce.md b/gap_reports/gap_101be848-bad9-45bf-9271-7f058ca37dce.md
new file mode 100644
index 0000000000000000000000000000000000000000..20c21bd49439366220c57e3efffe0e60c62d82da
--- /dev/null
+++ b/gap_reports/gap_101be848-bad9-45bf-9271-7f058ca37dce.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/101be848-bad9-45bf-9271-7f058ca37dce.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/101be848-bad9-45bf-9271-7f058ca37dce.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2455 |
+| Sim rows | 221 |
+| Real episode_id | `101be848-bad9-45bf-9271-7f058ca37dce` |
+| Sim episode_id | `101be848-bad9-45bf-9271-7f058ca37dce` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 159 | 15 | 2.168 | 8.94 | 15.48 | 1950.29 | 0.5689 |
+| 1 | descend | 425 | 37 | 0.624 | 3.74 | 6.48 | 3626.01 | 0.7658 |
+| 2 | settle | 367 | 32 | 0.022 | 0.57 | 0.98 | 3625.99 | 0.6548 |
+| 3 | close | 114 | 11 | 0.843 | 4.85 | 8.41 | 1167.88 | 0.9084 |
+| 4 | lift | 296 | 26 | 2.635 | 11.01 | 19.06 | 1803.70 | 1.1037 |
+| 5 | move_xy | 300 | 27 | 5.277 | 24.34 | 42.16 | 1862.57 | 0.8754 |
+| 6 | lower | 386 | 34 | 0.086 | 1.13 | 1.95 | 1409.22 | 0.9814 |
+| 7 | open | 113 | 11 | 0.871 | 5.10 | 8.84 | 3626.18 | 0.6003 |
+| 8 | retract | 295 | 26 | 2.344 | 9.69 | 16.78 | 2224.19 | 0.6855 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.282 |
+| TCP position RMSE (mm, per-axis) | 10.29 |
+| EE position RMS L2 (mm) | 18.03 |
+| TCP rotvec (mrad) | 2544.45 |
+| W1 effort mean (A) | 0.7833 |
+| W1 effort per joint (A) | j0=0.2571, j1=1.1360, j2=1.6237, j3=0.7031, j4=0.4007, j5=0.5793 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00013 | -0.00035 | -0.00047 | 0.00061 | 0.035 |
+| 1 | 0.00014 | -0.00059 | -0.00077 | 0.00099 | 0.039 |
+| 2 | 0.00018 | -0.00059 | -0.00073 | 0.00095 | 0.033 |
+| 3 | 0.00082 | -0.00038 | -0.00112 | 0.00144 | 0.128 |
+| 4 | 0.00031 | 0.00023 | -0.00009 | 0.00040 | 0.085 |
+| 5 | 0.00086 | -0.00086 | -0.00085 | 0.00148 | 0.104 |
+| 6 | 0.00083 | -0.00079 | -0.00106 | 0.00157 | 0.110 |
+| 7 | -0.00009 | -0.00035 | -0.00058 | 0.00068 | 0.041 |
+| 8 | -0.00008 | -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_104cd74a-c21f-4665-a541-1804e582de8b.md b/gap_reports/gap_104cd74a-c21f-4665-a541-1804e582de8b.md
new file mode 100644
index 0000000000000000000000000000000000000000..1fef90ff5c06a79318b04c5fb6457e8cb9f720db
--- /dev/null
+++ b/gap_reports/gap_104cd74a-c21f-4665-a541-1804e582de8b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/104cd74a-c21f-4665-a541-1804e582de8b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/104cd74a-c21f-4665-a541-1804e582de8b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2557 |
+| Sim rows | 257 |
+| Real episode_id | `104cd74a-c21f-4665-a541-1804e582de8b` |
+| Sim episode_id | `104cd74a-c21f-4665-a541-1804e582de8b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 213 | 21 | 3.578 | 15.15 | 26.24 | 2033.26 | 0.5937 |
+| 1 | descend | 434 | 43 | 0.449 | 3.19 | 5.52 | 3625.37 | 0.7648 |
+| 2 | settle | 323 | 32 | 0.024 | 0.82 | 1.42 | 3625.28 | 0.6126 |
+| 3 | close | 141 | 14 | 0.681 | 4.48 | 7.76 | 3235.60 | 0.9561 |
+| 4 | lift | 299 | 30 | 2.857 | 13.01 | 22.53 | 2182.12 | 1.0797 |
+| 5 | move_xy | 362 | 36 | 8.199 | 39.97 | 69.23 | 2536.22 | 0.8509 |
+| 6 | lower | 348 | 35 | 0.095 | 1.56 | 2.71 | 3406.26 | 0.9389 |
+| 7 | open | 136 | 14 | 0.595 | 3.83 | 6.63 | 3625.46 | 0.6477 |
+| 8 | retract | 301 | 30 | 3.136 | 14.79 | 25.62 | 2317.47 | 0.7323 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.317 |
+| TCP position RMSE (mm, per-axis) | 15.86 |
+| EE position RMS L2 (mm) | 29.74 |
+| TCP rotvec (mrad) | 3022.15 |
+| W1 effort mean (A) | 0.7729 |
+| W1 effort per joint (A) | j0=0.2275, j1=1.3308, j2=1.5299, j3=0.7343, j4=0.2320, j5=0.5829 |
+
+## Phase-end anchor (sim - 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 | -0.00030 | -0.00064 | 0.00110 | 0.026 |
+| 1 | 0.00101 | -0.00058 | -0.00104 | 0.00156 | 0.047 |
+| 2 | 0.00086 | -0.00059 | -0.00096 | 0.00142 | 0.046 |
+| 3 | 0.00123 | -0.00044 | -0.00135 | 0.00188 | 0.132 |
+| 4 | 0.00029 | -0.00012 | -0.00023 | 0.00039 | 0.098 |
+| 5 | 0.00221 | -0.00072 | -0.00156 | 0.00280 | 0.179 |
+| 6 | 0.00162 | -0.00060 | -0.00239 | 0.00296 | 0.178 |
+| 7 | 0.00072 | -0.00026 | -0.00075 | 0.00107 | 0.041 |
+| 8 | -0.00014 | -0.00020 | -0.00021 | 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_105a33bf-273f-49c3-9427-4bafee5429ef.md b/gap_reports/gap_105a33bf-273f-49c3-9427-4bafee5429ef.md
new file mode 100644
index 0000000000000000000000000000000000000000..844a79de41b51904aac149da61ebdde3ec58b752
--- /dev/null
+++ b/gap_reports/gap_105a33bf-273f-49c3-9427-4bafee5429ef.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/105a33bf-273f-49c3-9427-4bafee5429ef.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/105a33bf-273f-49c3-9427-4bafee5429ef.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2612 |
+| Sim rows | 233 |
+| Real episode_id | `105a33bf-273f-49c3-9427-4bafee5429ef` |
+| Sim episode_id | `105a33bf-273f-49c3-9427-4bafee5429ef` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.275 | 10.18 | 17.63 | 1971.45 | 0.5831 |
+| 1 | descend | 403 | 35 | 1.069 | 6.75 | 11.70 | 3625.36 | 0.9494 |
+| 2 | settle | 379 | 33 | 0.023 | 0.73 | 1.27 | 3625.24 | 1.0194 |
+| 3 | close | 172 | 16 | 0.893 | 5.71 | 9.90 | 3006.80 | 1.1211 |
+| 4 | lift | 271 | 24 | 2.353 | 11.47 | 19.86 | 2341.16 | 1.2712 |
+| 5 | move_xy | 368 | 32 | 5.752 | 31.16 | 53.97 | 2810.77 | 1.0729 |
+| 6 | lower | 388 | 34 | 0.082 | 1.28 | 2.22 | 3625.57 | 1.4448 |
+| 7 | open | 172 | 16 | 0.879 | 5.56 | 9.63 | 3625.48 | 0.8542 |
+| 8 | retract | 273 | 24 | 2.462 | 12.06 | 20.88 | 2353.02 | 0.8669 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.417 |
+| TCP position RMSE (mm, per-axis) | 12.75 |
+| EE position RMS L2 (mm) | 23.53 |
+| TCP rotvec (mrad) | 3062.68 |
+| W1 effort mean (A) | 1.0410 |
+| W1 effort per joint (A) | j0=0.6710, j1=1.3755, j2=1.8306, j3=1.1044, j4=0.6963, j5=0.5683 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00042 | -0.00037 | -0.00073 | 0.00091 | 0.040 |
+| 1 | 0.00039 | -0.00070 | -0.00099 | 0.00127 | 0.045 |
+| 2 | 0.00044 | -0.00071 | -0.00095 | 0.00126 | 0.039 |
+| 3 | 0.00095 | -0.00045 | -0.00063 | 0.00123 | 0.099 |
+| 4 | 0.00039 | 0.00008 | -0.00013 | 0.00042 | 0.087 |
+| 5 | 0.00118 | -0.00114 | -0.00212 | 0.00268 | 0.161 |
+| 6 | 0.00132 | -0.00098 | -0.00116 | 0.00201 | 0.123 |
+| 7 | 0.00028 | -0.00045 | -0.00077 | 0.00093 | 0.043 |
+| 8 | -0.00011 | -0.00018 | -0.00020 | 0.00029 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1062940c-fb92-43df-b63c-7c234c497a1a.md b/gap_reports/gap_1062940c-fb92-43df-b63c-7c234c497a1a.md
new file mode 100644
index 0000000000000000000000000000000000000000..b46ad05dc2c0aef22acc3cfeb3d54f201613338b
--- /dev/null
+++ b/gap_reports/gap_1062940c-fb92-43df-b63c-7c234c497a1a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1062940c-fb92-43df-b63c-7c234c497a1a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1062940c-fb92-43df-b63c-7c234c497a1a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3099 |
+| Sim rows | 274 |
+| Real episode_id | `1062940c-fb92-43df-b63c-7c234c497a1a` |
+| Sim episode_id | `1062940c-fb92-43df-b63c-7c234c497a1a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.820 | 12.26 | 21.23 | 1948.57 | 0.5807 |
+| 1 | descend | 842 | 73 | 0.482 | 3.12 | 5.41 | 3625.43 | 0.7516 |
+| 2 | settle | 366 | 32 | 0.023 | 0.77 | 1.33 | 3625.23 | 0.6891 |
+| 3 | close | 130 | 12 | 1.030 | 6.59 | 11.42 | 3221.43 | 0.9721 |
+| 4 | lift | 298 | 26 | 2.960 | 13.63 | 23.61 | 2422.18 | 1.1432 |
+| 5 | move_xy | 430 | 38 | 7.335 | 37.14 | 64.32 | 2867.39 | 0.8979 |
+| 6 | lower | 381 | 33 | 0.092 | 1.44 | 2.49 | 3471.68 | 0.9987 |
+| 7 | open | 129 | 12 | 0.957 | 6.06 | 10.50 | 3625.48 | 0.6779 |
+| 8 | retract | 298 | 26 | 3.004 | 14.10 | 24.42 | 2357.43 | 0.7307 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.014 |
+| TCP position RMSE (mm, per-axis) | 14.93 |
+| EE position RMS L2 (mm) | 27.14 |
+| TCP rotvec (mrad) | 3078.66 |
+| W1 effort mean (A) | 0.7993 |
+| W1 effort per joint (A) | j0=0.2415, j1=1.3148, j2=1.6532, j3=0.7733, j4=0.2653, j5=0.5475 |
+
+## Phase-end anchor (sim - 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 | -0.00019 | -0.00068 | 0.00094 | 0.042 |
+| 1 | 0.00061 | -0.00065 | -0.00099 | 0.00133 | 0.051 |
+| 2 | 0.00064 | -0.00063 | -0.00099 | 0.00133 | 0.045 |
+| 3 | 0.00158 | -0.00027 | -0.00170 | 0.00234 | 0.181 |
+| 4 | 0.00012 | -0.00034 | -0.00022 | 0.00042 | 0.098 |
+| 5 | 0.00176 | -0.00092 | -0.00163 | 0.00257 | 0.154 |
+| 6 | 0.00139 | -0.00093 | -0.00126 | 0.00209 | 0.104 |
+| 7 | 0.00040 | -0.00036 | -0.00078 | 0.00095 | 0.056 |
+| 8 | -0.00011 | -0.00018 | -0.00020 | 0.00028 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_10646d06-e312-4f19-a052-cf04b55ced4c.md b/gap_reports/gap_10646d06-e312-4f19-a052-cf04b55ced4c.md
new file mode 100644
index 0000000000000000000000000000000000000000..e321adb964f2b3b8fb81d28fb2a0b904e78497e6
--- /dev/null
+++ b/gap_reports/gap_10646d06-e312-4f19-a052-cf04b55ced4c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/10646d06-e312-4f19-a052-cf04b55ced4c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/10646d06-e312-4f19-a052-cf04b55ced4c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2560 |
+| Sim rows | 229 |
+| Real episode_id | `10646d06-e312-4f19-a052-cf04b55ced4c` |
+| Sim episode_id | `10646d06-e312-4f19-a052-cf04b55ced4c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.776 | 12.63 | 21.88 | 2003.52 | 0.5923 |
+| 1 | descend | 339 | 30 | 1.052 | 6.98 | 12.09 | 3625.34 | 0.7411 |
+| 2 | settle | 386 | 34 | 0.024 | 0.77 | 1.34 | 3625.26 | 0.7293 |
+| 3 | close | 127 | 12 | 0.626 | 4.07 | 7.04 | 3400.89 | 0.9731 |
+| 4 | lift | 318 | 28 | 2.356 | 11.05 | 19.14 | 2148.50 | 1.1462 |
+| 5 | move_xy | 363 | 32 | 6.796 | 35.26 | 61.07 | 2727.26 | 0.9059 |
+| 6 | lower | 381 | 33 | 0.079 | 1.28 | 2.22 | 3310.64 | 1.0244 |
+| 7 | open | 126 | 12 | 0.673 | 4.45 | 7.71 | 3625.48 | 0.6548 |
+| 8 | retract | 317 | 28 | 2.353 | 11.04 | 19.12 | 2221.18 | 0.7276 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.727 |
+| TCP position RMSE (mm, per-axis) | 13.88 |
+| EE position RMS L2 (mm) | 26.14 |
+| TCP rotvec (mrad) | 3036.04 |
+| W1 effort mean (A) | 0.8256 |
+| W1 effort per joint (A) | j0=0.2291, j1=1.3611, j2=1.6536, j3=0.7685, j4=0.3717, j5=0.5698 |
+
+## Phase-end anchor (sim - 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 | -0.00035 | -0.00072 | 0.00102 | 0.038 |
+| 1 | 0.00061 | -0.00063 | -0.00102 | 0.00134 | 0.050 |
+| 2 | 0.00064 | -0.00064 | -0.00098 | 0.00134 | 0.047 |
+| 3 | 0.00110 | -0.00045 | -0.00115 | 0.00166 | 0.072 |
+| 4 | 0.00019 | -0.00025 | -0.00055 | 0.00063 | 0.097 |
+| 5 | 0.00162 | -0.00083 | -0.00166 | 0.00246 | 0.157 |
+| 6 | 0.00129 | -0.00087 | -0.00095 | 0.00182 | 0.109 |
+| 7 | 0.00043 | -0.00040 | -0.00075 | 0.00096 | 0.033 |
+| 8 | -0.00010 | -0.00014 | -0.00017 | 0.00024 | 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_106e5166-12fa-4ae5-85a4-4bb72a28c06e.md b/gap_reports/gap_106e5166-12fa-4ae5-85a4-4bb72a28c06e.md
new file mode 100644
index 0000000000000000000000000000000000000000..7d3f08141a58b10fe594e1319230cdf3022d37eb
--- /dev/null
+++ b/gap_reports/gap_106e5166-12fa-4ae5-85a4-4bb72a28c06e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/106e5166-12fa-4ae5-85a4-4bb72a28c06e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/106e5166-12fa-4ae5-85a4-4bb72a28c06e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2471 |
+| Sim rows | 250 |
+| Real episode_id | `106e5166-12fa-4ae5-85a4-4bb72a28c06e` |
+| Sim episode_id | `106e5166-12fa-4ae5-85a4-4bb72a28c06e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 198 | 20 | 3.094 | 15.71 | 27.21 | 1857.67 | 0.6218 |
+| 1 | descend | 361 | 36 | 0.813 | 5.74 | 9.95 | 3624.76 | 0.8311 |
+| 2 | settle | 324 | 32 | 0.027 | 0.96 | 1.67 | 3624.60 | 0.6696 |
+| 3 | close | 132 | 14 | 0.955 | 6.63 | 11.48 | 3625.16 | 1.0426 |
+| 4 | lift | 310 | 31 | 2.996 | 16.12 | 27.93 | 2444.85 | 1.1593 |
+| 5 | move_xy | 372 | 37 | 7.300 | 42.18 | 73.07 | 2850.35 | 0.9103 |
+| 6 | lower | 334 | 33 | 0.097 | 1.76 | 3.05 | 3624.94 | 1.0467 |
+| 7 | open | 131 | 14 | 1.065 | 7.34 | 12.71 | 3624.74 | 0.7375 |
+| 8 | retract | 309 | 31 | 2.952 | 15.97 | 27.67 | 2422.48 | 0.7562 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.042 |
+| TCP position RMSE (mm, per-axis) | 17.24 |
+| EE position RMS L2 (mm) | 32.99 |
+| TCP rotvec (mrad) | 3146.75 |
+| W1 effort mean (A) | 0.8478 |
+| W1 effort per joint (A) | j0=0.2453, j1=1.5065, j2=1.6749, j3=0.7763, j4=0.2928, j5=0.5907 |
+
+## Phase-end anchor (sim - 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 | -0.00030 | -0.00072 | 0.00119 | 0.024 |
+| 1 | 0.00091 | -0.00075 | -0.00116 | 0.00166 | 0.054 |
+| 2 | 0.00093 | -0.00075 | -0.00117 | 0.00167 | 0.053 |
+| 3 | 0.00154 | -0.00048 | -0.00218 | 0.00271 | 0.202 |
+| 4 | 0.00030 | -0.00008 | -0.00039 | 0.00050 | 0.096 |
+| 5 | 0.00231 | -0.00108 | -0.00152 | 0.00297 | 0.170 |
+| 6 | 0.00209 | -0.00112 | -0.00242 | 0.00339 | 0.170 |
+| 7 | 0.00074 | -0.00037 | -0.00098 | 0.00128 | 0.062 |
+| 8 | -0.00011 | -0.00018 | -0.00019 | 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_10b51ac9-2bc1-4ca8-9eca-811f98b57f07.md b/gap_reports/gap_10b51ac9-2bc1-4ca8-9eca-811f98b57f07.md
new file mode 100644
index 0000000000000000000000000000000000000000..1e929b3d75a6976b3686256a2d2c340d5533ae5c
--- /dev/null
+++ b/gap_reports/gap_10b51ac9-2bc1-4ca8-9eca-811f98b57f07.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/10b51ac9-2bc1-4ca8-9eca-811f98b57f07.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/10b51ac9-2bc1-4ca8-9eca-811f98b57f07.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1451 |
+| Sim rows | 147 |
+| Real episode_id | `10b51ac9-2bc1-4ca8-9eca-811f98b57f07` |
+| Sim episode_id | `10b51ac9-2bc1-4ca8-9eca-811f98b57f07` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 162 | 16 | 2.700 | 9.75 | 16.89 | 573.82 | 0.6641 |
+| 1 | descend | 78 | 8 | 0.868 | 3.76 | 6.51 | 3.81 | 0.5518 |
+| 2 | settle | 42 | 5 | 0.016 | 2.08 | 3.60 | 4.30 | 0.5431 |
+| 3 | close | 305 | 30 | 0.159 | 1.70 | 2.95 | 5.74 | 1.0126 |
+| 4 | lift | 76 | 8 | 0.773 | 3.23 | 5.60 | 4.86 | 1.1701 |
+| 5 | move_xy | 154 | 16 | 3.876 | 24.53 | 42.49 | 147.63 | 1.2806 |
+| 6 | lower | 76 | 8 | 0.576 | 3.62 | 6.27 | 11.26 | 1.3454 |
+| 7 | open | 279 | 28 | 0.028 | 2.95 | 5.11 | 6.13 | 0.6946 |
+| 8 | retract | 75 | 8 | 0.575 | 3.91 | 6.76 | 5.57 | 0.8053 |
+| 9 | return | 204 | 20 | 2.042 | 13.40 | 23.21 | 813.85 | 0.7403 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.689 |
+| TCP position RMSE (mm, per-axis) | 9.72 |
+| EE position RMS L2 (mm) | 17.74 |
+| TCP rotvec (mrad) | 318.39 |
+| W1 effort mean (A) | 0.8500 |
+| W1 effort per joint (A) | j0=0.1319, j1=1.4911, j2=1.6010, j3=0.8830, j4=0.6485, j5=0.3447 |
+
+## Phase-end anchor (sim - 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 | -0.00313 | 0.00018 | 0.00337 | 0.038 |
+| 1 | 0.00190 | -0.00303 | 0.00019 | 0.00358 | 0.057 |
+| 2 | 0.00182 | -0.00310 | 0.00010 | 0.00359 | 0.026 |
+| 3 | 0.00056 | -0.00277 | -0.00049 | 0.00287 | 0.424 |
+| 4 | 0.00017 | -0.00303 | -0.00068 | 0.00311 | 0.373 |
+| 5 | 0.00165 | -0.00282 | -0.00177 | 0.00371 | 0.290 |
+| 6 | 0.00191 | -0.00247 | -0.00217 | 0.00381 | 0.409 |
+| 7 | 0.00262 | -0.00426 | -0.00101 | 0.00510 | 0.056 |
+| 8 | 0.00217 | -0.00419 | -0.00130 | 0.00490 | 0.075 |
+| 9 | -0.00012 | -0.00016 | -0.00026 | 0.00033 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_10cf03ef-dfc7-462f-809b-d126e30b9fec.md b/gap_reports/gap_10cf03ef-dfc7-462f-809b-d126e30b9fec.md
new file mode 100644
index 0000000000000000000000000000000000000000..8fc853e8d8925ac86cdeda493facbfaa8e49af79
--- /dev/null
+++ b/gap_reports/gap_10cf03ef-dfc7-462f-809b-d126e30b9fec.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/10cf03ef-dfc7-462f-809b-d126e30b9fec.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/10cf03ef-dfc7-462f-809b-d126e30b9fec.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 526 |
+| Sim rows | 68 |
+| Real episode_id | `10cf03ef-dfc7-462f-809b-d126e30b9fec` |
+| Sim episode_id | `10cf03ef-dfc7-462f-809b-d126e30b9fec` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 318 | 31 | 2.998 | 16.38 | 28.36 | 10.81 | 0.8055 |
+| 1 | descend | 208 | 21 | 0.033 | 1.23 | 2.13 | 2.18 | 0.8048 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.120 |
+| TCP position RMSE (mm, per-axis) | 11.61 |
+| EE position RMS L2 (mm) | 22.09 |
+| TCP rotvec (mrad) | 7.80 |
+| W1 effort mean (A) | 0.8052 |
+| W1 effort per joint (A) | j0=0.1503, j1=1.7274, j2=1.7732, j3=0.8739, j4=0.1589, j5=0.1474 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00193 | 0.00012 | 0.00065 | 0.00204 | 0.039 |
+| 1 | 0.00215 | 0.00014 | 0.00061 | 0.00224 | 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_10ef89d9-e68a-4c4a-b729-1f28a9afd820.md b/gap_reports/gap_10ef89d9-e68a-4c4a-b729-1f28a9afd820.md
new file mode 100644
index 0000000000000000000000000000000000000000..d2e77f49407941b10a5997874d54e73251898be9
--- /dev/null
+++ b/gap_reports/gap_10ef89d9-e68a-4c4a-b729-1f28a9afd820.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/10ef89d9-e68a-4c4a-b729-1f28a9afd820.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/10ef89d9-e68a-4c4a-b729-1f28a9afd820.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1795 |
+| Sim rows | 180 |
+| Real episode_id | `10ef89d9-e68a-4c4a-b729-1f28a9afd820` |
+| Sim episode_id | `10ef89d9-e68a-4c4a-b729-1f28a9afd820` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 5.231 | 17.76 | 30.76 | 1260.54 | 0.7287 |
+| 1 | descend | 97 | 10 | 0.972 | 4.29 | 7.42 | 4.33 | 0.5279 |
+| 2 | settle | 38 | 4 | 0.015 | 2.62 | 4.54 | 4.83 | 0.5077 |
+| 3 | close | 366 | 36 | 0.086 | 2.99 | 5.18 | 9.07 | 1.0309 |
+| 4 | lift | 97 | 10 | 0.771 | 3.92 | 6.80 | 8.33 | 1.1873 |
+| 5 | move_xy | 213 | 21 | 7.212 | 25.39 | 43.97 | 54.37 | 1.0726 |
+| 6 | lower | 97 | 10 | 0.814 | 3.66 | 6.33 | 6.61 | 1.1010 |
+| 7 | open | 376 | 37 | 0.021 | 2.41 | 4.18 | 4.56 | 0.5072 |
+| 8 | retract | 97 | 10 | 0.757 | 3.57 | 6.18 | 3.84 | 0.5938 |
+| 9 | return | 216 | 22 | 2.671 | 11.29 | 19.55 | 1195.23 | 0.6327 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.988 |
+| TCP position RMSE (mm, per-axis) | 10.81 |
+| EE position RMS L2 (mm) | 19.98 |
+| TCP rotvec (mrad) | 549.62 |
+| W1 effort mean (A) | 0.7725 |
+| W1 effort per joint (A) | j0=0.1817, j1=1.0449, j2=1.4501, j3=0.9519, j4=0.4456, j5=0.5611 |
+
+## Phase-end anchor (sim - 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 | -0.00370 | -0.00070 | 0.00411 | 0.042 |
+| 1 | 0.00178 | -0.00418 | -0.00063 | 0.00458 | 0.038 |
+| 2 | 0.00174 | -0.00414 | -0.00068 | 0.00454 | 0.027 |
+| 3 | 0.00183 | -0.00476 | -0.00097 | 0.00519 | 0.157 |
+| 4 | 0.00135 | -0.00401 | -0.00091 | 0.00433 | 0.147 |
+| 5 | 0.00149 | -0.00350 | 0.00018 | 0.00381 | 0.158 |
+| 6 | 0.00234 | -0.00319 | -0.00017 | 0.00396 | 0.120 |
+| 7 | 0.00217 | -0.00354 | 0.00007 | 0.00415 | 0.029 |
+| 8 | 0.00161 | -0.00359 | -0.00004 | 0.00393 | 0.046 |
+| 9 | -0.00008 | -0.00015 | -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_10f10194-d619-42b8-82a1-72c6f28e11fc.md b/gap_reports/gap_10f10194-d619-42b8-82a1-72c6f28e11fc.md
new file mode 100644
index 0000000000000000000000000000000000000000..d8eda59492277f6cf9b5c55ba625eb51378c37da
--- /dev/null
+++ b/gap_reports/gap_10f10194-d619-42b8-82a1-72c6f28e11fc.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/10f10194-d619-42b8-82a1-72c6f28e11fc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/10f10194-d619-42b8-82a1-72c6f28e11fc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2476 |
+| Sim rows | 221 |
+| Real episode_id | `10f10194-d619-42b8-82a1-72c6f28e11fc` |
+| Sim episode_id | `10f10194-d619-42b8-82a1-72c6f28e11fc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.228 | 12.64 | 21.89 | 1940.61 | 0.5777 |
+| 1 | descend | 285 | 25 | 0.996 | 6.08 | 10.53 | 3625.98 | 0.6615 |
+| 2 | settle | 362 | 32 | 0.021 | 0.67 | 1.17 | 3625.95 | 0.6625 |
+| 3 | close | 123 | 11 | 0.532 | 3.27 | 5.66 | 2085.25 | 0.9285 |
+| 4 | lift | 328 | 29 | 3.693 | 15.43 | 26.72 | 1925.25 | 1.0771 |
+| 5 | move_xy | 326 | 29 | 7.955 | 34.36 | 59.51 | 2351.92 | 0.8430 |
+| 6 | lower | 400 | 35 | 0.085 | 1.26 | 2.18 | 1719.52 | 0.8835 |
+| 7 | open | 123 | 11 | 0.530 | 3.17 | 5.50 | 3626.19 | 0.5495 |
+| 8 | retract | 330 | 29 | 3.735 | 15.64 | 27.09 | 2258.06 | 0.6894 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.381 |
+| TCP position RMSE (mm, per-axis) | 14.46 |
+| EE position RMS L2 (mm) | 26.72 |
+| TCP rotvec (mrad) | 2684.37 |
+| W1 effort mean (A) | 0.7554 |
+| W1 effort per joint (A) | j0=0.2227, j1=1.1878, j2=1.4405, j3=0.6824, j4=0.4009, j5=0.5979 |
+
+## Phase-end anchor (sim - 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 | -0.00033 | -0.00050 | 0.00093 | 0.035 |
+| 1 | 0.00068 | -0.00054 | -0.00078 | 0.00117 | 0.038 |
+| 2 | 0.00069 | -0.00055 | -0.00074 | 0.00115 | 0.033 |
+| 3 | 0.00147 | -0.00035 | -0.00084 | 0.00173 | 0.121 |
+| 4 | 0.00043 | 0.00015 | -0.00016 | 0.00048 | 0.095 |
+| 5 | 0.00148 | -0.00079 | -0.00042 | 0.00173 | 0.123 |
+| 6 | 0.00168 | -0.00078 | -0.00055 | 0.00193 | 0.148 |
+| 7 | 0.00053 | -0.00033 | -0.00058 | 0.00085 | 0.035 |
+| 8 | -0.00009 | -0.00014 | -0.00017 | 0.00024 | 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_10f3a735-0235-458d-a354-416b89da6a79.md b/gap_reports/gap_10f3a735-0235-458d-a354-416b89da6a79.md
new file mode 100644
index 0000000000000000000000000000000000000000..7b54b6644ea0f2ba2636fc764c6e74afc1edc979
--- /dev/null
+++ b/gap_reports/gap_10f3a735-0235-458d-a354-416b89da6a79.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/10f3a735-0235-458d-a354-416b89da6a79.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/10f3a735-0235-458d-a354-416b89da6a79.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2498 |
+| Sim rows | 251 |
+| Real episode_id | `10f3a735-0235-458d-a354-416b89da6a79` |
+| Sim episode_id | `10f3a735-0235-458d-a354-416b89da6a79` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 185 | 19 | 3.138 | 14.12 | 24.46 | 1903.48 | 0.5846 |
+| 1 | descend | 288 | 29 | 1.393 | 9.04 | 15.66 | 3625.39 | 0.7604 |
+| 2 | settle | 334 | 33 | 0.024 | 0.78 | 1.34 | 3625.23 | 0.6279 |
+| 3 | close | 170 | 17 | 1.004 | 6.39 | 11.06 | 3221.97 | 0.9886 |
+| 4 | lift | 329 | 33 | 3.044 | 14.22 | 24.62 | 2246.92 | 1.1069 |
+| 5 | move_xy | 350 | 35 | 6.844 | 34.96 | 60.55 | 2543.25 | 0.8815 |
+| 6 | lower | 340 | 33 | 0.082 | 1.32 | 2.29 | 3392.53 | 0.9972 |
+| 7 | open | 172 | 17 | 1.034 | 6.49 | 11.25 | 3625.49 | 0.6631 |
+| 8 | retract | 330 | 33 | 2.979 | 13.95 | 24.17 | 2378.21 | 0.7269 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.960 |
+| TCP position RMSE (mm, per-axis) | 14.85 |
+| EE position RMS L2 (mm) | 27.59 |
+| TCP rotvec (mrad) | 3020.60 |
+| W1 effort mean (A) | 0.8053 |
+| W1 effort per joint (A) | j0=0.2258, j1=1.3244, j2=1.6144, j3=0.7545, j4=0.3441, j5=0.5689 |
+
+## Phase-end anchor (sim - 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 | -0.00020 | -0.00071 | 0.00097 | 0.046 |
+| 1 | 0.00063 | -0.00063 | -0.00103 | 0.00135 | 0.051 |
+| 2 | 0.00063 | -0.00065 | -0.00097 | 0.00133 | 0.045 |
+| 3 | 0.00114 | -0.00039 | -0.00062 | 0.00136 | 0.097 |
+| 4 | 0.00015 | -0.00013 | -0.00001 | 0.00019 | 0.083 |
+| 5 | 0.00135 | -0.00100 | -0.00166 | 0.00236 | 0.134 |
+| 6 | 0.00138 | -0.00085 | -0.00068 | 0.00175 | 0.098 |
+| 7 | 0.00050 | -0.00032 | -0.00080 | 0.00099 | 0.052 |
+| 8 | -0.00010 | -0.00015 | -0.00017 | 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_11549c26-ea62-415e-966f-d615c07fbab3.md b/gap_reports/gap_11549c26-ea62-415e-966f-d615c07fbab3.md
new file mode 100644
index 0000000000000000000000000000000000000000..aa16407ae616bc7d5575747811b3a701d022ece7
--- /dev/null
+++ b/gap_reports/gap_11549c26-ea62-415e-966f-d615c07fbab3.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/11549c26-ea62-415e-966f-d615c07fbab3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/11549c26-ea62-415e-966f-d615c07fbab3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1086 |
+| Sim rows | 113 |
+| Real episode_id | `11549c26-ea62-415e-966f-d615c07fbab3` |
+| Sim episode_id | `11549c26-ea62-415e-966f-d615c07fbab3` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 200 | 20 | 4.730 | 19.94 | 34.53 | 1684.17 | 0.7101 |
+| 1 | descend | 91 | 10 | 0.956 | 4.42 | 7.65 | 4.32 | 0.5421 |
+| 2 | settle | 21 | 3 | 0.021 | 2.81 | 4.87 | 4.80 | 0.5412 |
+| 3 | close | 37 | 4 | 0.060 | 2.80 | 4.85 | 4.16 | 0.9963 |
+| 4 | lift | 114 | 12 | 1.128 | 4.82 | 8.35 | 3.78 | 1.0231 |
+| 5 | move_xy | 199 | 20 | 7.436 | 33.08 | 57.29 | 1190.06 | 0.9974 |
+| 6 | lower | 62 | 7 | 0.534 | 4.02 | 6.96 | 10.45 | 1.1622 |
+| 7 | open | 97 | 10 | 0.029 | 2.33 | 4.04 | 6.04 | 0.7639 |
+| 8 | retract | 68 | 7 | 0.462 | 3.21 | 5.55 | 5.61 | 0.8173 |
+| 9 | return | 197 | 20 | 3.047 | 19.18 | 33.23 | 712.06 | 0.7344 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.994 |
+| TCP position RMSE (mm, per-axis) | 13.96 |
+| EE position RMS L2 (mm) | 32.26 |
+| TCP rotvec (mrad) | 689.92 |
+| W1 effort mean (A) | 0.7959 |
+| W1 effort per joint (A) | j0=0.2879, j1=1.3623, j2=1.4601, j3=0.8043, j4=0.3664, j5=0.4944 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00173 | -0.00404 | -0.00067 | 0.00444 | 0.040 |
+| 1 | 0.00175 | -0.00450 | -0.00055 | 0.00486 | 0.044 |
+| 2 | 0.00173 | -0.00451 | -0.00062 | 0.00487 | 0.022 |
+| 3 | 0.00212 | -0.00431 | -0.00126 | 0.00497 | 0.114 |
+| 4 | 0.00186 | -0.00377 | -0.00153 | 0.00448 | 0.130 |
+| 5 | 0.00226 | -0.00265 | -0.00421 | 0.00546 | 0.417 |
+| 6 | 0.00205 | -0.00246 | -0.00282 | 0.00427 | 0.223 |
+| 7 | 0.00263 | -0.00302 | -0.00055 | 0.00404 | 0.063 |
+| 8 | 0.00246 | -0.00325 | -0.00071 | 0.00413 | 0.079 |
+| 9 | -0.00009 | -0.00021 | -0.00036 | 0.00043 | 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_11893fe5-f9cf-40dd-8cab-866f082e48d4.md b/gap_reports/gap_11893fe5-f9cf-40dd-8cab-866f082e48d4.md
new file mode 100644
index 0000000000000000000000000000000000000000..e3ebea6bf54f7d4bb396d9595dff07852214a8dc
--- /dev/null
+++ b/gap_reports/gap_11893fe5-f9cf-40dd-8cab-866f082e48d4.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/11893fe5-f9cf-40dd-8cab-866f082e48d4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/11893fe5-f9cf-40dd-8cab-866f082e48d4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1451 |
+| Sim rows | 149 |
+| Real episode_id | `11893fe5-f9cf-40dd-8cab-866f082e48d4` |
+| Sim episode_id | `11893fe5-f9cf-40dd-8cab-866f082e48d4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 7.256 | 13.82 | 23.94 | 537.30 | 0.6862 |
+| 1 | descend | 68 | 8 | 12.949 | 3.38 | 5.85 | 502.70 | 0.7948 |
+| 2 | settle | 26 | 3 | 12.929 | 2.68 | 4.64 | 502.70 | 0.8346 |
+| 3 | close | 389 | 38 | 12.929 | 3.12 | 5.41 | 504.08 | 1.2570 |
+| 4 | lift | 74 | 8 | 12.949 | 3.86 | 6.68 | 504.00 | 1.3776 |
+| 5 | move_xy | 191 | 19 | 9.053 | 32.00 | 55.42 | 1024.97 | 1.3279 |
+| 6 | lower | 69 | 8 | 0.963 | 3.74 | 6.47 | 2373.07 | 1.3516 |
+| 7 | open | 142 | 15 | 0.039 | 3.64 | 6.31 | 8.19 | 0.7689 |
+| 8 | retract | 69 | 8 | 0.993 | 4.04 | 7.00 | 7.84 | 0.8169 |
+| 9 | return | 266 | 26 | 4.010 | 20.91 | 36.21 | 980.19 | 0.7020 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 9.068 |
+| TCP position RMSE (mm, per-axis) | 13.19 |
+| EE position RMS L2 (mm) | 26.96 |
+| TCP rotvec (mrad) | 945.79 |
+| W1 effort mean (A) | 0.9823 |
+| W1 effort per joint (A) | j0=0.1592, j1=2.0724, j2=1.5798, j3=0.7605, j4=0.4148, j5=0.9071 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00247 | -0.00374 | -0.00016 | 0.00448 | 31.740 |
+| 1 | 0.00277 | -0.00370 | -0.00042 | 0.00464 | 31.672 |
+| 2 | 0.00274 | -0.00371 | -0.00053 | 0.00465 | 31.670 |
+| 3 | 0.00346 | -0.00310 | -0.00250 | 0.00527 | 31.665 |
+| 4 | 0.00330 | -0.00349 | -0.00292 | 0.00562 | 31.724 |
+| 5 | 0.00191 | -0.00466 | -0.00499 | 0.00709 | 0.292 |
+| 6 | 0.00253 | -0.00418 | -0.00312 | 0.00580 | 0.149 |
+| 7 | 0.00305 | -0.00524 | -0.00182 | 0.00633 | 0.082 |
+| 8 | 0.00295 | -0.00561 | -0.00160 | 0.00654 | 0.157 |
+| 9 | -0.00015 | -0.00018 | -0.00035 | 0.00042 | 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_11abdc59-65e3-49ad-a085-d731a8dd5a3a.md b/gap_reports/gap_11abdc59-65e3-49ad-a085-d731a8dd5a3a.md
new file mode 100644
index 0000000000000000000000000000000000000000..4bf5942fb53c90c388869ae779dcc73d892d4b90
--- /dev/null
+++ b/gap_reports/gap_11abdc59-65e3-49ad-a085-d731a8dd5a3a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/11abdc59-65e3-49ad-a085-d731a8dd5a3a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/11abdc59-65e3-49ad-a085-d731a8dd5a3a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2646 |
+| Sim rows | 236 |
+| Real episode_id | `11abdc59-65e3-49ad-a085-d731a8dd5a3a` |
+| Sim episode_id | `11abdc59-65e3-49ad-a085-d731a8dd5a3a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 268 | 24 | 3.296 | 14.81 | 25.66 | 2065.52 | 0.5773 |
+| 1 | descend | 344 | 30 | 0.919 | 5.96 | 10.32 | 3625.33 | 0.7428 |
+| 2 | settle | 360 | 32 | 0.024 | 0.77 | 1.33 | 3625.24 | 0.6796 |
+| 3 | close | 107 | 10 | 0.616 | 4.11 | 7.12 | 3192.21 | 0.9983 |
+| 4 | lift | 306 | 27 | 2.863 | 13.51 | 23.40 | 2289.38 | 1.0922 |
+| 5 | move_xy | 461 | 40 | 6.200 | 32.29 | 55.93 | 2635.08 | 0.8667 |
+| 6 | lower | 386 | 34 | 0.083 | 1.34 | 2.32 | 3476.50 | 0.9886 |
+| 7 | open | 108 | 10 | 0.647 | 4.21 | 7.30 | 3625.50 | 0.6311 |
+| 8 | retract | 306 | 27 | 3.014 | 14.44 | 25.00 | 2279.69 | 0.7239 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.754 |
+| TCP position RMSE (mm, per-axis) | 13.85 |
+| EE position RMS L2 (mm) | 27.69 |
+| TCP rotvec (mrad) | 3043.28 |
+| W1 effort mean (A) | 0.7944 |
+| W1 effort per joint (A) | j0=0.2101, j1=1.3030, j2=1.6275, j3=0.7546, j4=0.2789, j5=0.5926 |
+
+## Phase-end anchor (sim - 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 | -0.00079 | 0.00110 | 0.039 |
+| 1 | 0.00063 | -0.00063 | -0.00100 | 0.00134 | 0.047 |
+| 2 | 0.00063 | -0.00063 | -0.00097 | 0.00132 | 0.042 |
+| 3 | 0.00102 | -0.00047 | -0.00087 | 0.00142 | 0.124 |
+| 4 | 0.00017 | -0.00030 | -0.00055 | 0.00065 | 0.090 |
+| 5 | 0.00174 | -0.00103 | -0.00198 | 0.00283 | 0.162 |
+| 6 | 0.00141 | -0.00078 | -0.00105 | 0.00193 | 0.101 |
+| 7 | 0.00036 | -0.00038 | -0.00080 | 0.00096 | 0.042 |
+| 8 | -0.00012 | -0.00019 | -0.00018 | 0.00029 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_11ca7105-173e-40d3-889f-0e2159a83c90.md b/gap_reports/gap_11ca7105-173e-40d3-889f-0e2159a83c90.md
new file mode 100644
index 0000000000000000000000000000000000000000..4908baf2b8511182c1c0a2b4b259816e26516ff7
--- /dev/null
+++ b/gap_reports/gap_11ca7105-173e-40d3-889f-0e2159a83c90.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/11ca7105-173e-40d3-889f-0e2159a83c90.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/11ca7105-173e-40d3-889f-0e2159a83c90.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1164 |
+| Sim rows | 121 |
+| Real episode_id | `11ca7105-173e-40d3-889f-0e2159a83c90` |
+| Sim episode_id | `11ca7105-173e-40d3-889f-0e2159a83c90` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 146 | 15 | 2.397 | 10.52 | 18.23 | 941.03 | 0.7510 |
+| 1 | descend | 84 | 9 | 0.745 | 4.27 | 7.40 | 4.76 | 0.6376 |
+| 2 | settle | 31 | 4 | 0.022 | 2.74 | 4.75 | 5.30 | 0.6674 |
+| 3 | close | 44 | 5 | 0.106 | 1.99 | 3.45 | 6.10 | 1.1301 |
+| 4 | lift | 106 | 11 | 1.024 | 4.89 | 8.47 | 6.45 | 1.1675 |
+| 5 | move_xy | 221 | 23 | 7.425 | 12.78 | 22.14 | 231.34 | 1.0155 |
+| 6 | lower | 86 | 9 | 14.305 | 3.42 | 5.92 | 556.15 | 0.9156 |
+| 7 | open | 86 | 9 | 14.290 | 2.61 | 4.52 | 555.31 | 0.5716 |
+| 8 | retract | 85 | 9 | 14.301 | 3.25 | 5.62 | 554.79 | 0.6757 |
+| 9 | return | 275 | 27 | 7.904 | 11.35 | 19.66 | 1341.16 | 0.6835 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 8.592 |
+| TCP position RMSE (mm, per-axis) | 6.97 |
+| EE position RMS L2 (mm) | 15.62 |
+| TCP rotvec (mrad) | 605.26 |
+| W1 effort mean (A) | 0.7972 |
+| W1 effort per joint (A) | j0=0.1889, j1=1.1676, j2=1.4837, j3=0.7818, j4=0.3623, j5=0.7986 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00187 | -0.00385 | -0.00079 | 0.00435 | 0.032 |
+| 1 | 0.00231 | -0.00408 | -0.00083 | 0.00476 | 0.042 |
+| 2 | 0.00225 | -0.00410 | -0.00090 | 0.00476 | 0.045 |
+| 3 | 0.00148 | -0.00307 | -0.00067 | 0.00348 | 0.274 |
+| 4 | 0.00081 | -0.00269 | -0.00066 | 0.00289 | 0.196 |
+| 5 | 0.00204 | -0.00360 | -0.00048 | 0.00416 | 35.012 |
+| 6 | 0.00267 | -0.00339 | -0.00055 | 0.00435 | 35.005 |
+| 7 | 0.00194 | -0.00408 | 0.00006 | 0.00452 | 35.001 |
+| 8 | 0.00151 | -0.00403 | -0.00009 | 0.00430 | 34.993 |
+| 9 | -0.00009 | -0.00011 | -0.00026 | 0.00030 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_11f2bfde-bdfc-4c28-8b75-685fad96c3d9.md b/gap_reports/gap_11f2bfde-bdfc-4c28-8b75-685fad96c3d9.md
new file mode 100644
index 0000000000000000000000000000000000000000..6451c86a93993bc3c5f7bffa550a2593cde5e7a2
--- /dev/null
+++ b/gap_reports/gap_11f2bfde-bdfc-4c28-8b75-685fad96c3d9.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/11f2bfde-bdfc-4c28-8b75-685fad96c3d9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/11f2bfde-bdfc-4c28-8b75-685fad96c3d9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3335 |
+| Sim rows | 294 |
+| Real episode_id | `11f2bfde-bdfc-4c28-8b75-685fad96c3d9` |
+| Sim episode_id | `11f2bfde-bdfc-4c28-8b75-685fad96c3d9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 214 | 19 | 3.200 | 15.40 | 26.67 | 2028.27 | 0.6338 |
+| 1 | descend | 756 | 65 | 0.433 | 3.26 | 5.65 | 3624.72 | 0.7972 |
+| 2 | settle | 358 | 31 | 0.026 | 1.00 | 1.74 | 3624.59 | 0.7235 |
+| 3 | close | 164 | 15 | 0.785 | 5.69 | 9.86 | 3625.32 | 1.0180 |
+| 4 | lift | 455 | 40 | 3.225 | 16.93 | 29.32 | 2415.61 | 1.1254 |
+| 5 | move_xy | 382 | 33 | 7.663 | 42.44 | 73.52 | 2812.80 | 0.9257 |
+| 6 | lower | 386 | 34 | 0.091 | 1.74 | 3.02 | 3625.11 | 1.0583 |
+| 7 | open | 165 | 15 | 0.752 | 5.30 | 9.17 | 3624.76 | 0.7514 |
+| 8 | retract | 455 | 40 | 3.272 | 17.34 | 30.03 | 2415.27 | 0.7509 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.187 |
+| TCP position RMSE (mm, per-axis) | 17.32 |
+| EE position RMS L2 (mm) | 30.37 |
+| TCP rotvec (mrad) | 3151.61 |
+| W1 effort mean (A) | 0.8484 |
+| W1 effort per joint (A) | j0=0.2586, j1=1.5950, j2=1.6280, j3=0.7519, j4=0.2617, 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 | 0.00108 | -0.00026 | -0.00065 | 0.00129 | 0.027 |
+| 1 | 0.00111 | -0.00062 | -0.00123 | 0.00177 | 0.058 |
+| 2 | 0.00113 | -0.00067 | -0.00116 | 0.00175 | 0.056 |
+| 3 | 0.00176 | -0.00034 | -0.00158 | 0.00239 | 0.129 |
+| 4 | 0.00053 | 0.00004 | -0.00020 | 0.00057 | 0.120 |
+| 5 | 0.00271 | -0.00093 | -0.00164 | 0.00330 | 0.209 |
+| 6 | 0.00198 | -0.00082 | -0.00140 | 0.00256 | 0.115 |
+| 7 | 0.00096 | -0.00027 | -0.00096 | 0.00139 | 0.048 |
+| 8 | -0.00009 | -0.00014 | -0.00016 | 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_12223b28-5953-4bed-81df-99668813eb1e.md b/gap_reports/gap_12223b28-5953-4bed-81df-99668813eb1e.md
new file mode 100644
index 0000000000000000000000000000000000000000..dece45ed50279e52cfb8183764907b4a624118fc
--- /dev/null
+++ b/gap_reports/gap_12223b28-5953-4bed-81df-99668813eb1e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/12223b28-5953-4bed-81df-99668813eb1e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/12223b28-5953-4bed-81df-99668813eb1e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2692 |
+| Sim rows | 241 |
+| Real episode_id | `12223b28-5953-4bed-81df-99668813eb1e` |
+| Sim episode_id | `12223b28-5953-4bed-81df-99668813eb1e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.349 | 12.84 | 22.23 | 1895.25 | 0.5890 |
+| 1 | descend | 305 | 27 | 1.512 | 8.83 | 15.30 | 3626.03 | 0.6211 |
+| 2 | settle | 379 | 33 | 0.022 | 0.66 | 1.14 | 3625.95 | 0.6139 |
+| 3 | close | 139 | 13 | 1.426 | 7.93 | 13.74 | 1203.10 | 0.9548 |
+| 4 | lift | 407 | 36 | 3.268 | 13.07 | 22.64 | 2043.98 | 1.1078 |
+| 5 | move_xy | 367 | 32 | 8.515 | 37.35 | 64.69 | 2261.98 | 0.8631 |
+| 6 | lower | 374 | 33 | 0.079 | 1.17 | 2.03 | 1772.31 | 0.8939 |
+| 7 | open | 130 | 12 | 1.104 | 6.24 | 10.81 | 3626.21 | 0.6014 |
+| 8 | retract | 397 | 35 | 2.451 | 10.03 | 17.38 | 2330.49 | 0.7166 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.431 |
+| TCP position RMSE (mm, per-axis) | 14.96 |
+| EE position RMS L2 (mm) | 27.77 |
+| TCP rotvec (mrad) | 2632.09 |
+| W1 effort mean (A) | 0.7634 |
+| W1 effort per joint (A) | j0=0.2466, j1=1.1823, j2=1.4592, j3=0.6923, j4=0.3578, j5=0.6420 |
+
+## Phase-end anchor (sim - 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 | -0.00013 | -0.00040 | 0.00072 | 0.045 |
+| 1 | 0.00068 | -0.00050 | -0.00079 | 0.00116 | 0.039 |
+| 2 | 0.00065 | -0.00055 | -0.00074 | 0.00113 | 0.037 |
+| 3 | 0.00164 | -0.00018 | -0.00089 | 0.00187 | 0.197 |
+| 4 | 0.00017 | -0.00010 | -0.00002 | 0.00020 | 0.095 |
+| 5 | 0.00167 | -0.00070 | -0.00119 | 0.00217 | 0.133 |
+| 6 | 0.00178 | -0.00060 | -0.00122 | 0.00224 | 0.148 |
+| 7 | 0.00040 | -0.00023 | -0.00053 | 0.00070 | 0.044 |
+| 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_1241a06c-d88c-4c0d-8f74-d1416b7c3c6d.md b/gap_reports/gap_1241a06c-d88c-4c0d-8f74-d1416b7c3c6d.md
new file mode 100644
index 0000000000000000000000000000000000000000..07ff38c6e428af84ef0f057a47e990a3f0fd114e
--- /dev/null
+++ b/gap_reports/gap_1241a06c-d88c-4c0d-8f74-d1416b7c3c6d.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1241a06c-d88c-4c0d-8f74-d1416b7c3c6d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1241a06c-d88c-4c0d-8f74-d1416b7c3c6d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1005 |
+| Sim rows | 105 |
+| Real episode_id | `1241a06c-d88c-4c0d-8f74-d1416b7c3c6d` |
+| Sim episode_id | `1241a06c-d88c-4c0d-8f74-d1416b7c3c6d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 14.695 | 15.62 | 27.06 | 718.29 | 0.7043 |
+| 1 | descend | 73 | 8 | 26.311 | 4.36 | 7.55 | 1007.25 | 0.8581 |
+| 2 | settle | 27 | 3 | 26.283 | 2.32 | 4.02 | 1007.40 | 0.8654 |
+| 3 | close | 45 | 5 | 26.283 | 2.46 | 4.26 | 1006.98 | 1.2520 |
+| 4 | lift | 74 | 8 | 26.300 | 3.73 | 6.46 | 1006.62 | 1.2144 |
+| 5 | move_xy | 162 | 17 | 16.678 | 23.17 | 40.13 | 553.29 | 1.1872 |
+| 6 | lower | 73 | 8 | 1.036 | 4.79 | 8.30 | 4.44 | 0.9593 |
+| 7 | open | 75 | 8 | 0.026 | 2.84 | 4.92 | 4.66 | 0.5341 |
+| 8 | retract | 74 | 8 | 0.637 | 3.54 | 6.13 | 4.02 | 0.6273 |
+| 9 | return | 254 | 25 | 2.378 | 11.17 | 19.35 | 312.37 | 0.5899 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 18.074 |
+| TCP position RMSE (mm, per-axis) | 9.97 |
+| EE position RMS L2 (mm) | 21.91 |
+| TCP rotvec (mrad) | 705.44 |
+| W1 effort mean (A) | 0.7965 |
+| W1 effort per joint (A) | j0=0.1602, j1=1.1721, j2=1.5987, j3=0.8250, j4=0.1261, j5=0.8967 |
+
+## Phase-end anchor (sim - 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 | -0.00372 | 0.00017 | 0.00405 | 64.477 |
+| 1 | 0.00204 | -0.00343 | 0.00010 | 0.00399 | 64.376 |
+| 2 | 0.00203 | -0.00345 | -0.00015 | 0.00401 | 64.379 |
+| 3 | 0.00194 | -0.00368 | -0.00052 | 0.00420 | 64.380 |
+| 4 | 0.00173 | -0.00427 | -0.00030 | 0.00461 | 64.438 |
+| 5 | 0.00182 | -0.00432 | -0.00070 | 0.00474 | 0.078 |
+| 6 | 0.00196 | -0.00468 | -0.00018 | 0.00508 | 0.040 |
+| 7 | 0.00202 | -0.00448 | -0.00040 | 0.00493 | 0.025 |
+| 8 | 0.00150 | -0.00405 | -0.00062 | 0.00436 | 0.061 |
+| 9 | -0.00010 | -0.00010 | -0.00027 | 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_128b03d5-3413-465d-8fd9-af71702a20aa.md b/gap_reports/gap_128b03d5-3413-465d-8fd9-af71702a20aa.md
new file mode 100644
index 0000000000000000000000000000000000000000..cb6a754a51832a9e68846591e698ea1183e642af
--- /dev/null
+++ b/gap_reports/gap_128b03d5-3413-465d-8fd9-af71702a20aa.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/128b03d5-3413-465d-8fd9-af71702a20aa.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/128b03d5-3413-465d-8fd9-af71702a20aa.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2662 |
+| Sim rows | 239 |
+| Real episode_id | `128b03d5-3413-465d-8fd9-af71702a20aa` |
+| Sim episode_id | `128b03d5-3413-465d-8fd9-af71702a20aa` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.813 | 12.68 | 21.96 | 2013.18 | 0.5818 |
+| 1 | descend | 251 | 22 | 0.990 | 6.41 | 11.10 | 3625.37 | 0.7105 |
+| 2 | settle | 375 | 33 | 0.025 | 0.78 | 1.34 | 3625.24 | 0.7243 |
+| 3 | close | 162 | 15 | 0.719 | 4.70 | 8.14 | 2905.68 | 0.9748 |
+| 4 | lift | 334 | 30 | 3.123 | 14.66 | 25.39 | 2322.15 | 1.1041 |
+| 5 | move_xy | 418 | 37 | 6.668 | 34.18 | 59.20 | 2509.06 | 0.8660 |
+| 6 | lower | 398 | 35 | 0.087 | 1.37 | 2.38 | 3425.38 | 0.9898 |
+| 7 | open | 162 | 15 | 0.773 | 4.94 | 8.56 | 3625.45 | 0.6681 |
+| 8 | retract | 335 | 30 | 3.115 | 14.64 | 25.36 | 2318.40 | 0.7240 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.866 |
+| TCP position RMSE (mm, per-axis) | 14.33 |
+| EE position RMS L2 (mm) | 27.83 |
+| TCP rotvec (mrad) | 2994.84 |
+| W1 effort mean (A) | 0.8089 |
+| W1 effort per joint (A) | j0=0.2256, j1=1.3290, j2=1.6411, j3=0.7933, j4=0.2856, j5=0.5785 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00066 | -0.00031 | -0.00070 | 0.00102 | 0.038 |
+| 1 | 0.00063 | -0.00063 | -0.00100 | 0.00134 | 0.048 |
+| 2 | 0.00065 | -0.00065 | -0.00098 | 0.00135 | 0.051 |
+| 3 | 0.00104 | -0.00052 | -0.00026 | 0.00119 | 0.108 |
+| 4 | 0.00009 | -0.00034 | -0.00041 | 0.00054 | 0.095 |
+| 5 | 0.00128 | -0.00090 | -0.00137 | 0.00208 | 0.115 |
+| 6 | 0.00139 | -0.00095 | -0.00229 | 0.00284 | 0.179 |
+| 7 | 0.00051 | -0.00035 | -0.00072 | 0.00094 | 0.036 |
+| 8 | -0.00012 | -0.00018 | -0.00021 | 0.00030 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_12a599cd-23df-4ba4-99e8-ee68e0f8ab34.md b/gap_reports/gap_12a599cd-23df-4ba4-99e8-ee68e0f8ab34.md
new file mode 100644
index 0000000000000000000000000000000000000000..213e853161b17fe488f296f6b9476d02fe01651a
--- /dev/null
+++ b/gap_reports/gap_12a599cd-23df-4ba4-99e8-ee68e0f8ab34.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/12a599cd-23df-4ba4-99e8-ee68e0f8ab34.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/12a599cd-23df-4ba4-99e8-ee68e0f8ab34.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1632 |
+| Sim rows | 166 |
+| Real episode_id | `12a599cd-23df-4ba4-99e8-ee68e0f8ab34` |
+| Sim episode_id | `12a599cd-23df-4ba4-99e8-ee68e0f8ab34` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 162 | 17 | 2.445 | 11.88 | 20.59 | 321.61 | 0.6620 |
+| 1 | descend | 97 | 10 | 0.904 | 4.30 | 7.44 | 3.87 | 0.6213 |
+| 2 | settle | 26 | 3 | 0.018 | 2.13 | 3.68 | 4.61 | 0.6114 |
+| 3 | close | 404 | 40 | 0.101 | 2.09 | 3.62 | 8.16 | 1.1587 |
+| 4 | lift | 101 | 11 | 1.088 | 5.01 | 8.68 | 7.80 | 1.3254 |
+| 5 | move_xy | 221 | 22 | 6.956 | 33.34 | 57.74 | 45.47 | 1.2733 |
+| 6 | lower | 98 | 10 | 0.845 | 4.91 | 8.51 | 980.78 | 1.3513 |
+| 7 | open | 124 | 13 | 0.030 | 3.03 | 5.25 | 6.77 | 0.8468 |
+| 8 | retract | 98 | 10 | 0.744 | 4.26 | 7.38 | 6.26 | 0.8244 |
+| 9 | return | 301 | 30 | 4.532 | 18.89 | 32.72 | 1159.15 | 0.6625 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.796 |
+| TCP position RMSE (mm, per-axis) | 13.09 |
+| EE position RMS L2 (mm) | 26.69 |
+| TCP rotvec (mrad) | 491.05 |
+| W1 effort mean (A) | 0.9366 |
+| W1 effort per joint (A) | j0=0.1826, j1=1.7158, j2=1.4919, j3=0.9295, j4=0.6371, j5=0.6628 |
+
+## Phase-end anchor (sim - 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 | -0.00324 | 0.00003 | 0.00355 | 0.028 |
+| 1 | 0.00210 | -0.00305 | 0.00011 | 0.00370 | 0.033 |
+| 2 | 0.00206 | -0.00305 | -0.00002 | 0.00368 | 0.036 |
+| 3 | 0.00218 | -0.00290 | 0.00002 | 0.00363 | 0.225 |
+| 4 | 0.00180 | -0.00322 | -0.00034 | 0.00371 | 0.122 |
+| 5 | 0.00195 | -0.00472 | -0.00164 | 0.00536 | 0.185 |
+| 6 | 0.00296 | -0.00523 | -0.00215 | 0.00639 | 0.246 |
+| 7 | 0.00237 | -0.00444 | -0.00155 | 0.00527 | 0.067 |
+| 8 | 0.00189 | -0.00453 | -0.00174 | 0.00521 | 0.076 |
+| 9 | -0.00014 | -0.00012 | -0.00032 | 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_12ca7dd9-7067-4b2d-a890-0f686decfca5.md b/gap_reports/gap_12ca7dd9-7067-4b2d-a890-0f686decfca5.md
new file mode 100644
index 0000000000000000000000000000000000000000..a0114eaad0c77efd3642f8a331f387d1be40ccaa
--- /dev/null
+++ b/gap_reports/gap_12ca7dd9-7067-4b2d-a890-0f686decfca5.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/12ca7dd9-7067-4b2d-a890-0f686decfca5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/12ca7dd9-7067-4b2d-a890-0f686decfca5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2659 |
+| Sim rows | 235 |
+| Real episode_id | `12ca7dd9-7067-4b2d-a890-0f686decfca5` |
+| Sim episode_id | `12ca7dd9-7067-4b2d-a890-0f686decfca5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 179 | 16 | 2.595 | 9.63 | 16.68 | 1954.38 | 0.5918 |
+| 1 | descend | 276 | 24 | 1.070 | 6.28 | 10.87 | 3626.02 | 0.7510 |
+| 2 | settle | 378 | 33 | 0.022 | 0.60 | 1.04 | 3625.98 | 0.7024 |
+| 3 | close | 138 | 13 | 0.997 | 5.95 | 10.30 | 2491.74 | 0.9808 |
+| 4 | lift | 418 | 36 | 3.105 | 12.47 | 21.60 | 1896.90 | 1.1095 |
+| 5 | move_xy | 333 | 29 | 6.279 | 28.57 | 49.49 | 1721.11 | 0.9125 |
+| 6 | lower | 379 | 33 | 0.080 | 1.10 | 1.90 | 1382.49 | 0.9998 |
+| 7 | open | 139 | 13 | 0.933 | 5.41 | 9.37 | 3626.25 | 0.6190 |
+| 8 | retract | 419 | 36 | 3.317 | 13.53 | 23.43 | 2309.54 | 0.7000 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.785 |
+| TCP position RMSE (mm, per-axis) | 12.26 |
+| EE position RMS L2 (mm) | 22.55 |
+| TCP rotvec (mrad) | 2651.61 |
+| W1 effort mean (A) | 0.8168 |
+| W1 effort per joint (A) | j0=0.2508, j1=1.2711, j2=1.6408, j3=0.6920, j4=0.4142, j5=0.6317 |
+
+## Phase-end anchor (sim - 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 | -0.00030 | -0.00042 | 0.00064 | 0.034 |
+| 1 | 0.00042 | -0.00053 | -0.00080 | 0.00105 | 0.037 |
+| 2 | 0.00041 | -0.00056 | -0.00077 | 0.00104 | 0.035 |
+| 3 | 0.00096 | -0.00030 | -0.00079 | 0.00128 | 0.093 |
+| 4 | 0.00020 | -0.00015 | -0.00016 | 0.00030 | 0.102 |
+| 5 | 0.00120 | -0.00077 | -0.00090 | 0.00169 | 0.111 |
+| 6 | 0.00156 | -0.00087 | -0.00148 | 0.00232 | 0.178 |
+| 7 | 0.00020 | -0.00030 | -0.00052 | 0.00063 | 0.035 |
+| 8 | -0.00005 | -0.00007 | -0.00012 | 0.00015 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_12f78083-88cf-4d0d-a6b3-eec95b2c86cc.md b/gap_reports/gap_12f78083-88cf-4d0d-a6b3-eec95b2c86cc.md
new file mode 100644
index 0000000000000000000000000000000000000000..75f30b8dc31656246a1e1f6c14aae7d9cf95760d
--- /dev/null
+++ b/gap_reports/gap_12f78083-88cf-4d0d-a6b3-eec95b2c86cc.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/12f78083-88cf-4d0d-a6b3-eec95b2c86cc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/12f78083-88cf-4d0d-a6b3-eec95b2c86cc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2507 |
+| Sim rows | 224 |
+| Real episode_id | `12f78083-88cf-4d0d-a6b3-eec95b2c86cc` |
+| Sim episode_id | `12f78083-88cf-4d0d-a6b3-eec95b2c86cc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.393 | 8.60 | 14.90 | 1952.50 | 0.5868 |
+| 1 | descend | 426 | 37 | 1.027 | 6.18 | 10.70 | 3626.02 | 0.7018 |
+| 2 | settle | 358 | 32 | 0.022 | 0.60 | 1.04 | 3625.99 | 0.7037 |
+| 3 | close | 133 | 12 | 0.905 | 5.34 | 9.25 | 1259.71 | 0.9580 |
+| 4 | lift | 293 | 26 | 2.947 | 11.96 | 20.72 | 1711.47 | 1.0627 |
+| 5 | move_xy | 300 | 27 | 6.473 | 28.53 | 49.42 | 2160.44 | 0.8758 |
+| 6 | lower | 399 | 35 | 0.085 | 1.16 | 2.01 | 1681.25 | 0.9678 |
+| 7 | open | 134 | 12 | 0.945 | 5.57 | 9.65 | 3626.21 | 0.6059 |
+| 8 | retract | 295 | 26 | 2.916 | 11.88 | 20.58 | 2263.87 | 0.7075 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.741 |
+| TCP position RMSE (mm, per-axis) | 11.89 |
+| EE position RMS L2 (mm) | 20.91 |
+| TCP rotvec (mrad) | 2590.42 |
+| W1 effort mean (A) | 0.7754 |
+| W1 effort per joint (A) | j0=0.2616, j1=1.1996, j2=1.5563, j3=0.6699, j4=0.3827, j5=0.5821 |
+
+## Phase-end anchor (sim - 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 | -0.00041 | 0.00063 | 0.038 |
+| 1 | 0.00039 | -0.00056 | -0.00074 | 0.00101 | 0.033 |
+| 2 | 0.00041 | -0.00058 | -0.00075 | 0.00104 | 0.034 |
+| 3 | 0.00079 | -0.00035 | -0.00119 | 0.00147 | 0.108 |
+| 4 | 0.00018 | -0.00016 | -0.00027 | 0.00036 | 0.068 |
+| 5 | 0.00107 | -0.00082 | -0.00068 | 0.00150 | 0.107 |
+| 6 | 0.00118 | -0.00084 | -0.00158 | 0.00215 | 0.115 |
+| 7 | 0.00018 | -0.00029 | -0.00055 | 0.00065 | 0.040 |
+| 8 | -0.00011 | -0.00015 | -0.00015 | 0.00024 | 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_12ff27c0-ee82-4ef9-a8ff-2c85256e2ccd.md b/gap_reports/gap_12ff27c0-ee82-4ef9-a8ff-2c85256e2ccd.md
new file mode 100644
index 0000000000000000000000000000000000000000..ad79c85861482673486a754d0ce77b1bc2990158
--- /dev/null
+++ b/gap_reports/gap_12ff27c0-ee82-4ef9-a8ff-2c85256e2ccd.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/12ff27c0-ee82-4ef9-a8ff-2c85256e2ccd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/12ff27c0-ee82-4ef9-a8ff-2c85256e2ccd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2399 |
+| Sim rows | 240 |
+| Real episode_id | `12ff27c0-ee82-4ef9-a8ff-2c85256e2ccd` |
+| Sim episode_id | `12ff27c0-ee82-4ef9-a8ff-2c85256e2ccd` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 151 | 15 | 2.250 | 9.92 | 17.19 | 1979.18 | 0.5823 |
+| 1 | descend | 465 | 45 | 0.731 | 4.78 | 8.29 | 3625.41 | 0.7177 |
+| 2 | settle | 340 | 34 | 0.024 | 0.74 | 1.29 | 3625.23 | 0.6752 |
+| 3 | close | 123 | 13 | 1.223 | 7.64 | 13.24 | 3026.84 | 1.0307 |
+| 4 | lift | 269 | 27 | 2.605 | 12.54 | 21.71 | 2370.94 | 1.1214 |
+| 5 | move_xy | 303 | 30 | 5.780 | 31.03 | 53.74 | 2810.69 | 0.9192 |
+| 6 | lower | 361 | 35 | 0.085 | 1.31 | 2.26 | 3625.78 | 1.0082 |
+| 7 | open | 120 | 13 | 1.136 | 7.05 | 12.22 | 3625.49 | 0.6421 |
+| 8 | retract | 267 | 26 | 2.682 | 12.92 | 22.37 | 2399.98 | 0.7305 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.489 |
+| TCP position RMSE (mm, per-axis) | 12.99 |
+| EE position RMS L2 (mm) | 22.86 |
+| TCP rotvec (mrad) | 3072.03 |
+| W1 effort mean (A) | 0.8052 |
+| W1 effort per joint (A) | j0=0.2488, j1=1.3738, j2=1.5858, j3=0.7032, j4=0.3519, j5=0.5679 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00038 | -0.00029 | -0.00067 | 0.00082 | 0.043 |
+| 1 | 0.00040 | -0.00070 | -0.00099 | 0.00128 | 0.045 |
+| 2 | 0.00042 | -0.00071 | -0.00100 | 0.00130 | 0.047 |
+| 3 | 0.00066 | -0.00049 | -0.00075 | 0.00111 | 0.097 |
+| 4 | 0.00035 | 0.00000 | -0.00013 | 0.00038 | 0.070 |
+| 5 | 0.00132 | -0.00108 | -0.00147 | 0.00225 | 0.132 |
+| 6 | 0.00156 | -0.00097 | -0.00156 | 0.00241 | 0.164 |
+| 7 | 0.00018 | -0.00043 | -0.00076 | 0.00089 | 0.045 |
+| 8 | -0.00009 | -0.00016 | -0.00018 | 0.00026 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_13047cb1-f6fe-41a3-a5db-28d490357c0b.md b/gap_reports/gap_13047cb1-f6fe-41a3-a5db-28d490357c0b.md
new file mode 100644
index 0000000000000000000000000000000000000000..e99aa85175f828ef34905d14cb3940f6336474d8
--- /dev/null
+++ b/gap_reports/gap_13047cb1-f6fe-41a3-a5db-28d490357c0b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/13047cb1-f6fe-41a3-a5db-28d490357c0b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/13047cb1-f6fe-41a3-a5db-28d490357c0b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2965 |
+| Sim rows | 261 |
+| Real episode_id | `13047cb1-f6fe-41a3-a5db-28d490357c0b` |
+| Sim episode_id | `13047cb1-f6fe-41a3-a5db-28d490357c0b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.505 | 15.10 | 26.16 | 1998.76 | 0.5955 |
+| 1 | descend | 430 | 37 | 0.444 | 3.14 | 5.43 | 3625.31 | 0.7141 |
+| 2 | settle | 372 | 32 | 0.023 | 0.82 | 1.42 | 3625.25 | 0.6705 |
+| 3 | close | 149 | 14 | 0.591 | 4.13 | 7.15 | 3330.54 | 0.9920 |
+| 4 | lift | 442 | 38 | 3.696 | 17.19 | 29.78 | 2261.80 | 1.1144 |
+| 5 | move_xy | 364 | 32 | 7.284 | 35.50 | 61.49 | 2740.65 | 0.8827 |
+| 6 | lower | 392 | 34 | 0.088 | 1.47 | 2.55 | 3320.68 | 0.9174 |
+| 7 | open | 149 | 14 | 0.606 | 4.07 | 7.04 | 3625.48 | 0.6304 |
+| 8 | retract | 440 | 38 | 3.690 | 17.07 | 29.57 | 2344.28 | 0.7229 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.224 |
+| TCP position RMSE (mm, per-axis) | 15.35 |
+| EE position RMS L2 (mm) | 28.09 |
+| TCP rotvec (mrad) | 3048.98 |
+| W1 effort mean (A) | 0.7950 |
+| W1 effort per joint (A) | j0=0.2268, j1=1.3581, j2=1.5493, j3=0.7171, j4=0.3466, j5=0.5720 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00087 | -0.00039 | -0.00063 | 0.00115 | 0.030 |
+| 1 | 0.00097 | -0.00057 | -0.00097 | 0.00148 | 0.041 |
+| 2 | 0.00088 | -0.00059 | -0.00095 | 0.00142 | 0.045 |
+| 3 | 0.00154 | -0.00041 | -0.00077 | 0.00177 | 0.111 |
+| 4 | -0.00001 | -0.00053 | -0.00065 | 0.00084 | 0.088 |
+| 5 | 0.00167 | -0.00077 | -0.00193 | 0.00267 | 0.149 |
+| 6 | 0.00160 | -0.00068 | -0.00266 | 0.00317 | 0.229 |
+| 7 | 0.00075 | -0.00034 | -0.00077 | 0.00113 | 0.038 |
+| 8 | -0.00008 | -0.00010 | -0.00015 | 0.00020 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_130db3dc-0245-44c5-8dd4-0d600aae0cc3.md b/gap_reports/gap_130db3dc-0245-44c5-8dd4-0d600aae0cc3.md
new file mode 100644
index 0000000000000000000000000000000000000000..df5356c8f9681b3cc8f3c248cf25662b96c4cab3
--- /dev/null
+++ b/gap_reports/gap_130db3dc-0245-44c5-8dd4-0d600aae0cc3.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/130db3dc-0245-44c5-8dd4-0d600aae0cc3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/130db3dc-0245-44c5-8dd4-0d600aae0cc3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1500 |
+| Sim rows | 152 |
+| Real episode_id | `130db3dc-0245-44c5-8dd4-0d600aae0cc3` |
+| Sim episode_id | `130db3dc-0245-44c5-8dd4-0d600aae0cc3` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.555 | 10.03 | 17.37 | 493.25 | 0.6602 |
+| 1 | descend | 85 | 9 | 0.787 | 3.81 | 6.60 | 4.02 | 0.5625 |
+| 2 | settle | 14 | 2 | 0.018 | 2.26 | 3.92 | 4.53 | 0.6288 |
+| 3 | close | 401 | 39 | 0.157 | 1.70 | 2.95 | 5.73 | 1.0792 |
+| 4 | lift | 89 | 9 | 0.715 | 3.27 | 5.66 | 6.23 | 1.1269 |
+| 5 | move_xy | 197 | 20 | 2.826 | 16.79 | 29.07 | 137.23 | 1.0867 |
+| 6 | lower | 86 | 9 | 0.629 | 3.81 | 6.61 | 8.87 | 1.1066 |
+| 7 | open | 134 | 14 | 0.020 | 2.97 | 5.15 | 5.58 | 0.6412 |
+| 8 | retract | 85 | 9 | 0.571 | 3.74 | 6.49 | 5.03 | 0.7164 |
+| 9 | return | 225 | 22 | 2.945 | 19.54 | 33.85 | 488.08 | 0.7033 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.766 |
+| TCP position RMSE (mm, per-axis) | 9.14 |
+| EE position RMS L2 (mm) | 18.28 |
+| TCP rotvec (mrad) | 223.74 |
+| W1 effort mean (A) | 0.8534 |
+| W1 effort per joint (A) | j0=0.1812, j1=1.4468, j2=1.5543, j3=0.7902, j4=0.6762, j5=0.4717 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00152 | -0.00326 | -0.00014 | 0.00360 | 0.024 |
+| 1 | 0.00203 | -0.00337 | -0.00006 | 0.00393 | 0.042 |
+| 2 | 0.00202 | -0.00337 | -0.00013 | 0.00393 | 0.024 |
+| 3 | 0.00034 | -0.00293 | -0.00027 | 0.00296 | 0.255 |
+| 4 | -0.00022 | -0.00290 | -0.00043 | 0.00294 | 0.298 |
+| 5 | 0.00178 | -0.00252 | -0.00163 | 0.00348 | 0.236 |
+| 6 | 0.00218 | -0.00275 | -0.00187 | 0.00397 | 0.264 |
+| 7 | 0.00214 | -0.00459 | -0.00104 | 0.00516 | 0.039 |
+| 8 | 0.00175 | -0.00426 | -0.00120 | 0.00476 | 0.049 |
+| 9 | -0.00018 | -0.00010 | -0.00027 | 0.00034 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_133af36a-2e75-4ca0-b4d3-069e3a6abc2e.md b/gap_reports/gap_133af36a-2e75-4ca0-b4d3-069e3a6abc2e.md
new file mode 100644
index 0000000000000000000000000000000000000000..29382ed097200850d187ec3c09428bff10d87a89
--- /dev/null
+++ b/gap_reports/gap_133af36a-2e75-4ca0-b4d3-069e3a6abc2e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/133af36a-2e75-4ca0-b4d3-069e3a6abc2e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/133af36a-2e75-4ca0-b4d3-069e3a6abc2e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2663 |
+| Sim rows | 234 |
+| Real episode_id | `133af36a-2e75-4ca0-b4d3-069e3a6abc2e` |
+| Sim episode_id | `133af36a-2e75-4ca0-b4d3-069e3a6abc2e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 159 | 14 | 2.325 | 9.72 | 16.83 | 2012.83 | 0.5781 |
+| 1 | descend | 350 | 30 | 1.393 | 8.27 | 14.32 | 3626.03 | 0.7039 |
+| 2 | settle | 360 | 31 | 0.021 | 0.56 | 0.97 | 3625.95 | 0.7202 |
+| 3 | close | 147 | 13 | 0.883 | 5.25 | 9.09 | 2096.81 | 0.9224 |
+| 4 | lift | 392 | 34 | 2.692 | 11.03 | 19.10 | 2102.76 | 1.0675 |
+| 5 | move_xy | 330 | 29 | 6.132 | 28.97 | 50.17 | 2371.03 | 0.9318 |
+| 6 | lower | 388 | 34 | 0.084 | 1.09 | 1.89 | 1555.41 | 0.9954 |
+| 7 | open | 146 | 13 | 0.985 | 5.80 | 10.04 | 3626.20 | 0.5968 |
+| 8 | retract | 391 | 34 | 2.611 | 10.65 | 18.44 | 2275.57 | 0.6901 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.598 |
+| TCP position RMSE (mm, per-axis) | 12.02 |
+| EE position RMS L2 (mm) | 21.68 |
+| TCP rotvec (mrad) | 2698.43 |
+| W1 effort mean (A) | 0.8028 |
+| W1 effort per joint (A) | j0=0.2473, j1=1.1941, j2=1.6002, j3=0.7405, j4=0.4107, 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 | 0.00012 | -0.00033 | -0.00044 | 0.00056 | 0.031 |
+| 1 | 0.00017 | -0.00057 | -0.00079 | 0.00099 | 0.037 |
+| 2 | 0.00019 | -0.00057 | -0.00078 | 0.00098 | 0.036 |
+| 3 | 0.00060 | -0.00052 | -0.00116 | 0.00141 | 0.109 |
+| 4 | 0.00014 | -0.00016 | -0.00015 | 0.00026 | 0.095 |
+| 5 | 0.00075 | -0.00086 | -0.00050 | 0.00125 | 0.110 |
+| 6 | 0.00101 | -0.00097 | -0.00221 | 0.00262 | 0.168 |
+| 7 | -0.00004 | -0.00038 | -0.00057 | 0.00069 | 0.034 |
+| 8 | -0.00004 | -0.00003 | -0.00010 | 0.00011 | 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_13593430-cd0c-41d4-9ab2-25c4fdad4af1.md b/gap_reports/gap_13593430-cd0c-41d4-9ab2-25c4fdad4af1.md
new file mode 100644
index 0000000000000000000000000000000000000000..f932566f8b9cce8af881896ca60b404ed7e6d3eb
--- /dev/null
+++ b/gap_reports/gap_13593430-cd0c-41d4-9ab2-25c4fdad4af1.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/13593430-cd0c-41d4-9ab2-25c4fdad4af1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/13593430-cd0c-41d4-9ab2-25c4fdad4af1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2697 |
+| Sim rows | 239 |
+| Real episode_id | `13593430-cd0c-41d4-9ab2-25c4fdad4af1` |
+| Sim episode_id | `13593430-cd0c-41d4-9ab2-25c4fdad4af1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 183 | 16 | 3.300 | 11.67 | 20.21 | 1987.87 | 0.5925 |
+| 1 | descend | 354 | 31 | 1.356 | 8.18 | 14.18 | 3626.02 | 0.6642 |
+| 2 | settle | 361 | 32 | 0.023 | 0.68 | 1.18 | 3625.99 | 0.6719 |
+| 3 | close | 173 | 16 | 0.920 | 5.30 | 9.17 | 1077.72 | 0.8939 |
+| 4 | lift | 365 | 32 | 2.827 | 11.51 | 19.93 | 1966.61 | 1.1028 |
+| 5 | move_xy | 335 | 29 | 7.981 | 34.45 | 59.67 | 2035.44 | 0.8526 |
+| 6 | lower | 382 | 33 | 0.086 | 1.26 | 2.19 | 1523.48 | 0.8772 |
+| 7 | open | 173 | 16 | 0.933 | 5.34 | 9.26 | 3626.19 | 0.5801 |
+| 8 | retract | 371 | 32 | 2.873 | 11.63 | 20.15 | 2274.57 | 0.7141 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.239 |
+| TCP position RMSE (mm, per-axis) | 13.81 |
+| EE position RMS L2 (mm) | 24.85 |
+| TCP rotvec (mrad) | 2583.35 |
+| W1 effort mean (A) | 0.7603 |
+| W1 effort per joint (A) | j0=0.2654, j1=1.1912, j2=1.4380, j3=0.6751, j4=0.4160, j5=0.5762 |
+
+## Phase-end anchor (sim - 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 | -0.00018 | -0.00042 | 0.00080 | 0.048 |
+| 1 | 0.00072 | -0.00055 | -0.00074 | 0.00117 | 0.034 |
+| 2 | 0.00068 | -0.00054 | -0.00076 | 0.00116 | 0.036 |
+| 3 | 0.00091 | -0.00032 | -0.00013 | 0.00097 | 0.060 |
+| 4 | 0.00016 | -0.00035 | -0.00057 | 0.00069 | 0.089 |
+| 5 | 0.00179 | -0.00062 | -0.00116 | 0.00222 | 0.149 |
+| 6 | 0.00137 | -0.00070 | -0.00157 | 0.00220 | 0.121 |
+| 7 | 0.00049 | -0.00023 | -0.00051 | 0.00074 | 0.034 |
+| 8 | -0.00005 | -0.00008 | -0.00011 | 0.00014 | 0.021 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_135f9385-25ef-4bec-b7f1-63892b658413.md b/gap_reports/gap_135f9385-25ef-4bec-b7f1-63892b658413.md
new file mode 100644
index 0000000000000000000000000000000000000000..77405f48e8fdcbebc72db7d0df8c8322a9f1312d
--- /dev/null
+++ b/gap_reports/gap_135f9385-25ef-4bec-b7f1-63892b658413.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/135f9385-25ef-4bec-b7f1-63892b658413.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/135f9385-25ef-4bec-b7f1-63892b658413.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1645 |
+| Sim rows | 169 |
+| Real episode_id | `135f9385-25ef-4bec-b7f1-63892b658413` |
+| Sim episode_id | `135f9385-25ef-4bec-b7f1-63892b658413` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.562 | 20.28 | 35.13 | 1694.54 | 0.7831 |
+| 1 | descend | 74 | 8 | 0.659 | 4.36 | 7.56 | 5.78 | 0.6914 |
+| 2 | settle | 12 | 2 | 0.030 | 3.13 | 5.41 | 6.21 | 0.6894 |
+| 3 | close | 390 | 39 | 0.100 | 3.31 | 5.73 | 3390.71 | 1.1306 |
+| 4 | lift | 77 | 8 | 0.649 | 4.32 | 7.48 | 3055.15 | 1.2072 |
+| 5 | move_xy | 175 | 18 | 6.496 | 19.49 | 33.76 | 2727.70 | 1.0956 |
+| 6 | lower | 73 | 8 | 12.450 | 4.45 | 7.70 | 483.96 | 1.0543 |
+| 7 | open | 360 | 36 | 12.417 | 2.66 | 4.61 | 483.47 | 0.6236 |
+| 8 | retract | 75 | 8 | 12.431 | 3.40 | 5.90 | 482.88 | 0.7213 |
+| 9 | return | 235 | 24 | 6.945 | 9.25 | 16.02 | 1150.99 | 0.7687 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 7.535 |
+| TCP position RMSE (mm, per-axis) | 9.87 |
+| EE position RMS L2 (mm) | 17.62 |
+| TCP rotvec (mrad) | 1821.23 |
+| W1 effort mean (A) | 0.8699 |
+| W1 effort per joint (A) | j0=0.1496, j1=1.4412, j2=1.5550, j3=0.7966, j4=0.4646, j5=0.8124 |
+
+## Phase-end anchor (sim - 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 | -0.00469 | -0.00134 | 0.00514 | 0.057 |
+| 1 | 0.00181 | -0.00494 | -0.00141 | 0.00544 | 0.053 |
+| 2 | 0.00177 | -0.00494 | -0.00145 | 0.00544 | 0.039 |
+| 3 | 0.00219 | -0.00428 | -0.00220 | 0.00529 | 0.124 |
+| 4 | 0.00174 | -0.00389 | -0.00228 | 0.00483 | 0.131 |
+| 5 | 0.00191 | -0.00359 | -0.00114 | 0.00422 | 30.408 |
+| 6 | 0.00338 | -0.00275 | -0.00237 | 0.00496 | 30.417 |
+| 7 | 0.00195 | -0.00416 | -0.00008 | 0.00459 | 30.416 |
+| 8 | 0.00139 | -0.00410 | -0.00017 | 0.00433 | 30.415 |
+| 9 | -0.00004 | -0.00009 | -0.00019 | 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.