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gap_reports/gap_134bf200-9fd4-4aa4-b223-e7982bc4e24d.md

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+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/134bf200-9fd4-4aa4-b223-e7982bc4e24d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/134bf200-9fd4-4aa4-b223-e7982bc4e24d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2940 |
+| Sim rows | 263 |
+| Real episode_id | `134bf200-9fd4-4aa4-b223-e7982bc4e24d` |
+| Sim episode_id | `134bf200-9fd4-4aa4-b223-e7982bc4e24d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 266 | 24 | 3.487 | 15.85 | 27.46 | 1963.12 | 0.5757 |
+| 1 | descend | 507 | 44 | 1.588 | 10.25 | 17.75 | 3625.43 | 0.6844 |
+| 2 | settle | 388 | 34 | 0.025 | 0.77 | 1.34 | 3625.24 | 0.7031 |
+| 3 | close | 151 | 14 | 0.841 | 5.47 | 9.47 | 3075.99 | 0.9926 |
+| 4 | lift | 290 | 26 | 3.139 | 14.61 | 25.30 | 2239.12 | 1.1264 |
+| 5 | move_xy | 510 | 45 | 7.236 | 37.11 | 64.27 | 2810.99 | 0.8911 |
+| 6 | lower | 387 | 34 | 0.086 | 1.38 | 2.39 | 3418.84 | 1.0115 |
+| 7 | open | 151 | 14 | 1.019 | 6.36 | 11.01 | 3625.52 | 0.6304 |
+| 8 | retract | 290 | 26 | 3.026 | 14.11 | 24.45 | 2370.74 | 0.7340 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.124 |
+| TCP position RMSE (mm, per-axis) | 15.70 |
+| EE position RMS L2 (mm) | 31.19 |
+| TCP rotvec (mrad) | 3036.27 |
+| W1 effort mean (A) | 0.7874 |
+| W1 effort per joint (A) | j0=0.2434, j1=1.2935, j2=1.5518, j3=0.7386, j4=0.3081, j5=0.5890 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00058 | -0.00023 | -0.00071 | 0.00095 | 0.039 |
+| 1 | 0.00066 | -0.00065 | -0.00100 | 0.00136 | 0.049 |
+| 2 | 0.00065 | -0.00064 | -0.00100 | 0.00135 | 0.047 |
+| 3 | 0.00113 | -0.00033 | -0.00072 | 0.00138 | 0.090 |
+| 4 | 0.00042 | -0.00040 | -0.00071 | 0.00091 | 0.140 |
+| 5 | 0.00186 | -0.00098 | -0.00159 | 0.00264 | 0.188 |
+| 6 | 0.00155 | -0.00096 | -0.00147 | 0.00234 | 0.128 |
+| 7 | 0.00039 | -0.00032 | -0.00075 | 0.00091 | 0.047 |
+| 8 | -0.00012 | -0.00019 | -0.00021 | 0.00030 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_138dc3f7-77d5-45c0-951e-6d5d410ddf96.md

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+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/138dc3f7-77d5-45c0-951e-6d5d410ddf96.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/138dc3f7-77d5-45c0-951e-6d5d410ddf96.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2827 |
+| Sim rows | 252 |
+| Real episode_id | `138dc3f7-77d5-45c0-951e-6d5d410ddf96` |
+| Sim episode_id | `138dc3f7-77d5-45c0-951e-6d5d410ddf96` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 198 | 18 | 2.582 | 11.55 | 20.00 | 1839.99 | 0.5853 |
+| 1 | descend | 356 | 31 | 0.865 | 5.49 | 9.52 | 3625.40 | 0.7460 |
+| 2 | settle | 367 | 32 | 0.024 | 0.77 | 1.34 | 3625.24 | 0.6854 |
+| 3 | close | 140 | 13 | 0.725 | 4.75 | 8.22 | 3419.70 | 0.9718 |
+| 4 | lift | 443 | 39 | 3.186 | 14.61 | 25.30 | 2198.42 | 1.1060 |
+| 5 | move_xy | 354 | 31 | 6.412 | 32.42 | 56.15 | 2706.75 | 0.8934 |
+| 6 | lower | 382 | 34 | 0.092 | 1.43 | 2.48 | 3551.89 | 1.0032 |
+| 7 | open | 141 | 13 | 1.002 | 6.24 | 10.81 | 3625.46 | 0.6836 |
+| 8 | retract | 446 | 39 | 3.214 | 14.81 | 25.65 | 2397.20 | 0.7271 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.800 |
+| TCP position RMSE (mm, per-axis) | 13.79 |
+| EE position RMS L2 (mm) | 25.47 |
+| TCP rotvec (mrad) | 3073.76 |
+| W1 effort mean (A) | 0.8209 |
+| W1 effort per joint (A) | j0=0.2603, j1=1.3261, j2=1.6593, j3=0.7664, j4=0.3036, j5=0.6097 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00059 | -0.00019 | -0.00063 | 0.00089 | 0.041 |
+| 1 | 0.00060 | -0.00062 | -0.00103 | 0.00135 | 0.053 |
+| 2 | 0.00066 | -0.00065 | -0.00097 | 0.00134 | 0.046 |
+| 3 | 0.00174 | -0.00024 | -0.00243 | 0.00300 | 0.234 |
+| 4 | 0.00018 | -0.00042 | -0.00057 | 0.00073 | 0.119 |
+| 5 | 0.00193 | -0.00085 | -0.00089 | 0.00229 | 0.174 |
+| 6 | 0.00181 | -0.00104 | -0.00239 | 0.00318 | 0.187 |
+| 7 | 0.00042 | -0.00035 | -0.00076 | 0.00094 | 0.056 |
+| 8 | -0.00006 | -0.00006 | -0.00013 | 0.00015 | 0.019 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_13a9b3ee-5fb2-4566-a52c-317d165569bc.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/13a9b3ee-5fb2-4566-a52c-317d165569bc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/13a9b3ee-5fb2-4566-a52c-317d165569bc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1913 |
+| Sim rows | 195 |
+| Real episode_id | `13a9b3ee-5fb2-4566-a52c-317d165569bc` |
+| Sim episode_id | `13a9b3ee-5fb2-4566-a52c-317d165569bc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 197 | 20 | 3.210 | 15.82 | 27.40 | 585.32 | 0.7653 |
+| 1 | descend | 112 | 12 | 0.981 | 5.27 | 9.12 | 5.31 | 0.6890 |
+| 2 | settle | 24 | 3 | 0.023 | 2.91 | 5.04 | 5.86 | 0.7775 |
+| 3 | close | 391 | 39 | 0.127 | 1.92 | 3.32 | 7.53 | 1.2294 |
+| 4 | lift | 115 | 12 | 0.879 | 4.30 | 7.46 | 7.21 | 1.3004 |
+| 5 | move_xy | 258 | 26 | 6.372 | 23.25 | 40.27 | 110.07 | 1.1461 |
+| 6 | lower | 112 | 12 | 8.358 | 5.52 | 9.56 | 324.19 | 1.0713 |
+| 7 | open | 367 | 36 | 8.259 | 2.39 | 4.13 | 323.34 | 0.7117 |
+| 8 | retract | 112 | 12 | 8.312 | 4.34 | 7.52 | 322.74 | 0.7225 |
+| 9 | return | 225 | 23 | 5.022 | 14.40 | 24.94 | 878.40 | 0.7973 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.339 |
+| TCP position RMSE (mm, per-axis) | 10.54 |
+| EE position RMS L2 (mm) | 19.80 |
+| TCP rotvec (mrad) | 379.51 |
+| W1 effort mean (A) | 0.9383 |
+| W1 effort per joint (A) | j0=0.2073, j1=1.6163, j2=1.6238, j3=0.8193, j4=0.5529, j5=0.8100 |
+
+## Phase-end anchor (sim - 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 | -0.00409 | -0.00097 | 0.00459 | 0.036 |
+| 1 | 0.00227 | -0.00434 | -0.00109 | 0.00502 | 0.039 |
+| 2 | 0.00228 | -0.00434 | -0.00118 | 0.00504 | 0.049 |
+| 3 | 0.00145 | -0.00305 | -0.00090 | 0.00349 | 0.195 |
+| 4 | 0.00088 | -0.00271 | -0.00091 | 0.00299 | 0.197 |
+| 5 | 0.00220 | -0.00291 | -0.00028 | 0.00366 | 20.276 |
+| 6 | 0.00262 | -0.00216 | -0.00100 | 0.00354 | 20.230 |
+| 7 | 0.00217 | -0.00351 | -0.00006 | 0.00412 | 20.230 |
+| 8 | 0.00170 | -0.00377 | -0.00007 | 0.00413 | 20.269 |
+| 9 | -0.00000 | -0.00012 | -0.00024 | 0.00027 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_13ca2ba7-5b75-41bc-bc1f-6ebc2c213118.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/13ca2ba7-5b75-41bc-bc1f-6ebc2c213118.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/13ca2ba7-5b75-41bc-bc1f-6ebc2c213118.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3058 |
+| Sim rows | 268 |
+| Real episode_id | `13ca2ba7-5b75-41bc-bc1f-6ebc2c213118` |
+| Sim episode_id | `13ca2ba7-5b75-41bc-bc1f-6ebc2c213118` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 252 | 22 | 3.173 | 15.96 | 27.64 | 3.41 | 0.6373 |
+| 1 | descend | 663 | 57 | 0.588 | 4.21 | 7.29 | 4.85 | 0.7535 |
+| 2 | settle | 354 | 31 | 0.026 | 1.15 | 2.00 | 5.04 | 0.7466 |
+| 3 | close | 182 | 16 | 0.966 | 6.88 | 11.92 | 7.11 | 1.0157 |
+| 4 | lift | 278 | 24 | 2.804 | 15.13 | 26.21 | 4.25 | 1.1279 |
+| 5 | move_xy | 460 | 40 | 7.168 | 41.27 | 71.49 | 5.72 | 0.9522 |
+| 6 | lower | 407 | 35 | 0.094 | 1.89 | 3.28 | 7.03 | 1.0309 |
+| 7 | open | 185 | 17 | 1.025 | 7.05 | 12.21 | 4.95 | 0.6716 |
+| 8 | retract | 277 | 24 | 2.677 | 14.52 | 25.16 | 3.46 | 0.7582 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.959 |
+| TCP position RMSE (mm, per-axis) | 16.73 |
+| EE position RMS L2 (mm) | 31.34 |
+| TCP rotvec (mrad) | 5.25 |
+| W1 effort mean (A) | 0.8323 |
+| W1 effort per joint (A) | j0=0.2736, j1=1.5167, j2=1.6546, j3=0.6560, j4=0.3220, j5=0.5712 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00117 | -0.00057 | -0.00071 | 0.00148 | 0.025 |
+| 1 | 0.00122 | -0.00103 | -0.00119 | 0.00199 | 0.054 |
+| 2 | 0.00123 | -0.00105 | -0.00119 | 0.00200 | 0.056 |
+| 3 | 0.00184 | -0.00066 | -0.00064 | 0.00206 | 0.094 |
+| 4 | 0.00001 | -0.00064 | -0.00059 | 0.00087 | 0.116 |
+| 5 | 0.00227 | -0.00140 | -0.00197 | 0.00331 | 0.135 |
+| 6 | 0.00299 | -0.00134 | -0.00225 | 0.00398 | 0.224 |
+| 7 | 0.00111 | -0.00062 | -0.00102 | 0.00163 | 0.064 |
+| 8 | -0.00012 | -0.00022 | -0.00021 | 0.00032 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1410a36f-e422-4cb4-bb32-3041e9de814a.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1410a36f-e422-4cb4-bb32-3041e9de814a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1410a36f-e422-4cb4-bb32-3041e9de814a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 744 |
+| Sim rows | 89 |
+| Real episode_id | `1410a36f-e422-4cb4-bb32-3041e9de814a` |
+| Sim episode_id | `1410a36f-e422-4cb4-bb32-3041e9de814a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 534 | 52 | 3.452 | 13.73 | 23.77 | 741.11 | 0.7564 |
+| 1 | descend | 210 | 21 | 0.024 | 2.76 | 4.78 | 1.99 | 0.7420 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.441 |
+| TCP position RMSE (mm, per-axis) | 9.90 |
+| EE position RMS L2 (mm) | 20.30 |
+| TCP rotvec (mrad) | 524.04 |
+| W1 effort mean (A) | 0.7523 |
+| W1 effort per joint (A) | j0=0.2155, j1=1.4537, j2=1.7135, j3=0.8150, j4=0.1317, j5=0.1846 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00411 | -0.00253 | 0.00046 | 0.00485 | 0.052 |
+| 1 | -0.00401 | -0.00259 | 0.00040 | 0.00479 | 0.045 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_141b6796-c78c-4940-aa00-7a0ad51b9292.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/141b6796-c78c-4940-aa00-7a0ad51b9292.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/141b6796-c78c-4940-aa00-7a0ad51b9292.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2223 |
+| Sim rows | 224 |
+| Real episode_id | `141b6796-c78c-4940-aa00-7a0ad51b9292` |
+| Sim episode_id | `141b6796-c78c-4940-aa00-7a0ad51b9292` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 209 | 21 | 15.269 | 16.00 | 27.71 | 628.17 | 0.6923 |
+| 1 | descend | 115 | 12 | 26.983 | 4.48 | 7.77 | 1032.56 | 0.8509 |
+| 2 | settle | 38 | 5 | 26.955 | 2.46 | 4.25 | 1032.77 | 0.8931 |
+| 3 | close | 383 | 38 | 26.954 | 2.39 | 4.14 | 1033.16 | 1.2792 |
+| 4 | lift | 113 | 12 | 26.986 | 5.07 | 8.78 | 1032.84 | 1.3625 |
+| 5 | move_xy | 311 | 31 | 16.534 | 32.33 | 55.99 | 482.70 | 1.2825 |
+| 6 | lower | 115 | 12 | 0.973 | 4.84 | 8.38 | 4.26 | 1.0688 |
+| 7 | open | 365 | 36 | 0.020 | 2.54 | 4.40 | 4.82 | 0.5490 |
+| 8 | retract | 114 | 12 | 0.961 | 4.60 | 7.96 | 4.18 | 0.6648 |
+| 9 | return | 460 | 45 | 6.221 | 18.98 | 32.87 | 1072.91 | 0.6767 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 18.592 |
+| TCP position RMSE (mm, per-axis) | 13.30 |
+| EE position RMS L2 (mm) | 27.47 |
+| TCP rotvec (mrad) | 777.55 |
+| W1 effort mean (A) | 0.8727 |
+| W1 effort per joint (A) | j0=0.1370, j1=1.4921, j2=1.5620, j3=0.8618, j4=0.2100, j5=0.9733 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00177 | -0.00391 | -0.00010 | 0.00429 | 66.112 |
+| 1 | 0.00213 | -0.00368 | -0.00015 | 0.00425 | 66.031 |
+| 2 | 0.00213 | -0.00369 | -0.00023 | 0.00426 | 66.025 |
+| 3 | 0.00235 | -0.00324 | -0.00105 | 0.00414 | 66.021 |
+| 4 | 0.00199 | -0.00370 | -0.00104 | 0.00433 | 66.091 |
+| 5 | 0.00127 | -0.00339 | -0.00167 | 0.00398 | 0.097 |
+| 6 | 0.00152 | -0.00376 | -0.00125 | 0.00424 | 0.080 |
+| 7 | 0.00154 | -0.00399 | -0.00095 | 0.00438 | 0.037 |
+| 8 | 0.00118 | -0.00353 | -0.00104 | 0.00387 | 0.039 |
+| 9 | -0.00003 | -0.00003 | -0.00017 | 0.00017 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_141dfa5c-4271-4ed9-ba84-dd1bb607dc65.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/141dfa5c-4271-4ed9-ba84-dd1bb607dc65.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/141dfa5c-4271-4ed9-ba84-dd1bb607dc65.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2996 |
+| Sim rows | 263 |
+| Real episode_id | `141dfa5c-4271-4ed9-ba84-dd1bb607dc65` |
+| Sim episode_id | `141dfa5c-4271-4ed9-ba84-dd1bb607dc65` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 288 | 25 | 3.424 | 16.11 | 27.91 | 1886.45 | 0.6255 |
+| 1 | descend | 314 | 27 | 1.098 | 7.89 | 13.67 | 3624.82 | 0.7825 |
+| 2 | settle | 371 | 32 | 0.027 | 0.95 | 1.64 | 3624.62 | 0.7019 |
+| 3 | close | 158 | 14 | 0.737 | 5.32 | 9.22 | 3625.28 | 1.0396 |
+| 4 | lift | 410 | 36 | 3.308 | 17.21 | 29.82 | 2493.91 | 1.1122 |
+| 5 | move_xy | 481 | 42 | 7.891 | 42.99 | 74.46 | 2740.82 | 0.9254 |
+| 6 | lower | 405 | 35 | 0.092 | 1.69 | 2.93 | 3625.07 | 1.0677 |
+| 7 | open | 158 | 14 | 0.733 | 5.14 | 8.90 | 3624.80 | 0.7330 |
+| 8 | retract | 411 | 36 | 3.471 | 18.18 | 31.49 | 2503.28 | 0.7604 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.322 |
+| TCP position RMSE (mm, per-axis) | 17.81 |
+| EE position RMS L2 (mm) | 35.39 |
+| TCP rotvec (mrad) | 3149.19 |
+| W1 effort mean (A) | 0.8473 |
+| W1 effort per joint (A) | j0=0.2070, j1=1.5746, j2=1.5979, j3=0.7654, j4=0.3400, j5=0.5989 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00107 | -0.00016 | -0.00080 | 0.00134 | 0.033 |
+| 1 | 0.00108 | -0.00055 | -0.00107 | 0.00162 | 0.046 |
+| 2 | 0.00107 | -0.00055 | -0.00113 | 0.00165 | 0.054 |
+| 3 | 0.00174 | -0.00025 | -0.00083 | 0.00195 | 0.095 |
+| 4 | 0.00043 | -0.00023 | -0.00058 | 0.00076 | 0.115 |
+| 5 | 0.00203 | -0.00075 | -0.00132 | 0.00253 | 0.118 |
+| 6 | 0.00248 | -0.00082 | -0.00197 | 0.00327 | 0.177 |
+| 7 | 0.00092 | -0.00020 | -0.00101 | 0.00138 | 0.062 |
+| 8 | -0.00010 | -0.00014 | -0.00018 | 0.00025 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1433e22e-33db-49ff-91c1-ed592579fedc.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1433e22e-33db-49ff-91c1-ed592579fedc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1433e22e-33db-49ff-91c1-ed592579fedc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2925 |
+| Sim rows | 259 |
+| Real episode_id | `1433e22e-33db-49ff-91c1-ed592579fedc` |
+| Sim episode_id | `1433e22e-33db-49ff-91c1-ed592579fedc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 235 | 21 | 3.360 | 16.83 | 29.15 | 1949.88 | 0.6273 |
+| 1 | descend | 327 | 29 | 0.847 | 6.14 | 10.63 | 3624.69 | 0.7727 |
+| 2 | settle | 363 | 32 | 0.027 | 1.01 | 1.75 | 3624.59 | 0.7247 |
+| 3 | close | 135 | 12 | 0.573 | 4.20 | 7.28 | 3625.07 | 1.0173 |
+| 4 | lift | 468 | 41 | 3.318 | 17.64 | 30.55 | 2416.89 | 1.1386 |
+| 5 | move_xy | 394 | 34 | 7.344 | 40.50 | 70.15 | 2721.11 | 0.9247 |
+| 6 | lower | 402 | 35 | 0.096 | 1.81 | 3.13 | 3624.96 | 1.0400 |
+| 7 | open | 135 | 12 | 0.588 | 4.17 | 7.22 | 3624.72 | 0.7412 |
+| 8 | retract | 466 | 41 | 3.310 | 17.72 | 30.69 | 2404.17 | 0.7490 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.137 |
+| TCP position RMSE (mm, per-axis) | 17.08 |
+| EE position RMS L2 (mm) | 32.40 |
+| TCP rotvec (mrad) | 3136.24 |
+| W1 effort mean (A) | 0.8557 |
+| W1 effort per joint (A) | j0=0.2249, j1=1.5750, j2=1.5908, j3=0.7852, j4=0.3162, j5=0.6418 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00112 | -0.00025 | -0.00078 | 0.00139 | 0.041 |
+| 1 | 0.00120 | -0.00065 | -0.00121 | 0.00182 | 0.057 |
+| 2 | 0.00113 | -0.00063 | -0.00121 | 0.00177 | 0.058 |
+| 3 | 0.00214 | -0.00032 | -0.00111 | 0.00243 | 0.147 |
+| 4 | 0.00057 | -0.00005 | -0.00024 | 0.00062 | 0.170 |
+| 5 | 0.00254 | -0.00095 | -0.00257 | 0.00374 | 0.192 |
+| 6 | 0.00207 | -0.00094 | -0.00136 | 0.00265 | 0.120 |
+| 7 | 0.00095 | -0.00030 | -0.00100 | 0.00141 | 0.045 |
+| 8 | -0.00009 | -0.00012 | -0.00015 | 0.00021 | 0.021 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1437b01b-3258-45a9-899c-8619684d0a3d.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1437b01b-3258-45a9-899c-8619684d0a3d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1437b01b-3258-45a9-899c-8619684d0a3d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3183 |
+| Sim rows | 283 |
+| Real episode_id | `1437b01b-3258-45a9-899c-8619684d0a3d` |
+| Sim episode_id | `1437b01b-3258-45a9-899c-8619684d0a3d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 194 | 17 | 2.482 | 12.78 | 22.13 | 1894.73 | 0.6266 |
+| 1 | descend | 791 | 69 | 0.508 | 3.67 | 6.35 | 3624.74 | 0.8067 |
+| 2 | settle | 382 | 34 | 0.027 | 0.98 | 1.69 | 3624.57 | 0.7026 |
+| 3 | close | 174 | 16 | 0.736 | 5.33 | 9.22 | 3625.34 | 1.0012 |
+| 4 | lift | 360 | 32 | 2.765 | 15.12 | 26.19 | 2409.28 | 1.1328 |
+| 5 | move_xy | 353 | 31 | 6.928 | 40.02 | 69.32 | 2769.14 | 0.9516 |
+| 6 | lower | 396 | 35 | 0.097 | 1.75 | 3.03 | 3625.01 | 1.0826 |
+| 7 | open | 175 | 16 | 0.787 | 5.47 | 9.48 | 3624.72 | 0.7588 |
+| 8 | retract | 358 | 31 | 2.837 | 15.50 | 26.85 | 2369.73 | 0.7540 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.814 |
+| TCP position RMSE (mm, per-axis) | 16.02 |
+| EE position RMS L2 (mm) | 27.25 |
+| TCP rotvec (mrad) | 3133.64 |
+| W1 effort mean (A) | 0.8448 |
+| W1 effort per joint (A) | j0=0.2383, j1=1.5433, j2=1.7033, j3=0.7623, j4=0.2754, j5=0.5463 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00090 | -0.00032 | -0.00069 | 0.00118 | 0.029 |
+| 1 | 0.00091 | -0.00073 | -0.00119 | 0.00167 | 0.051 |
+| 2 | 0.00096 | -0.00076 | -0.00121 | 0.00172 | 0.055 |
+| 3 | 0.00217 | -0.00027 | -0.00054 | 0.00225 | 0.180 |
+| 4 | 0.00014 | -0.00033 | -0.00040 | 0.00054 | 0.094 |
+| 5 | 0.00273 | -0.00125 | -0.00263 | 0.00399 | 0.239 |
+| 6 | 0.00188 | -0.00097 | -0.00088 | 0.00229 | 0.113 |
+| 7 | 0.00078 | -0.00039 | -0.00097 | 0.00131 | 0.049 |
+| 8 | -0.00014 | -0.00020 | -0.00020 | 0.00032 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1465cc99-fea4-4053-9f2b-3151fdd4797c.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1465cc99-fea4-4053-9f2b-3151fdd4797c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1465cc99-fea4-4053-9f2b-3151fdd4797c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2719 |
+| Sim rows | 243 |
+| Real episode_id | `1465cc99-fea4-4053-9f2b-3151fdd4797c` |
+| Sim episode_id | `1465cc99-fea4-4053-9f2b-3151fdd4797c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.613 | 13.97 | 24.20 | 2006.15 | 0.5903 |
+| 1 | descend | 397 | 35 | 1.331 | 8.00 | 13.86 | 3626.04 | 0.6297 |
+| 2 | settle | 364 | 32 | 0.023 | 0.69 | 1.19 | 3625.99 | 0.6117 |
+| 3 | close | 175 | 16 | 0.933 | 5.47 | 9.48 | 1078.82 | 0.9203 |
+| 4 | lift | 328 | 29 | 3.776 | 15.44 | 26.74 | 2157.57 | 1.0968 |
+| 5 | move_xy | 358 | 31 | 8.353 | 36.09 | 62.51 | 2132.14 | 0.8583 |
+| 6 | lower | 398 | 35 | 0.079 | 1.19 | 2.07 | 1299.09 | 0.8565 |
+| 7 | open | 172 | 16 | 0.971 | 5.56 | 9.63 | 3626.19 | 0.5929 |
+| 8 | retract | 331 | 29 | 3.994 | 16.36 | 28.34 | 2374.84 | 0.7142 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.600 |
+| TCP position RMSE (mm, per-axis) | 15.39 |
+| EE position RMS L2 (mm) | 27.95 |
+| TCP rotvec (mrad) | 2606.88 |
+| W1 effort mean (A) | 0.7377 |
+| W1 effort per joint (A) | j0=0.2486, j1=1.1825, j2=1.3853, j3=0.6415, j4=0.3853, j5=0.5830 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00065 | -0.00018 | -0.00041 | 0.00079 | 0.037 |
+| 1 | 0.00070 | -0.00055 | -0.00076 | 0.00117 | 0.035 |
+| 2 | 0.00069 | -0.00057 | -0.00076 | 0.00118 | 0.039 |
+| 3 | 0.00111 | -0.00033 | -0.00027 | 0.00119 | 0.112 |
+| 4 | 0.00013 | -0.00018 | -0.00008 | 0.00023 | 0.088 |
+| 5 | 0.00211 | -0.00067 | -0.00221 | 0.00313 | 0.206 |
+| 6 | 0.00167 | -0.00062 | -0.00114 | 0.00212 | 0.138 |
+| 7 | 0.00052 | -0.00023 | -0.00052 | 0.00077 | 0.033 |
+| 8 | -0.00011 | -0.00014 | -0.00017 | 0.00025 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_14887586-dabe-4360-bee8-7c2cdf329f11.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/14887586-dabe-4360-bee8-7c2cdf329f11.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/14887586-dabe-4360-bee8-7c2cdf329f11.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2288 |
+| Sim rows | 231 |
+| Real episode_id | `14887586-dabe-4360-bee8-7c2cdf329f11` |
+| Sim episode_id | `14887586-dabe-4360-bee8-7c2cdf329f11` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 144 | 15 | 2.229 | 8.42 | 14.59 | 1981.44 | 0.5738 |
+| 1 | descend | 367 | 36 | 1.573 | 9.31 | 16.12 | 3626.01 | 0.7225 |
+| 2 | settle | 320 | 32 | 0.022 | 0.57 | 0.98 | 3625.95 | 0.7180 |
+| 3 | close | 151 | 15 | 0.868 | 5.06 | 8.77 | 2021.95 | 0.9508 |
+| 4 | lift | 268 | 26 | 2.425 | 9.86 | 17.08 | 1931.36 | 1.0905 |
+| 5 | move_xy | 284 | 29 | 4.620 | 21.81 | 37.77 | 2062.55 | 0.8974 |
+| 6 | lower | 341 | 34 | 0.083 | 1.08 | 1.86 | 1745.32 | 0.9913 |
+| 7 | open | 153 | 16 | 0.850 | 4.89 | 8.48 | 3626.17 | 0.6036 |
+| 8 | retract | 260 | 26 | 2.489 | 10.32 | 17.87 | 2237.44 | 0.6912 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.169 |
+| TCP position RMSE (mm, per-axis) | 9.93 |
+| EE position RMS L2 (mm) | 17.70 |
+| TCP rotvec (mrad) | 2656.14 |
+| W1 effort mean (A) | 0.7872 |
+| W1 effort per joint (A) | j0=0.2467, j1=1.1842, j2=1.5875, j3=0.6977, j4=0.4301, j5=0.5770 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00013 | -0.00034 | -0.00045 | 0.00058 | 0.030 |
+| 1 | 0.00016 | -0.00058 | -0.00078 | 0.00099 | 0.038 |
+| 2 | 0.00018 | -0.00057 | -0.00077 | 0.00098 | 0.037 |
+| 3 | 0.00086 | -0.00051 | -0.00157 | 0.00186 | 0.145 |
+| 4 | 0.00013 | -0.00011 | -0.00001 | 0.00017 | 0.081 |
+| 5 | 0.00116 | -0.00087 | -0.00044 | 0.00152 | 0.163 |
+| 6 | 0.00069 | -0.00091 | -0.00184 | 0.00216 | 0.144 |
+| 7 | 0.00002 | -0.00036 | -0.00054 | 0.00065 | 0.038 |
+| 8 | -0.00007 | -0.00009 | -0.00013 | 0.00017 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_148eb3fc-63da-44f2-b384-18fe92cf9bd2.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/148eb3fc-63da-44f2-b384-18fe92cf9bd2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/148eb3fc-63da-44f2-b384-18fe92cf9bd2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2598 |
+| Sim rows | 229 |
+| Real episode_id | `148eb3fc-63da-44f2-b384-18fe92cf9bd2` |
+| Sim episode_id | `148eb3fc-63da-44f2-b384-18fe92cf9bd2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.620 | 15.44 | 26.75 | 1959.21 | 0.6104 |
+| 1 | descend | 291 | 25 | 0.988 | 6.23 | 10.80 | 3625.35 | 0.7056 |
+| 2 | settle | 372 | 32 | 0.024 | 0.83 | 1.44 | 3625.25 | 0.6788 |
+| 3 | close | 152 | 14 | 1.062 | 6.83 | 11.84 | 2957.81 | 0.9839 |
+| 4 | lift | 311 | 27 | 3.809 | 17.55 | 30.40 | 2336.25 | 1.1158 |
+| 5 | move_xy | 397 | 34 | 7.706 | 37.52 | 64.98 | 2495.31 | 0.9103 |
+| 6 | lower | 390 | 34 | 0.083 | 1.43 | 2.47 | 3340.52 | 0.9613 |
+| 7 | open | 150 | 14 | 1.035 | 6.42 | 11.12 | 3625.50 | 0.6659 |
+| 8 | retract | 309 | 27 | 3.684 | 17.11 | 29.63 | 2466.30 | 0.7563 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.395 |
+| TCP position RMSE (mm, per-axis) | 16.25 |
+| EE position RMS L2 (mm) | 30.86 |
+| TCP rotvec (mrad) | 2998.95 |
+| W1 effort mean (A) | 0.8038 |
+| W1 effort per joint (A) | j0=0.2579, j1=1.4195, j2=1.5368, j3=0.6944, j4=0.3336, j5=0.5808 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00084 | -0.00018 | -0.00068 | 0.00109 | 0.031 |
+| 1 | 0.00087 | -0.00055 | -0.00102 | 0.00144 | 0.048 |
+| 2 | 0.00091 | -0.00059 | -0.00097 | 0.00145 | 0.046 |
+| 3 | 0.00127 | -0.00013 | -0.00167 | 0.00210 | 0.153 |
+| 4 | 0.00036 | -0.00038 | -0.00052 | 0.00074 | 0.146 |
+| 5 | 0.00215 | -0.00069 | -0.00258 | 0.00343 | 0.198 |
+| 6 | 0.00176 | -0.00073 | -0.00159 | 0.00248 | 0.111 |
+| 7 | 0.00064 | -0.00026 | -0.00074 | 0.00101 | 0.053 |
+| 8 | -0.00011 | -0.00018 | -0.00019 | 0.00029 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_148f717c-26fe-4173-98e7-f20917fbda5a.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/148f717c-26fe-4173-98e7-f20917fbda5a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/148f717c-26fe-4173-98e7-f20917fbda5a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2787 |
+| Sim rows | 246 |
+| Real episode_id | `148f717c-26fe-4173-98e7-f20917fbda5a` |
+| Sim episode_id | `148f717c-26fe-4173-98e7-f20917fbda5a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 208 | 19 | 3.413 | 16.71 | 28.95 | 3.69 | 0.6493 |
+| 1 | descend | 501 | 43 | 0.564 | 4.39 | 7.60 | 5.53 | 0.7613 |
+| 2 | settle | 391 | 34 | 0.026 | 1.19 | 2.06 | 5.74 | 0.7030 |
+| 3 | close | 125 | 11 | 0.721 | 5.27 | 9.13 | 7.76 | 1.0310 |
+| 4 | lift | 344 | 30 | 3.350 | 17.75 | 30.74 | 5.36 | 1.1297 |
+| 5 | move_xy | 362 | 32 | 7.860 | 43.24 | 74.89 | 5.78 | 0.9213 |
+| 6 | lower | 388 | 34 | 0.101 | 2.05 | 3.55 | 8.25 | 0.9881 |
+| 7 | open | 124 | 11 | 0.808 | 5.70 | 9.88 | 5.64 | 0.6516 |
+| 8 | retract | 344 | 30 | 3.530 | 18.82 | 32.59 | 3.79 | 0.7505 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.310 |
+| TCP position RMSE (mm, per-axis) | 17.96 |
+| EE position RMS L2 (mm) | 32.55 |
+| TCP rotvec (mrad) | 5.90 |
+| W1 effort mean (A) | 0.8283 |
+| W1 effort per joint (A) | j0=0.2608, j1=1.5622, j2=1.5499, j3=0.6856, j4=0.3430, j5=0.5685 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00137 | -0.00055 | -0.00070 | 0.00163 | 0.030 |
+| 1 | 0.00139 | -0.00092 | -0.00120 | 0.00205 | 0.056 |
+| 2 | 0.00144 | -0.00095 | -0.00116 | 0.00208 | 0.055 |
+| 3 | 0.00192 | -0.00065 | -0.00164 | 0.00261 | 0.135 |
+| 4 | 0.00011 | -0.00047 | -0.00070 | 0.00085 | 0.100 |
+| 5 | 0.00248 | -0.00109 | -0.00201 | 0.00337 | 0.122 |
+| 6 | 0.00239 | -0.00112 | -0.00133 | 0.00295 | 0.120 |
+| 7 | 0.00119 | -0.00055 | -0.00098 | 0.00164 | 0.044 |
+| 8 | -0.00014 | -0.00021 | -0.00020 | 0.00032 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_149f7e69-d8b6-4aa6-9f43-0f3f69aad86f.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/149f7e69-d8b6-4aa6-9f43-0f3f69aad86f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/149f7e69-d8b6-4aa6-9f43-0f3f69aad86f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2609 |
+| Sim rows | 231 |
+| Real episode_id | `149f7e69-d8b6-4aa6-9f43-0f3f69aad86f` |
+| Sim episode_id | `149f7e69-d8b6-4aa6-9f43-0f3f69aad86f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 196 | 17 | 2.842 | 13.96 | 24.19 | 1971.92 | 0.6320 |
+| 1 | descend | 324 | 28 | 0.879 | 6.43 | 11.15 | 3624.81 | 0.8385 |
+| 2 | settle | 366 | 32 | 0.026 | 0.91 | 1.57 | 3624.64 | 0.6817 |
+| 3 | close | 127 | 12 | 0.649 | 4.75 | 8.22 | 3625.43 | 1.0169 |
+| 4 | lift | 360 | 32 | 2.840 | 15.51 | 26.86 | 2394.03 | 1.1165 |
+| 5 | move_xy | 357 | 31 | 7.510 | 43.27 | 74.95 | 2799.68 | 0.9308 |
+| 6 | lower | 393 | 34 | 0.088 | 1.58 | 2.74 | 3625.07 | 1.0064 |
+| 7 | open | 126 | 12 | 0.612 | 4.36 | 7.55 | 3624.76 | 0.7411 |
+| 8 | retract | 360 | 31 | 2.887 | 15.90 | 27.55 | 2370.88 | 0.7550 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.027 |
+| TCP position RMSE (mm, per-axis) | 17.15 |
+| EE position RMS L2 (mm) | 32.25 |
+| TCP rotvec (mrad) | 3140.77 |
+| W1 effort mean (A) | 0.8406 |
+| W1 effort per joint (A) | j0=0.2148, j1=1.5391, j2=1.6526, j3=0.7678, j4=0.2847, j5=0.5843 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00089 | -0.00030 | -0.00077 | 0.00121 | 0.039 |
+| 1 | 0.00091 | -0.00067 | -0.00113 | 0.00160 | 0.053 |
+| 2 | 0.00093 | -0.00067 | -0.00111 | 0.00159 | 0.051 |
+| 3 | 0.00189 | -0.00031 | -0.00118 | 0.00225 | 0.143 |
+| 4 | 0.00010 | -0.00027 | -0.00018 | 0.00033 | 0.103 |
+| 5 | 0.00225 | -0.00096 | -0.00275 | 0.00368 | 0.201 |
+| 6 | 0.00201 | -0.00103 | -0.00204 | 0.00304 | 0.152 |
+| 7 | 0.00072 | -0.00038 | -0.00094 | 0.00125 | 0.040 |
+| 8 | -0.00011 | -0.00016 | -0.00016 | 0.00025 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_14abcf55-c87a-4f99-bce6-aeb7af90f8d4.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/14abcf55-c87a-4f99-bce6-aeb7af90f8d4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/14abcf55-c87a-4f99-bce6-aeb7af90f8d4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1537 |
+| Sim rows | 157 |
+| Real episode_id | `14abcf55-c87a-4f99-bce6-aeb7af90f8d4` |
+| Sim episode_id | `14abcf55-c87a-4f99-bce6-aeb7af90f8d4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 138 | 14 | 2.695 | 13.27 | 22.98 | 1040.85 | 0.7110 |
+| 1 | descend | 68 | 8 | 0.419 | 3.30 | 5.71 | 4.94 | 0.6352 |
+| 2 | settle | 19 | 3 | 0.019 | 2.97 | 5.15 | 5.19 | 0.6803 |
+| 3 | close | 393 | 39 | 0.111 | 3.53 | 6.11 | 690.04 | 1.0813 |
+| 4 | lift | 69 | 7 | 0.554 | 3.87 | 6.70 | 8.94 | 1.1132 |
+| 5 | move_xy | 170 | 17 | 2.885 | 20.34 | 35.23 | 68.12 | 1.0470 |
+| 6 | lower | 69 | 7 | 1.513 | 3.16 | 5.48 | 61.99 | 1.0355 |
+| 7 | open | 377 | 37 | 1.453 | 2.53 | 4.38 | 60.64 | 0.6465 |
+| 8 | retract | 70 | 8 | 1.548 | 3.50 | 6.06 | 60.35 | 0.7353 |
+| 9 | return | 164 | 17 | 2.739 | 13.40 | 23.20 | 488.03 | 0.8325 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.743 |
+| TCP position RMSE (mm, per-axis) | 9.19 |
+| EE position RMS L2 (mm) | 16.22 |
+| TCP rotvec (mrad) | 425.87 |
+| W1 effort mean (A) | 0.8561 |
+| W1 effort per joint (A) | j0=0.2011, j1=1.6098, j2=1.5538, j3=0.7493, j4=0.3648, j5=0.6576 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00170 | -0.00446 | -0.00075 | 0.00484 | 0.042 |
+| 1 | 0.00190 | -0.00474 | -0.00071 | 0.00515 | 0.043 |
+| 2 | 0.00190 | -0.00473 | -0.00078 | 0.00516 | 0.030 |
+| 3 | 0.00286 | -0.00478 | -0.00315 | 0.00640 | 0.260 |
+| 4 | 0.00225 | -0.00470 | -0.00296 | 0.00599 | 0.233 |
+| 5 | 0.00274 | -0.00307 | -0.00166 | 0.00444 | 3.591 |
+| 6 | 0.00335 | -0.00235 | -0.00304 | 0.00510 | 3.565 |
+| 7 | 0.00250 | -0.00359 | -0.00033 | 0.00439 | 3.555 |
+| 8 | 0.00218 | -0.00375 | -0.00054 | 0.00438 | 3.604 |
+| 9 | -0.00006 | -0.00021 | -0.00031 | 0.00038 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_14bed1c0-5bb7-4f94-b0f9-fb53e266e78b.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/14bed1c0-5bb7-4f94-b0f9-fb53e266e78b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/14bed1c0-5bb7-4f94-b0f9-fb53e266e78b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2700 |
+| Sim rows | 239 |
+| Real episode_id | `14bed1c0-5bb7-4f94-b0f9-fb53e266e78b` |
+| Sim episode_id | `14bed1c0-5bb7-4f94-b0f9-fb53e266e78b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 202 | 18 | 2.756 | 13.18 | 22.84 | 1925.60 | 0.6336 |
+| 1 | descend | 405 | 35 | 1.353 | 9.34 | 16.18 | 3624.77 | 0.8120 |
+| 2 | settle | 376 | 33 | 0.028 | 0.97 | 1.68 | 3624.54 | 0.7110 |
+| 3 | close | 188 | 17 | 0.945 | 6.63 | 11.48 | 3471.89 | 1.0152 |
+| 4 | lift | 289 | 25 | 2.832 | 15.32 | 26.54 | 2307.07 | 1.1678 |
+| 5 | move_xy | 380 | 33 | 7.597 | 43.80 | 75.86 | 2826.40 | 0.9418 |
+| 6 | lower | 383 | 34 | 0.089 | 1.66 | 2.88 | 3625.00 | 1.0559 |
+| 7 | open | 188 | 17 | 0.928 | 6.42 | 11.13 | 3624.79 | 0.7386 |
+| 8 | retract | 289 | 25 | 2.882 | 15.65 | 27.11 | 2440.56 | 0.7726 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.077 |
+| TCP position RMSE (mm, per-axis) | 17.47 |
+| EE position RMS L2 (mm) | 32.58 |
+| TCP rotvec (mrad) | 3119.57 |
+| W1 effort mean (A) | 0.8577 |
+| W1 effort per joint (A) | j0=0.2637, j1=1.5599, j2=1.6574, j3=0.7813, j4=0.3373, j5=0.5465 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00088 | -0.00028 | -0.00070 | 0.00116 | 0.027 |
+| 1 | 0.00091 | -0.00073 | -0.00119 | 0.00167 | 0.053 |
+| 2 | 0.00091 | -0.00075 | -0.00119 | 0.00168 | 0.056 |
+| 3 | 0.00245 | -0.00037 | -0.00194 | 0.00315 | 0.196 |
+| 4 | 0.00022 | -0.00029 | -0.00048 | 0.00060 | 0.092 |
+| 5 | 0.00189 | -0.00103 | -0.00135 | 0.00254 | 0.121 |
+| 6 | 0.00192 | -0.00104 | -0.00068 | 0.00229 | 0.117 |
+| 7 | 0.00075 | -0.00035 | -0.00099 | 0.00129 | 0.061 |
+| 8 | -0.00013 | -0.00023 | -0.00021 | 0.00034 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_14cc2bbf-3bd4-454c-9a00-651aec0e2313.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/14cc2bbf-3bd4-454c-9a00-651aec0e2313.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/14cc2bbf-3bd4-454c-9a00-651aec0e2313.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2624 |
+| Sim rows | 232 |
+| Real episode_id | `14cc2bbf-3bd4-454c-9a00-651aec0e2313` |
+| Sim episode_id | `14cc2bbf-3bd4-454c-9a00-651aec0e2313` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 187 | 17 | 2.415 | 9.34 | 16.18 | 2019.37 | 0.5666 |
+| 1 | descend | 410 | 36 | 0.686 | 4.06 | 7.03 | 3626.06 | 0.7174 |
+| 2 | settle | 380 | 33 | 0.021 | 0.56 | 0.97 | 3625.93 | 0.6901 |
+| 3 | close | 130 | 12 | 0.924 | 5.55 | 9.62 | 1256.44 | 0.9124 |
+| 4 | lift | 309 | 27 | 2.672 | 10.94 | 18.95 | 1787.68 | 1.0622 |
+| 5 | move_xy | 361 | 31 | 5.633 | 25.84 | 44.75 | 2001.93 | 0.9018 |
+| 6 | lower | 405 | 35 | 0.076 | 0.99 | 1.71 | 1189.20 | 0.9789 |
+| 7 | open | 133 | 12 | 1.051 | 6.01 | 10.41 | 3626.14 | 0.6177 |
+| 8 | retract | 309 | 27 | 2.673 | 10.94 | 18.94 | 2315.40 | 0.6954 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.456 |
+| TCP position RMSE (mm, per-axis) | 10.95 |
+| EE position RMS L2 (mm) | 19.93 |
+| TCP rotvec (mrad) | 2562.11 |
+| W1 effort mean (A) | 0.7884 |
+| W1 effort per joint (A) | j0=0.2296, j1=1.1564, j2=1.6139, j3=0.7836, j4=0.3470, j5=0.6001 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00013 | -0.00034 | -0.00048 | 0.00060 | 0.032 |
+| 1 | 0.00015 | -0.00057 | -0.00077 | 0.00097 | 0.036 |
+| 2 | 0.00017 | -0.00057 | -0.00076 | 0.00097 | 0.035 |
+| 3 | 0.00046 | -0.00048 | -0.00104 | 0.00124 | 0.107 |
+| 4 | 0.00012 | -0.00034 | -0.00051 | 0.00063 | 0.091 |
+| 5 | 0.00107 | -0.00079 | -0.00079 | 0.00155 | 0.140 |
+| 6 | 0.00088 | -0.00085 | -0.00131 | 0.00179 | 0.107 |
+| 7 | -0.00005 | -0.00038 | -0.00056 | 0.00068 | 0.032 |
+| 8 | -0.00006 | -0.00008 | -0.00016 | 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.

gap_reports/gap_152a5926-621d-4a5d-84f9-5e870410ff66.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/152a5926-621d-4a5d-84f9-5e870410ff66.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/152a5926-621d-4a5d-84f9-5e870410ff66.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 429 |
+| Sim rows | 59 |
+| Real episode_id | `152a5926-621d-4a5d-84f9-5e870410ff66` |
+| Sim episode_id | `152a5926-621d-4a5d-84f9-5e870410ff66` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 220 | 22 | 3.113 | 11.30 | 19.57 | 6.82 | 0.7897 |
+| 1 | descend | 209 | 21 | 0.025 | 0.73 | 1.27 | 2.05 | 0.8413 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.201 |
+| TCP position RMSE (mm, per-axis) | 8.01 |
+| EE position RMS L2 (mm) | 14.04 |
+| TCP rotvec (mrad) | 5.04 |
+| W1 effort mean (A) | 0.8148 |
+| W1 effort per joint (A) | j0=0.1402, j1=1.7382, j2=1.7307, j3=0.9004, j4=0.1913, j5=0.1879 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00027 | -0.00094 | 0.00079 | 0.00126 | 0.058 |
+| 1 | 0.00054 | -0.00100 | 0.00062 | 0.00129 | 0.047 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_153056dd-7f6c-439f-92a5-e782eef26be6.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/153056dd-7f6c-439f-92a5-e782eef26be6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/153056dd-7f6c-439f-92a5-e782eef26be6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 553 |
+| Sim rows | 70 |
+| Real episode_id | `153056dd-7f6c-439f-92a5-e782eef26be6` |
+| Sim episode_id | `153056dd-7f6c-439f-92a5-e782eef26be6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 341 | 33 | 5.988 | 19.78 | 34.26 | 69.30 | 0.7708 |
+| 1 | descend | 212 | 21 | 3.417 | 7.27 | 12.60 | 128.74 | 0.7731 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.875 |
+| TCP position RMSE (mm, per-axis) | 14.90 |
+| EE position RMS L2 (mm) | 28.01 |
+| TCP rotvec (mrad) | 103.39 |
+| W1 effort mean (A) | 0.7639 |
+| W1 effort per joint (A) | j0=0.1727, j1=1.7435, j2=1.5640, j3=0.6992, j4=0.2336, j5=0.1704 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00428 | -0.01173 | -0.00070 | 0.01251 | 8.376 |
+| 1 | 0.00446 | -0.01180 | -0.00082 | 0.01264 | 8.369 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1546ac32-6072-4f87-93f9-9b55a97a1c34.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1546ac32-6072-4f87-93f9-9b55a97a1c34.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1546ac32-6072-4f87-93f9-9b55a97a1c34.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2799 |
+| Sim rows | 247 |
+| Real episode_id | `1546ac32-6072-4f87-93f9-9b55a97a1c34` |
+| Sim episode_id | `1546ac32-6072-4f87-93f9-9b55a97a1c34` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 23 | 3.223 | 17.04 | 29.51 | 1992.76 | 0.6087 |
+| 1 | descend | 339 | 30 | 0.819 | 5.83 | 10.09 | 3624.73 | 0.8031 |
+| 2 | settle | 372 | 32 | 0.027 | 0.98 | 1.69 | 3624.55 | 0.7685 |
+| 3 | close | 133 | 12 | 0.778 | 5.36 | 9.28 | 3625.14 | 1.0736 |
+| 4 | lift | 348 | 31 | 3.093 | 16.94 | 29.33 | 2372.09 | 1.1457 |
+| 5 | move_xy | 455 | 39 | 6.628 | 38.49 | 66.66 | 2729.70 | 0.9019 |
+| 6 | lower | 402 | 35 | 0.094 | 1.72 | 2.97 | 3625.07 | 1.0537 |
+| 7 | open | 133 | 12 | 0.710 | 4.98 | 8.63 | 3624.68 | 0.7530 |
+| 8 | retract | 349 | 31 | 3.018 | 16.70 | 28.93 | 2376.43 | 0.7497 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.882 |
+| TCP position RMSE (mm, per-axis) | 16.43 |
+| EE position RMS L2 (mm) | 32.23 |
+| TCP rotvec (mrad) | 3133.93 |
+| W1 effort mean (A) | 0.8527 |
+| W1 effort per joint (A) | j0=0.2392, j1=1.4996, j2=1.6980, j3=0.8087, j4=0.2892, j5=0.5817 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00094 | -0.00038 | -0.00086 | 0.00133 | 0.037 |
+| 1 | 0.00090 | -0.00074 | -0.00120 | 0.00167 | 0.057 |
+| 2 | 0.00095 | -0.00077 | -0.00119 | 0.00171 | 0.057 |
+| 3 | 0.00155 | -0.00046 | -0.00144 | 0.00217 | 0.090 |
+| 4 | 0.00006 | -0.00031 | -0.00022 | 0.00038 | 0.089 |
+| 5 | 0.00199 | -0.00096 | -0.00152 | 0.00269 | 0.138 |
+| 6 | 0.00214 | -0.00106 | -0.00069 | 0.00248 | 0.163 |
+| 7 | 0.00079 | -0.00040 | -0.00100 | 0.00133 | 0.045 |
+| 8 | -0.00014 | -0.00019 | -0.00018 | 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.

gap_reports/gap_15475438-78fa-4146-bd34-51215d2a359c.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/15475438-78fa-4146-bd34-51215d2a359c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/15475438-78fa-4146-bd34-51215d2a359c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1383 |
+| Sim rows | 143 |
+| Real episode_id | `15475438-78fa-4146-bd34-51215d2a359c` |
+| Sim episode_id | `15475438-78fa-4146-bd34-51215d2a359c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 139 | 14 | 3.182 | 10.96 | 18.98 | 600.47 | 0.7499 |
+| 1 | descend | 71 | 8 | 0.698 | 4.12 | 7.14 | 4.90 | 0.6742 |
+| 2 | settle | 33 | 4 | 0.025 | 2.56 | 4.43 | 5.43 | 0.7117 |
+| 3 | close | 311 | 31 | 0.216 | 1.60 | 2.76 | 10.16 | 1.0702 |
+| 4 | lift | 70 | 8 | 0.570 | 2.92 | 5.06 | 11.25 | 1.3100 |
+| 5 | move_xy | 144 | 15 | 5.218 | 18.59 | 32.19 | 108.68 | 1.2150 |
+| 6 | lower | 73 | 8 | 1.882 | 4.25 | 7.36 | 72.65 | 1.2596 |
+| 7 | open | 264 | 26 | 1.716 | 2.53 | 4.38 | 70.84 | 0.7707 |
+| 8 | retract | 72 | 8 | 1.836 | 3.90 | 6.75 | 70.61 | 0.7972 |
+| 9 | return | 206 | 21 | 3.147 | 17.31 | 29.97 | 899.16 | 0.7534 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.408 |
+| TCP position RMSE (mm, per-axis) | 9.16 |
+| EE position RMS L2 (mm) | 17.12 |
+| TCP rotvec (mrad) | 345.90 |
+| W1 effort mean (A) | 0.9136 |
+| W1 effort per joint (A) | j0=0.2052, j1=1.8236, j2=1.6085, j3=0.8428, j4=0.4826, j5=0.5188 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00178 | -0.00353 | -0.00063 | 0.00400 | 0.040 |
+| 1 | 0.00226 | -0.00376 | -0.00055 | 0.00443 | 0.046 |
+| 2 | 0.00227 | -0.00375 | -0.00077 | 0.00446 | 0.049 |
+| 3 | 0.00008 | -0.00271 | -0.00003 | 0.00271 | 0.540 |
+| 4 | 0.00040 | -0.00288 | -0.00097 | 0.00306 | 0.526 |
+| 5 | 0.00285 | -0.00253 | -0.00070 | 0.00387 | 4.306 |
+| 6 | 0.00339 | -0.00194 | -0.00170 | 0.00426 | 4.208 |
+| 7 | 0.00271 | -0.00340 | -0.00046 | 0.00437 | 4.199 |
+| 8 | 0.00247 | -0.00369 | -0.00065 | 0.00449 | 4.270 |
+| 9 | -0.00005 | -0.00017 | -0.00035 | 0.00040 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_154960c9-9e19-4841-bb55-95d880731594.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/154960c9-9e19-4841-bb55-95d880731594.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/154960c9-9e19-4841-bb55-95d880731594.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2747 |
+| Sim rows | 244 |
+| Real episode_id | `154960c9-9e19-4841-bb55-95d880731594` |
+| Sim episode_id | `154960c9-9e19-4841-bb55-95d880731594` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 181 | 16 | 2.169 | 11.28 | 19.53 | 1886.12 | 0.6170 |
+| 1 | descend | 660 | 57 | 0.422 | 2.84 | 4.92 | 3624.70 | 0.8076 |
+| 2 | settle | 362 | 32 | 0.028 | 0.97 | 1.69 | 3624.52 | 0.7656 |
+| 3 | close | 122 | 11 | 0.762 | 5.44 | 9.42 | 3625.35 | 1.0193 |
+| 4 | lift | 292 | 26 | 2.300 | 13.27 | 22.98 | 2409.63 | 1.0932 |
+| 5 | move_xy | 332 | 29 | 5.151 | 31.25 | 54.12 | 2806.25 | 0.9583 |
+| 6 | lower | 386 | 34 | 0.092 | 1.68 | 2.90 | 3624.89 | 1.1155 |
+| 7 | open | 122 | 11 | 0.858 | 5.93 | 10.28 | 3624.77 | 0.7117 |
+| 8 | retract | 290 | 26 | 2.457 | 14.28 | 24.74 | 2389.37 | 0.7447 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.213 |
+| TCP position RMSE (mm, per-axis) | 13.17 |
+| EE position RMS L2 (mm) | 22.71 |
+| TCP rotvec (mrad) | 3138.39 |
+| W1 effort mean (A) | 0.8556 |
+| W1 effort per joint (A) | j0=0.2565, j1=1.5594, j2=1.7182, j3=0.7448, j4=0.2571, j5=0.5974 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00077 | -0.00042 | -0.00074 | 0.00114 | 0.036 |
+| 1 | 0.00079 | -0.00086 | -0.00127 | 0.00172 | 0.059 |
+| 2 | 0.00076 | -0.00087 | -0.00126 | 0.00171 | 0.060 |
+| 3 | 0.00183 | -0.00057 | -0.00108 | 0.00220 | 0.154 |
+| 4 | 0.00034 | -0.00007 | -0.00013 | 0.00037 | 0.080 |
+| 5 | 0.00248 | -0.00130 | -0.00184 | 0.00335 | 0.217 |
+| 6 | 0.00200 | -0.00115 | -0.00125 | 0.00262 | 0.165 |
+| 7 | 0.00055 | -0.00053 | -0.00100 | 0.00126 | 0.051 |
+| 8 | -0.00013 | -0.00022 | -0.00020 | 0.00033 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_157791b2-f3ef-47ef-b15b-46c5a873e8dc.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/157791b2-f3ef-47ef-b15b-46c5a873e8dc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/157791b2-f3ef-47ef-b15b-46c5a873e8dc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2913 |
+| Sim rows | 257 |
+| Real episode_id | `157791b2-f3ef-47ef-b15b-46c5a873e8dc` |
+| Sim episode_id | `157791b2-f3ef-47ef-b15b-46c5a873e8dc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 287 | 25 | 3.373 | 14.37 | 24.89 | 2018.85 | 0.5877 |
+| 1 | descend | 263 | 23 | 0.586 | 4.09 | 7.09 | 3625.33 | 0.6526 |
+| 2 | settle | 390 | 34 | 0.023 | 0.75 | 1.30 | 3625.31 | 0.7210 |
+| 3 | close | 114 | 11 | 0.344 | 2.53 | 4.39 | 3110.12 | 0.9886 |
+| 4 | lift | 451 | 39 | 3.478 | 16.25 | 28.15 | 2321.97 | 1.1239 |
+| 5 | move_xy | 443 | 38 | 7.782 | 37.65 | 65.20 | 2514.80 | 0.8539 |
+| 6 | lower | 399 | 35 | 0.083 | 1.34 | 2.33 | 3406.45 | 1.0302 |
+| 7 | open | 115 | 11 | 0.383 | 2.54 | 4.39 | 3625.40 | 0.6931 |
+| 8 | retract | 451 | 39 | 3.558 | 16.51 | 28.60 | 2321.82 | 0.7249 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.288 |
+| TCP position RMSE (mm, per-axis) | 15.61 |
+| EE position RMS L2 (mm) | 31.05 |
+| TCP rotvec (mrad) | 3016.41 |
+| W1 effort mean (A) | 0.8168 |
+| W1 effort per joint (A) | j0=0.2250, j1=1.3350, j2=1.5821, j3=0.7997, j4=0.3149, j5=0.6442 |
+
+## Phase-end anchor (sim - 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 | -0.00037 | -0.00064 | 0.00110 | 0.027 |
+| 1 | 0.00079 | -0.00049 | -0.00089 | 0.00128 | 0.048 |
+| 2 | 0.00083 | -0.00049 | -0.00089 | 0.00131 | 0.045 |
+| 3 | 0.00205 | -0.00039 | -0.00104 | 0.00233 | 0.199 |
+| 4 | 0.00014 | -0.00019 | -0.00016 | 0.00028 | 0.090 |
+| 5 | 0.00155 | -0.00077 | -0.00101 | 0.00200 | 0.106 |
+| 6 | 0.00156 | -0.00071 | -0.00106 | 0.00202 | 0.113 |
+| 7 | 0.00070 | -0.00035 | -0.00068 | 0.00104 | 0.035 |
+| 8 | -0.00009 | -0.00009 | -0.00014 | 0.00019 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1579699a-be84-44af-b729-96a2759aa655.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1579699a-be84-44af-b729-96a2759aa655.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1579699a-be84-44af-b729-96a2759aa655.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2711 |
+| Sim rows | 239 |
+| Real episode_id | `1579699a-be84-44af-b729-96a2759aa655` |
+| Sim episode_id | `1579699a-be84-44af-b729-96a2759aa655` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 202 | 18 | 3.040 | 14.63 | 25.34 | 2072.04 | 0.6271 |
+| 1 | descend | 406 | 35 | 1.331 | 9.17 | 15.88 | 3624.75 | 0.7527 |
+| 2 | settle | 377 | 33 | 0.026 | 0.97 | 1.68 | 3624.57 | 0.7114 |
+| 3 | close | 191 | 17 | 1.029 | 7.19 | 12.45 | 3625.29 | 1.0120 |
+| 4 | lift | 287 | 25 | 2.857 | 15.39 | 26.66 | 2439.80 | 1.1340 |
+| 5 | move_xy | 381 | 33 | 7.049 | 40.23 | 69.68 | 2828.59 | 0.9207 |
+| 6 | lower | 391 | 34 | 0.093 | 1.69 | 2.93 | 3625.14 | 1.0503 |
+| 7 | open | 188 | 17 | 0.947 | 6.55 | 11.35 | 3624.77 | 0.7334 |
+| 8 | retract | 288 | 25 | 2.981 | 16.19 | 28.04 | 2454.13 | 0.7717 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.976 |
+| TCP position RMSE (mm, per-axis) | 16.71 |
+| EE position RMS L2 (mm) | 30.79 |
+| TCP rotvec (mrad) | 3161.74 |
+| W1 effort mean (A) | 0.8416 |
+| W1 effort per joint (A) | j0=0.2396, j1=1.5552, j2=1.6626, j3=0.7601, j4=0.2803, j5=0.5518 |
+
+## Phase-end anchor (sim - 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 | -0.00028 | -0.00072 | 0.00117 | 0.029 |
+| 1 | 0.00098 | -0.00075 | -0.00119 | 0.00171 | 0.050 |
+| 2 | 0.00092 | -0.00076 | -0.00119 | 0.00168 | 0.055 |
+| 3 | 0.00176 | -0.00042 | -0.00204 | 0.00272 | 0.178 |
+| 4 | 0.00022 | -0.00021 | -0.00019 | 0.00035 | 0.109 |
+| 5 | 0.00225 | -0.00102 | -0.00119 | 0.00274 | 0.170 |
+| 6 | 0.00225 | -0.00094 | -0.00153 | 0.00288 | 0.163 |
+| 7 | 0.00075 | -0.00036 | -0.00100 | 0.00130 | 0.062 |
+| 8 | -0.00012 | -0.00024 | -0.00024 | 0.00036 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_158ca905-e52f-4cc7-a317-39ef0413db39.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/158ca905-e52f-4cc7-a317-39ef0413db39.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/158ca905-e52f-4cc7-a317-39ef0413db39.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1135 |
+| Sim rows | 117 |
+| Real episode_id | `158ca905-e52f-4cc7-a317-39ef0413db39` |
+| Sim episode_id | `158ca905-e52f-4cc7-a317-39ef0413db39` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 155 | 16 | 2.868 | 11.24 | 19.46 | 705.50 | 0.6764 |
+| 1 | descend | 76 | 8 | 3.651 | 3.71 | 6.43 | 144.20 | 0.7055 |
+| 2 | settle | 28 | 4 | 3.611 | 2.97 | 5.15 | 144.17 | 0.7425 |
+| 3 | close | 26 | 3 | 3.613 | 3.54 | 6.12 | 145.60 | 1.1527 |
+| 4 | lift | 95 | 10 | 3.694 | 5.20 | 9.01 | 145.47 | 1.1715 |
+| 5 | move_xy | 227 | 23 | 3.819 | 15.92 | 27.57 | 179.29 | 1.1111 |
+| 6 | lower | 88 | 9 | 0.606 | 3.25 | 5.64 | 7.71 | 0.9890 |
+| 7 | open | 96 | 10 | 0.020 | 2.17 | 3.76 | 4.66 | 0.6450 |
+| 8 | retract | 90 | 9 | 0.598 | 3.23 | 5.60 | 4.07 | 0.6722 |
+| 9 | return | 254 | 25 | 2.841 | 13.80 | 23.90 | 371.94 | 0.7391 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.910 |
+| TCP position RMSE (mm, per-axis) | 8.11 |
+| EE position RMS L2 (mm) | 18.68 |
+| TCP rotvec (mrad) | 274.27 |
+| W1 effort mean (A) | 0.8138 |
+| W1 effort per joint (A) | j0=0.1606, j1=1.5714, j2=1.5397, j3=0.7612, j4=0.3674, j5=0.4827 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00225 | -0.00443 | -0.00052 | 0.00499 | 8.876 |
+| 1 | 0.00248 | -0.00446 | -0.00076 | 0.00516 | 8.846 |
+| 2 | 0.00244 | -0.00446 | -0.00083 | 0.00515 | 8.842 |
+| 3 | 0.00346 | -0.00428 | -0.00293 | 0.00623 | 8.846 |
+| 4 | 0.00278 | -0.00444 | -0.00271 | 0.00590 | 8.893 |
+| 5 | 0.00164 | -0.00272 | -0.00194 | 0.00372 | 0.230 |
+| 6 | 0.00209 | -0.00222 | -0.00175 | 0.00352 | 0.225 |
+| 7 | 0.00212 | -0.00311 | -0.00003 | 0.00376 | 0.033 |
+| 8 | 0.00169 | -0.00318 | -0.00020 | 0.00361 | 0.052 |
+| 9 | -0.00002 | -0.00010 | -0.00022 | 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.

gap_reports/gap_15c2c9a5-fae1-4822-8c7c-fc71fdd7cfac.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/15c2c9a5-fae1-4822-8c7c-fc71fdd7cfac.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/15c2c9a5-fae1-4822-8c7c-fc71fdd7cfac.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2886 |
+| Sim rows | 255 |
+| Real episode_id | `15c2c9a5-fae1-4822-8c7c-fc71fdd7cfac` |
+| Sim episode_id | `15c2c9a5-fae1-4822-8c7c-fc71fdd7cfac` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.321 | 12.72 | 22.03 | 1880.22 | 0.6137 |
+| 1 | descend | 699 | 60 | 0.423 | 2.85 | 4.93 | 3624.70 | 0.7554 |
+| 2 | settle | 358 | 31 | 0.027 | 0.97 | 1.67 | 3624.52 | 0.7813 |
+| 3 | close | 167 | 15 | 0.936 | 6.35 | 10.99 | 3624.86 | 1.0752 |
+| 4 | lift | 275 | 24 | 2.287 | 13.23 | 22.92 | 2334.15 | 1.1227 |
+| 5 | move_xy | 351 | 31 | 5.534 | 33.24 | 57.57 | 2830.45 | 0.9465 |
+| 6 | lower | 399 | 35 | 0.097 | 1.72 | 2.98 | 3624.90 | 1.1262 |
+| 7 | open | 166 | 15 | 0.984 | 6.79 | 11.77 | 3624.74 | 0.7403 |
+| 8 | retract | 274 | 24 | 2.192 | 12.68 | 21.96 | 2358.60 | 0.7591 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.311 |
+| TCP position RMSE (mm, per-axis) | 13.75 |
+| EE position RMS L2 (mm) | 23.55 |
+| TCP rotvec (mrad) | 3131.41 |
+| W1 effort mean (A) | 0.8531 |
+| W1 effort per joint (A) | j0=0.2550, j1=1.6038, j2=1.7020, j3=0.7249, j4=0.2926, j5=0.5406 |
+
+## Phase-end anchor (sim - 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 | -0.00044 | -0.00070 | 0.00114 | 0.032 |
+| 1 | 0.00074 | -0.00088 | -0.00124 | 0.00169 | 0.060 |
+| 2 | 0.00076 | -0.00086 | -0.00121 | 0.00167 | 0.055 |
+| 3 | 0.00159 | -0.00062 | -0.00105 | 0.00201 | 0.129 |
+| 4 | 0.00027 | -0.00040 | -0.00042 | 0.00064 | 0.124 |
+| 5 | 0.00203 | -0.00118 | -0.00197 | 0.00307 | 0.169 |
+| 6 | 0.00228 | -0.00121 | -0.00122 | 0.00286 | 0.186 |
+| 7 | 0.00062 | -0.00056 | -0.00101 | 0.00131 | 0.059 |
+| 8 | -0.00014 | -0.00022 | -0.00019 | 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.

gap_reports/gap_160dd982-f3bb-449a-971f-cff601ac7175.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/160dd982-f3bb-449a-971f-cff601ac7175.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/160dd982-f3bb-449a-971f-cff601ac7175.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2791 |
+| Sim rows | 249 |
+| Real episode_id | `160dd982-f3bb-449a-971f-cff601ac7175` |
+| Sim episode_id | `160dd982-f3bb-449a-971f-cff601ac7175` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 217 | 19 | 3.517 | 16.99 | 29.42 | 2058.80 | 0.6377 |
+| 1 | descend | 291 | 26 | 1.312 | 9.23 | 15.99 | 3624.76 | 0.8285 |
+| 2 | settle | 374 | 33 | 0.026 | 1.01 | 1.75 | 3624.60 | 0.6373 |
+| 3 | close | 135 | 12 | 0.939 | 6.67 | 11.55 | 3625.04 | 1.0373 |
+| 4 | lift | 421 | 37 | 3.486 | 18.10 | 31.34 | 2498.89 | 1.1289 |
+| 5 | move_xy | 393 | 35 | 8.453 | 46.44 | 80.44 | 2802.93 | 0.9193 |
+| 6 | lower | 402 | 35 | 0.089 | 1.71 | 2.96 | 3625.25 | 1.0338 |
+| 7 | open | 136 | 13 | 0.837 | 5.73 | 9.93 | 3624.73 | 0.7483 |
+| 8 | retract | 422 | 37 | 3.450 | 17.98 | 31.14 | 2489.26 | 0.7555 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.515 |
+| TCP position RMSE (mm, per-axis) | 19.04 |
+| EE position RMS L2 (mm) | 36.23 |
+| TCP rotvec (mrad) | 3166.40 |
+| W1 effort mean (A) | 0.8522 |
+| W1 effort per joint (A) | j0=0.2525, j1=1.5811, j2=1.5903, j3=0.7582, j4=0.2897, j5=0.6412 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00104 | -0.00018 | -0.00070 | 0.00126 | 0.029 |
+| 1 | 0.00112 | -0.00065 | -0.00119 | 0.00176 | 0.060 |
+| 2 | 0.00111 | -0.00067 | -0.00113 | 0.00172 | 0.053 |
+| 3 | 0.00239 | -0.00008 | -0.00190 | 0.00305 | 0.176 |
+| 4 | 0.00024 | -0.00031 | -0.00051 | 0.00065 | 0.097 |
+| 5 | 0.00204 | -0.00089 | -0.00149 | 0.00268 | 0.122 |
+| 6 | 0.00285 | -0.00092 | -0.00240 | 0.00384 | 0.227 |
+| 7 | 0.00083 | -0.00024 | -0.00099 | 0.00131 | 0.064 |
+| 8 | -0.00009 | -0.00013 | -0.00015 | 0.00022 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_16155d0b-bb7b-4f64-a6cb-7f7775f5620a.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/16155d0b-bb7b-4f64-a6cb-7f7775f5620a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/16155d0b-bb7b-4f64-a6cb-7f7775f5620a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2430 |
+| Sim rows | 216 |
+| Real episode_id | `16155d0b-bb7b-4f64-a6cb-7f7775f5620a` |
+| Sim episode_id | `16155d0b-bb7b-4f64-a6cb-7f7775f5620a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 174 | 16 | 2.754 | 10.24 | 17.74 | 2001.18 | 0.5808 |
+| 1 | descend | 272 | 24 | 1.541 | 9.28 | 16.07 | 3626.01 | 0.6078 |
+| 2 | settle | 361 | 31 | 0.022 | 0.60 | 1.05 | 3625.96 | 0.7020 |
+| 3 | close | 124 | 11 | 0.738 | 4.65 | 8.05 | 1631.84 | 0.8910 |
+| 4 | lift | 343 | 30 | 3.041 | 12.65 | 21.90 | 1755.43 | 1.0967 |
+| 5 | move_xy | 304 | 27 | 5.921 | 26.50 | 45.90 | 1994.86 | 0.8704 |
+| 6 | lower | 384 | 34 | 0.083 | 1.15 | 1.99 | 1929.95 | 1.0694 |
+| 7 | open | 125 | 11 | 0.665 | 3.92 | 6.79 | 3626.03 | 0.6672 |
+| 8 | retract | 343 | 30 | 3.058 | 12.79 | 22.15 | 2257.81 | 0.6950 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.679 |
+| TCP position RMSE (mm, per-axis) | 11.81 |
+| EE position RMS L2 (mm) | 21.41 |
+| TCP rotvec (mrad) | 2624.56 |
+| W1 effort mean (A) | 0.8065 |
+| W1 effort per joint (A) | j0=0.2184, j1=1.2043, j2=1.6369, j3=0.8076, j4=0.3293, j5=0.6427 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00044 | -0.00029 | -0.00052 | 0.00074 | 0.036 |
+| 1 | 0.00041 | -0.00054 | -0.00074 | 0.00100 | 0.033 |
+| 2 | 0.00041 | -0.00055 | -0.00077 | 0.00103 | 0.036 |
+| 3 | 0.00075 | -0.00037 | -0.00178 | 0.00197 | 0.158 |
+| 4 | 0.00016 | -0.00019 | -0.00021 | 0.00033 | 0.092 |
+| 5 | 0.00106 | -0.00078 | -0.00200 | 0.00240 | 0.160 |
+| 6 | 0.00138 | -0.00073 | -0.00054 | 0.00165 | 0.147 |
+| 7 | 0.00016 | -0.00031 | -0.00060 | 0.00070 | 0.040 |
+| 8 | -0.00009 | -0.00010 | -0.00014 | 0.00019 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_16280e51-237b-49e1-bc60-89c065b66452.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/16280e51-237b-49e1-bc60-89c065b66452.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/16280e51-237b-49e1-bc60-89c065b66452.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2295 |
+| Sim rows | 232 |
+| Real episode_id | `16280e51-237b-49e1-bc60-89c065b66452` |
+| Sim episode_id | `16280e51-237b-49e1-bc60-89c065b66452` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.275 | 11.83 | 20.50 | 1993.60 | 0.6189 |
+| 1 | descend | 325 | 32 | 0.722 | 4.98 | 8.63 | 3624.68 | 0.8062 |
+| 2 | settle | 334 | 33 | 0.027 | 0.97 | 1.67 | 3624.53 | 0.8014 |
+| 3 | close | 124 | 13 | 0.832 | 5.73 | 9.93 | 3419.50 | 1.0929 |
+| 4 | lift | 289 | 29 | 2.533 | 14.77 | 25.59 | 2296.89 | 1.1019 |
+| 5 | move_xy | 301 | 31 | 6.077 | 36.74 | 63.64 | 2894.93 | 0.9603 |
+| 6 | lower | 339 | 33 | 0.096 | 1.71 | 2.96 | 3625.00 | 1.1037 |
+| 7 | open | 128 | 13 | 0.947 | 6.45 | 11.16 | 3624.67 | 0.7516 |
+| 8 | retract | 293 | 29 | 2.601 | 15.27 | 26.45 | 2310.10 | 0.7408 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.526 |
+| TCP position RMSE (mm, per-axis) | 15.07 |
+| EE position RMS L2 (mm) | 27.51 |
+| TCP rotvec (mrad) | 3112.96 |
+| W1 effort mean (A) | 0.8704 |
+| W1 effort per joint (A) | j0=0.2140, j1=1.6341, j2=1.7299, j3=0.7676, j4=0.2772, j5=0.5992 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00079 | -0.00050 | -0.00070 | 0.00116 | 0.026 |
+| 1 | 0.00072 | -0.00086 | -0.00124 | 0.00167 | 0.058 |
+| 2 | 0.00076 | -0.00087 | -0.00123 | 0.00169 | 0.058 |
+| 3 | 0.00130 | -0.00060 | -0.00050 | 0.00152 | 0.111 |
+| 4 | 0.00023 | -0.00023 | -0.00033 | 0.00047 | 0.089 |
+| 5 | 0.00226 | -0.00113 | -0.00151 | 0.00294 | 0.205 |
+| 6 | 0.00237 | -0.00140 | -0.00235 | 0.00362 | 0.200 |
+| 7 | 0.00070 | -0.00053 | -0.00098 | 0.00132 | 0.042 |
+| 8 | -0.00012 | -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.

gap_reports/gap_162f4654-5420-4ac0-b429-aacfa3bd5020.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/162f4654-5420-4ac0-b429-aacfa3bd5020.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/162f4654-5420-4ac0-b429-aacfa3bd5020.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1397 |
+| Sim rows | 142 |
+| Real episode_id | `162f4654-5420-4ac0-b429-aacfa3bd5020` |
+| Sim episode_id | `162f4654-5420-4ac0-b429-aacfa3bd5020` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 117 | 12 | 7.214 | 10.38 | 17.98 | 767.50 | 0.6268 |
+| 1 | descend | 76 | 8 | 13.552 | 4.31 | 7.46 | 525.00 | 0.6884 |
+| 2 | settle | 26 | 3 | 13.516 | 2.58 | 4.47 | 525.48 | 0.6705 |
+| 3 | close | 319 | 31 | 13.516 | 2.63 | 4.55 | 526.70 | 1.0978 |
+| 4 | lift | 74 | 8 | 13.546 | 4.33 | 7.50 | 526.04 | 1.2817 |
+| 5 | move_xy | 152 | 16 | 8.221 | 14.71 | 25.48 | 1650.41 | 1.3378 |
+| 6 | lower | 76 | 8 | 0.789 | 4.78 | 8.28 | 3623.70 | 1.1437 |
+| 7 | open | 273 | 27 | 0.039 | 2.94 | 5.09 | 5.09 | 0.5593 |
+| 8 | retract | 76 | 8 | 0.887 | 4.34 | 7.52 | 4.35 | 0.6599 |
+| 9 | return | 208 | 21 | 2.797 | 15.76 | 27.29 | 737.61 | 0.6926 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 9.281 |
+| TCP position RMSE (mm, per-axis) | 8.21 |
+| EE position RMS L2 (mm) | 15.22 |
+| TCP rotvec (mrad) | 1345.14 |
+| W1 effort mean (A) | 0.8604 |
+| W1 effort per joint (A) | j0=0.1563, j1=1.3461, j2=1.5018, j3=0.8258, j4=0.4318, j5=0.9009 |
+
+## Phase-end anchor (sim - 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 | -0.00390 | -0.00004 | 0.00415 | 33.063 |
+| 1 | 0.00209 | -0.00397 | 0.00010 | 0.00448 | 33.112 |
+| 2 | 0.00212 | -0.00395 | -0.00012 | 0.00448 | 33.107 |
+| 3 | 0.00285 | -0.00316 | -0.00166 | 0.00457 | 33.105 |
+| 4 | 0.00202 | -0.00375 | -0.00194 | 0.00468 | 33.136 |
+| 5 | 0.00204 | -0.00478 | -0.00248 | 0.00576 | 0.261 |
+| 6 | 0.00247 | -0.00507 | -0.00202 | 0.00599 | 0.166 |
+| 7 | 0.00165 | -0.00477 | -0.00078 | 0.00511 | 0.034 |
+| 8 | 0.00128 | -0.00429 | -0.00102 | 0.00459 | 0.069 |
+| 9 | -0.00017 | -0.00009 | -0.00024 | 0.00031 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1653469e-5904-46d4-ba24-4ad8f090de6f.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1653469e-5904-46d4-ba24-4ad8f090de6f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1653469e-5904-46d4-ba24-4ad8f090de6f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3092 |
+| Sim rows | 273 |
+| Real episode_id | `1653469e-5904-46d4-ba24-4ad8f090de6f` |
+| Sim episode_id | `1653469e-5904-46d4-ba24-4ad8f090de6f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 251 | 22 | 2.797 | 13.05 | 22.60 | 1968.44 | 0.5680 |
+| 1 | descend | 623 | 54 | 0.739 | 4.85 | 8.40 | 3625.43 | 0.7490 |
+| 2 | settle | 364 | 32 | 0.023 | 0.73 | 1.27 | 3625.24 | 0.6643 |
+| 3 | close | 175 | 16 | 1.066 | 6.78 | 11.75 | 3625.95 | 0.9781 |
+| 4 | lift | 309 | 27 | 2.536 | 12.06 | 20.89 | 2199.85 | 1.1179 |
+| 5 | move_xy | 489 | 42 | 6.007 | 32.03 | 55.47 | 2594.56 | 0.9222 |
+| 6 | lower | 398 | 35 | 0.085 | 1.31 | 2.27 | 3554.05 | 1.0369 |
+| 7 | open | 174 | 16 | 1.006 | 6.32 | 10.94 | 3625.38 | 0.6989 |
+| 8 | retract | 309 | 27 | 2.662 | 12.79 | 22.16 | 2422.88 | 0.7319 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.585 |
+| TCP position RMSE (mm, per-axis) | 13.40 |
+| EE position RMS L2 (mm) | 25.50 |
+| TCP rotvec (mrad) | 3100.62 |
+| W1 effort mean (A) | 0.8060 |
+| W1 effort per joint (A) | j0=0.2045, j1=1.3257, j2=1.6224, j3=0.8000, j4=0.3111, j5=0.5722 |
+
+## Phase-end anchor (sim - 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 | -0.00074 | 0.00092 | 0.038 |
+| 1 | 0.00042 | -0.00073 | -0.00096 | 0.00127 | 0.046 |
+| 2 | 0.00040 | -0.00072 | -0.00096 | 0.00126 | 0.044 |
+| 3 | 0.00128 | -0.00065 | -0.00191 | 0.00239 | 0.187 |
+| 4 | 0.00061 | 0.00006 | -0.00006 | 0.00062 | 0.159 |
+| 5 | 0.00175 | -0.00095 | -0.00044 | 0.00204 | 0.177 |
+| 6 | 0.00120 | -0.00097 | -0.00112 | 0.00191 | 0.105 |
+| 7 | 0.00025 | -0.00045 | -0.00075 | 0.00091 | 0.047 |
+| 8 | -0.00009 | -0.00017 | -0.00018 | 0.00026 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_165661aa-9100-4135-9948-539fe9d69c47.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/165661aa-9100-4135-9948-539fe9d69c47.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/165661aa-9100-4135-9948-539fe9d69c47.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2861 |
+| Sim rows | 253 |
+| Real episode_id | `165661aa-9100-4135-9948-539fe9d69c47` |
+| Sim episode_id | `165661aa-9100-4135-9948-539fe9d69c47` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 271 | 24 | 3.349 | 17.49 | 30.30 | 1932.18 | 0.6197 |
+| 1 | descend | 426 | 37 | 0.818 | 5.88 | 10.18 | 3624.75 | 0.7348 |
+| 2 | settle | 381 | 33 | 0.026 | 0.97 | 1.68 | 3624.60 | 0.7416 |
+| 3 | close | 144 | 13 | 1.089 | 7.40 | 12.83 | 3625.25 | 1.0256 |
+| 4 | lift | 317 | 28 | 2.922 | 15.86 | 27.47 | 2417.79 | 1.1371 |
+| 5 | move_xy | 470 | 41 | 5.682 | 32.88 | 56.95 | 2752.48 | 0.9416 |
+| 6 | lower | 394 | 34 | 0.096 | 1.73 | 3.00 | 3625.09 | 1.0613 |
+| 7 | open | 141 | 13 | 0.906 | 6.18 | 10.71 | 3624.74 | 0.7342 |
+| 8 | retract | 317 | 28 | 3.008 | 16.43 | 28.45 | 2434.63 | 0.7556 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.662 |
+| TCP position RMSE (mm, per-axis) | 15.06 |
+| EE position RMS L2 (mm) | 28.71 |
+| TCP rotvec (mrad) | 3140.80 |
+| W1 effort mean (A) | 0.8427 |
+| W1 effort per joint (A) | j0=0.2346, j1=1.4989, j2=1.6935, j3=0.7779, j4=0.2618, j5=0.5899 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00091 | -0.00036 | -0.00078 | 0.00125 | 0.028 |
+| 1 | 0.00093 | -0.00076 | -0.00117 | 0.00168 | 0.054 |
+| 2 | 0.00096 | -0.00076 | -0.00116 | 0.00169 | 0.053 |
+| 3 | 0.00183 | -0.00043 | -0.00135 | 0.00231 | 0.133 |
+| 4 | 0.00034 | 0.00001 | -0.00014 | 0.00037 | 0.084 |
+| 5 | 0.00180 | -0.00106 | -0.00107 | 0.00234 | 0.111 |
+| 6 | 0.00164 | -0.00111 | -0.00319 | 0.00376 | 0.257 |
+| 7 | 0.00070 | -0.00040 | -0.00096 | 0.00125 | 0.055 |
+| 8 | -0.00013 | -0.00021 | -0.00022 | 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.

gap_reports/gap_16594bd9-7150-4d8a-8cf3-fa5be9b89f06.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/16594bd9-7150-4d8a-8cf3-fa5be9b89f06.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/16594bd9-7150-4d8a-8cf3-fa5be9b89f06.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2994 |
+| Sim rows | 267 |
+| Real episode_id | `16594bd9-7150-4d8a-8cf3-fa5be9b89f06` |
+| Sim episode_id | `16594bd9-7150-4d8a-8cf3-fa5be9b89f06` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 204 | 18 | 3.570 | 13.23 | 22.91 | 1966.48 | 0.5927 |
+| 1 | descend | 473 | 42 | 0.704 | 4.22 | 7.30 | 3626.04 | 0.6439 |
+| 2 | settle | 349 | 31 | 0.023 | 0.69 | 1.19 | 3625.97 | 0.6209 |
+| 3 | close | 170 | 15 | 0.850 | 4.97 | 8.61 | 1366.55 | 0.9415 |
+| 4 | lift | 434 | 38 | 3.506 | 14.23 | 24.65 | 1834.53 | 1.0934 |
+| 5 | move_xy | 361 | 32 | 8.500 | 36.71 | 63.59 | 2242.04 | 0.8603 |
+| 6 | lower | 399 | 35 | 0.080 | 1.21 | 2.09 | 1562.78 | 0.8900 |
+| 7 | open | 170 | 16 | 0.847 | 4.82 | 8.35 | 3626.18 | 0.5831 |
+| 8 | retract | 434 | 38 | 3.478 | 14.12 | 24.45 | 2282.54 | 0.7075 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.517 |
+| TCP position RMSE (mm, per-axis) | 14.88 |
+| EE position RMS L2 (mm) | 26.75 |
+| TCP rotvec (mrad) | 2608.19 |
+| W1 effort mean (A) | 0.7522 |
+| W1 effort per joint (A) | j0=0.2585, j1=1.1744, j2=1.4439, j3=0.6402, j4=0.3955, j5=0.6010 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00068 | -0.00020 | -0.00043 | 0.00083 | 0.032 |
+| 1 | 0.00073 | -0.00054 | -0.00081 | 0.00122 | 0.039 |
+| 2 | 0.00070 | -0.00056 | -0.00076 | 0.00117 | 0.037 |
+| 3 | 0.00118 | -0.00031 | -0.00027 | 0.00125 | 0.099 |
+| 4 | 0.00031 | -0.00005 | -0.00037 | 0.00049 | 0.091 |
+| 5 | 0.00137 | -0.00070 | -0.00102 | 0.00185 | 0.111 |
+| 6 | 0.00127 | -0.00073 | -0.00077 | 0.00165 | 0.108 |
+| 7 | 0.00052 | -0.00025 | -0.00050 | 0.00076 | 0.033 |
+| 8 | -0.00007 | -0.00011 | -0.00014 | 0.00019 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_16682dff-f1c9-4f56-86d7-c41397453499.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/16682dff-f1c9-4f56-86d7-c41397453499.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/16682dff-f1c9-4f56-86d7-c41397453499.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2680 |
+| Sim rows | 239 |
+| Real episode_id | `16682dff-f1c9-4f56-86d7-c41397453499` |
+| Sim episode_id | `16682dff-f1c9-4f56-86d7-c41397453499` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 262 | 23 | 2.746 | 15.59 | 27.00 | 1977.78 | 0.6088 |
+| 1 | descend | 340 | 30 | 0.936 | 6.43 | 11.14 | 3624.64 | 0.8260 |
+| 2 | settle | 368 | 32 | 0.029 | 0.97 | 1.68 | 3624.54 | 0.7342 |
+| 3 | close | 166 | 15 | 0.659 | 4.76 | 8.24 | 3625.04 | 1.0500 |
+| 4 | lift | 269 | 24 | 2.258 | 13.30 | 23.04 | 2318.28 | 1.1202 |
+| 5 | move_xy | 468 | 41 | 5.277 | 32.58 | 56.42 | 2803.95 | 0.9449 |
+| 6 | lower | 373 | 33 | 0.100 | 1.74 | 3.01 | 3624.98 | 1.1133 |
+| 7 | open | 166 | 15 | 0.815 | 5.59 | 9.69 | 3624.73 | 0.7471 |
+| 8 | retract | 268 | 24 | 2.179 | 12.88 | 22.30 | 2343.33 | 0.7477 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.291 |
+| TCP position RMSE (mm, per-axis) | 13.93 |
+| EE position RMS L2 (mm) | 27.52 |
+| TCP rotvec (mrad) | 3132.89 |
+| W1 effort mean (A) | 0.8562 |
+| W1 effort per joint (A) | j0=0.2330, j1=1.5286, j2=1.7108, j3=0.7886, j4=0.2916, j5=0.5849 |
+
+## Phase-end anchor (sim - 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 | -0.00051 | -0.00079 | 0.00122 | 0.030 |
+| 1 | 0.00073 | -0.00083 | -0.00122 | 0.00165 | 0.054 |
+| 2 | 0.00076 | -0.00087 | -0.00120 | 0.00166 | 0.056 |
+| 3 | 0.00180 | -0.00078 | -0.00172 | 0.00261 | 0.141 |
+| 4 | 0.00019 | 0.00003 | -0.00019 | 0.00027 | 0.078 |
+| 5 | 0.00181 | -0.00105 | -0.00127 | 0.00245 | 0.120 |
+| 6 | 0.00191 | -0.00125 | -0.00180 | 0.00291 | 0.145 |
+| 7 | 0.00068 | -0.00054 | -0.00099 | 0.00132 | 0.044 |
+| 8 | -0.00012 | -0.00021 | -0.00021 | 0.00032 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_16770c68-6ceb-4ed1-9f96-1bbc2e2264e5.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/16770c68-6ceb-4ed1-9f96-1bbc2e2264e5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/16770c68-6ceb-4ed1-9f96-1bbc2e2264e5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2591 |
+| Sim rows | 230 |
+| Real episode_id | `16770c68-6ceb-4ed1-9f96-1bbc2e2264e5` |
+| Sim episode_id | `16770c68-6ceb-4ed1-9f96-1bbc2e2264e5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 224 | 20 | 2.381 | 11.31 | 19.58 | 1952.92 | 0.5655 |
+| 1 | descend | 388 | 34 | 1.203 | 7.80 | 13.51 | 3625.35 | 0.6872 |
+| 2 | settle | 367 | 32 | 0.022 | 0.73 | 1.26 | 3625.25 | 0.6798 |
+| 3 | close | 120 | 11 | 0.822 | 5.36 | 9.29 | 3625.99 | 0.9688 |
+| 4 | lift | 273 | 24 | 2.408 | 12.00 | 20.78 | 2073.01 | 1.1105 |
+| 5 | move_xy | 427 | 37 | 5.496 | 30.14 | 52.21 | 2697.72 | 0.8778 |
+| 6 | lower | 398 | 35 | 0.087 | 1.32 | 2.28 | 3554.25 | 0.9882 |
+| 7 | open | 122 | 11 | 0.802 | 5.16 | 8.94 | 3625.43 | 0.6828 |
+| 8 | retract | 272 | 24 | 2.290 | 11.43 | 19.80 | 2230.97 | 0.7225 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.350 |
+| TCP position RMSE (mm, per-axis) | 12.60 |
+| EE position RMS L2 (mm) | 24.60 |
+| TCP rotvec (mrad) | 3083.58 |
+| W1 effort mean (A) | 0.7926 |
+| W1 effort per joint (A) | j0=0.2175, j1=1.3352, j2=1.5892, j3=0.7440, j4=0.3061, j5=0.5636 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00042 | -0.00043 | -0.00074 | 0.00096 | 0.039 |
+| 1 | 0.00040 | -0.00071 | -0.00095 | 0.00125 | 0.041 |
+| 2 | 0.00043 | -0.00072 | -0.00094 | 0.00126 | 0.040 |
+| 3 | 0.00076 | -0.00059 | -0.00078 | 0.00124 | 0.092 |
+| 4 | -0.00004 | -0.00054 | -0.00046 | 0.00072 | 0.100 |
+| 5 | 0.00173 | -0.00088 | -0.00106 | 0.00221 | 0.176 |
+| 6 | 0.00155 | -0.00079 | -0.00143 | 0.00225 | 0.166 |
+| 7 | 0.00021 | -0.00046 | -0.00075 | 0.00090 | 0.039 |
+| 8 | -0.00011 | -0.00018 | -0.00018 | 0.00028 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_169103f2-b8bb-403d-95b8-b1a651463adb.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/169103f2-b8bb-403d-95b8-b1a651463adb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/169103f2-b8bb-403d-95b8-b1a651463adb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2934 |
+| Sim rows | 261 |
+| Real episode_id | `169103f2-b8bb-403d-95b8-b1a651463adb` |
+| Sim episode_id | `169103f2-b8bb-403d-95b8-b1a651463adb` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.490 | 16.86 | 29.20 | 2057.86 | 0.6417 |
+| 1 | descend | 519 | 45 | 0.657 | 4.78 | 8.28 | 3624.76 | 0.7670 |
+| 2 | settle | 393 | 34 | 0.027 | 1.01 | 1.75 | 3624.58 | 0.7300 |
+| 3 | close | 184 | 17 | 0.941 | 6.67 | 11.55 | 3625.31 | 1.0056 |
+| 4 | lift | 326 | 29 | 3.175 | 16.61 | 28.77 | 2491.94 | 1.1248 |
+| 5 | move_xy | 388 | 34 | 8.688 | 48.00 | 83.14 | 2874.56 | 0.9573 |
+| 6 | lower | 402 | 35 | 0.096 | 1.81 | 3.13 | 3625.05 | 1.0470 |
+| 7 | open | 184 | 17 | 0.892 | 6.23 | 10.79 | 3624.79 | 0.7341 |
+| 8 | retract | 327 | 29 | 3.060 | 16.15 | 27.98 | 2479.58 | 0.7665 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.484 |
+| TCP position RMSE (mm, per-axis) | 18.96 |
+| EE position RMS L2 (mm) | 34.41 |
+| TCP rotvec (mrad) | 3172.02 |
+| W1 effort mean (A) | 0.8442 |
+| W1 effort per joint (A) | j0=0.2461, j1=1.6279, j2=1.5687, j3=0.7585, j4=0.2694, j5=0.5947 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00106 | -0.00010 | -0.00078 | 0.00132 | 0.043 |
+| 1 | 0.00113 | -0.00062 | -0.00123 | 0.00178 | 0.060 |
+| 2 | 0.00113 | -0.00064 | -0.00120 | 0.00177 | 0.056 |
+| 3 | 0.00205 | -0.00005 | -0.00237 | 0.00313 | 0.206 |
+| 4 | 0.00032 | -0.00015 | -0.00020 | 0.00041 | 0.083 |
+| 5 | 0.00205 | -0.00088 | -0.00249 | 0.00334 | 0.193 |
+| 6 | 0.00212 | -0.00096 | -0.00100 | 0.00254 | 0.122 |
+| 7 | 0.00092 | -0.00020 | -0.00103 | 0.00139 | 0.067 |
+| 8 | -0.00016 | -0.00025 | -0.00023 | 0.00038 | 0.045 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_169b0c14-3e9e-4770-975e-b4ff2700b08c.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/169b0c14-3e9e-4770-975e-b4ff2700b08c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/169b0c14-3e9e-4770-975e-b4ff2700b08c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2744 |
+| Sim rows | 242 |
+| Real episode_id | `169b0c14-3e9e-4770-975e-b4ff2700b08c` |
+| Sim episode_id | `169b0c14-3e9e-4770-975e-b4ff2700b08c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 234 | 21 | 2.928 | 15.75 | 27.28 | 1835.51 | 0.6138 |
+| 1 | descend | 326 | 29 | 0.635 | 4.54 | 7.86 | 3624.69 | 0.7325 |
+| 2 | settle | 365 | 32 | 0.026 | 0.97 | 1.68 | 3624.57 | 0.7621 |
+| 3 | close | 132 | 12 | 0.595 | 4.32 | 7.47 | 3625.36 | 0.9803 |
+| 4 | lift | 385 | 33 | 2.724 | 15.03 | 26.03 | 2337.11 | 1.1207 |
+| 5 | move_xy | 405 | 35 | 6.000 | 34.94 | 60.52 | 2755.39 | 0.9228 |
+| 6 | lower | 380 | 33 | 0.087 | 1.63 | 2.82 | 3625.22 | 1.0601 |
+| 7 | open | 132 | 12 | 0.710 | 5.05 | 8.74 | 3624.71 | 0.7521 |
+| 8 | retract | 385 | 33 | 2.863 | 15.99 | 27.70 | 2336.77 | 0.7545 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.613 |
+| TCP position RMSE (mm, per-axis) | 14.98 |
+| EE position RMS L2 (mm) | 28.67 |
+| TCP rotvec (mrad) | 3119.54 |
+| W1 effort mean (A) | 0.8470 |
+| W1 effort per joint (A) | j0=0.2380, j1=1.5157, j2=1.7023, j3=0.7665, j4=0.2612, j5=0.5983 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00093 | -0.00043 | -0.00073 | 0.00125 | 0.022 |
+| 1 | 0.00095 | -0.00075 | -0.00121 | 0.00171 | 0.057 |
+| 2 | 0.00095 | -0.00074 | -0.00120 | 0.00170 | 0.055 |
+| 3 | 0.00184 | -0.00052 | -0.00089 | 0.00211 | 0.137 |
+| 4 | 0.00006 | -0.00051 | -0.00060 | 0.00079 | 0.107 |
+| 5 | 0.00183 | -0.00097 | -0.00074 | 0.00220 | 0.109 |
+| 6 | 0.00243 | -0.00099 | -0.00132 | 0.00293 | 0.190 |
+| 7 | 0.00066 | -0.00045 | -0.00094 | 0.00124 | 0.043 |
+| 8 | -0.00011 | -0.00016 | -0.00015 | 0.00025 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_16a42612-4620-4bcf-b6e0-df3b2d9161fd.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/16a42612-4620-4bcf-b6e0-df3b2d9161fd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/16a42612-4620-4bcf-b6e0-df3b2d9161fd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1532 |
+| Sim rows | 157 |
+| Real episode_id | `16a42612-4620-4bcf-b6e0-df3b2d9161fd` |
+| Sim episode_id | `16a42612-4620-4bcf-b6e0-df3b2d9161fd` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 139 | 14 | 4.039 | 24.40 | 42.26 | 775.31 | 0.7601 |
+| 1 | descend | 74 | 8 | 0.927 | 4.47 | 7.74 | 6.94 | 0.8626 |
+| 2 | settle | 27 | 4 | 0.033 | 3.52 | 6.10 | 7.24 | 0.8346 |
+| 3 | close | 366 | 36 | 0.163 | 4.44 | 7.69 | 12.86 | 1.2614 |
+| 4 | lift | 72 | 8 | 0.753 | 4.54 | 7.86 | 12.18 | 1.2995 |
+| 5 | move_xy | 164 | 17 | 4.459 | 28.60 | 49.54 | 203.35 | 1.3270 |
+| 6 | lower | 73 | 8 | 0.540 | 3.50 | 6.07 | 7.01 | 1.1673 |
+| 7 | open | 379 | 37 | 0.046 | 2.17 | 3.75 | 5.50 | 0.7364 |
+| 8 | retract | 73 | 8 | 0.571 | 3.52 | 6.10 | 4.96 | 0.7490 |
+| 9 | return | 165 | 17 | 2.340 | 12.80 | 22.18 | 281.95 | 0.8087 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.092 |
+| TCP position RMSE (mm, per-axis) | 12.96 |
+| EE position RMS L2 (mm) | 22.48 |
+| TCP rotvec (mrad) | 268.79 |
+| W1 effort mean (A) | 0.9617 |
+| W1 effort per joint (A) | j0=0.1755, j1=2.0389, j2=1.7833, j3=0.7383, j4=0.4871, j5=0.5469 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00266 | -0.00521 | -0.00179 | 0.00612 | 0.166 |
+| 1 | 0.00298 | -0.00513 | -0.00128 | 0.00607 | 0.060 |
+| 2 | 0.00298 | -0.00512 | -0.00149 | 0.00611 | 0.073 |
+| 3 | 0.00378 | -0.00507 | -0.00465 | 0.00785 | 0.288 |
+| 4 | 0.00303 | -0.00563 | -0.00448 | 0.00781 | 0.350 |
+| 5 | 0.00078 | -0.00307 | -0.00182 | 0.00365 | 0.200 |
+| 6 | 0.00149 | -0.00235 | -0.00201 | 0.00344 | 0.197 |
+| 7 | 0.00223 | -0.00299 | -0.00036 | 0.00375 | 0.053 |
+| 8 | 0.00186 | -0.00324 | -0.00057 | 0.00378 | 0.068 |
+| 9 | -0.00003 | -0.00022 | -0.00031 | 0.00038 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_16bd0b85-28bc-445a-91f5-063e56db677b.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/16bd0b85-28bc-445a-91f5-063e56db677b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/16bd0b85-28bc-445a-91f5-063e56db677b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2334 |
+| Sim rows | 207 |
+| Real episode_id | `16bd0b85-28bc-445a-91f5-063e56db677b` |
+| Sim episode_id | `16bd0b85-28bc-445a-91f5-063e56db677b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 207 | 18 | 3.115 | 12.94 | 22.42 | 1919.32 | 0.5750 |
+| 1 | descend | 248 | 22 | 0.840 | 5.05 | 8.75 | 3626.03 | 0.6450 |
+| 2 | settle | 390 | 34 | 0.021 | 0.55 | 0.96 | 3626.04 | 0.6994 |
+| 3 | close | 86 | 8 | 0.426 | 2.77 | 4.80 | 1390.56 | 0.9218 |
+| 4 | lift | 303 | 27 | 2.890 | 11.97 | 20.73 | 1990.01 | 1.0628 |
+| 5 | move_xy | 330 | 29 | 6.411 | 28.49 | 49.35 | 2153.46 | 0.8813 |
+| 6 | lower | 382 | 33 | 0.082 | 1.06 | 1.84 | 1483.74 | 0.9316 |
+| 7 | open | 87 | 8 | 0.413 | 2.48 | 4.30 | 3626.16 | 0.5976 |
+| 8 | retract | 301 | 26 | 2.946 | 12.33 | 21.35 | 2151.63 | 0.6845 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.767 |
+| TCP position RMSE (mm, per-axis) | 12.09 |
+| EE position RMS L2 (mm) | 22.67 |
+| TCP rotvec (mrad) | 2592.54 |
+| W1 effort mean (A) | 0.7697 |
+| W1 effort per joint (A) | j0=0.2111, j1=1.1451, j2=1.5839, j3=0.7619, j4=0.3457, j5=0.5703 |
+
+## Phase-end anchor (sim - 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 | -0.00048 | 0.00074 | 0.026 |
+| 1 | 0.00037 | -0.00048 | -0.00071 | 0.00093 | 0.037 |
+| 2 | 0.00042 | -0.00049 | -0.00073 | 0.00097 | 0.035 |
+| 3 | 0.00098 | -0.00044 | -0.00049 | 0.00118 | 0.107 |
+| 4 | 0.00024 | -0.00009 | -0.00031 | 0.00040 | 0.075 |
+| 5 | 0.00146 | -0.00062 | -0.00077 | 0.00176 | 0.171 |
+| 6 | 0.00131 | -0.00061 | -0.00044 | 0.00151 | 0.135 |
+| 7 | 0.00017 | -0.00037 | -0.00059 | 0.00072 | 0.032 |
+| 8 | -0.00011 | -0.00013 | -0.00016 | 0.00023 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_16cc15ad-c256-4269-8e5e-d452122c8a24.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/16cc15ad-c256-4269-8e5e-d452122c8a24.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/16cc15ad-c256-4269-8e5e-d452122c8a24.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 505 |
+| Sim rows | 66 |
+| Real episode_id | `16cc15ad-c256-4269-8e5e-d452122c8a24` |
+| Sim episode_id | `16cc15ad-c256-4269-8e5e-d452122c8a24` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.545 | 11.95 | 20.70 | 10.17 | 0.7856 |
+| 1 | descend | 210 | 21 | 0.023 | 0.50 | 0.87 | 2.13 | 0.8360 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.800 |
+| TCP position RMSE (mm, per-axis) | 8.46 |
+| EE position RMS L2 (mm) | 15.83 |
+| TCP rotvec (mrad) | 7.35 |
+| W1 effort mean (A) | 0.8065 |
+| W1 effort per joint (A) | j0=0.1951, j1=1.7340, j2=1.7783, j3=0.8514, j4=0.0985, j5=0.1820 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00006 | -0.00056 | 0.00073 | 0.00093 | 0.030 |
+| 1 | 0.00007 | -0.00057 | 0.00061 | 0.00084 | 0.047 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_16db433e-8466-484e-8f62-85a4ac25e055.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/16db433e-8466-484e-8f62-85a4ac25e055.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/16db433e-8466-484e-8f62-85a4ac25e055.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2730 |
+| Sim rows | 242 |
+| Real episode_id | `16db433e-8466-484e-8f62-85a4ac25e055` |
+| Sim episode_id | `16db433e-8466-484e-8f62-85a4ac25e055` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 172 | 16 | 2.655 | 9.82 | 17.01 | 1935.37 | 0.5861 |
+| 1 | descend | 374 | 33 | 0.730 | 4.37 | 7.57 | 3626.04 | 0.6914 |
+| 2 | settle | 371 | 32 | 0.022 | 0.60 | 1.04 | 3625.95 | 0.6864 |
+| 3 | close | 131 | 12 | 0.824 | 5.04 | 8.72 | 2278.32 | 0.9838 |
+| 4 | lift | 414 | 36 | 3.192 | 12.76 | 22.10 | 1723.67 | 1.0783 |
+| 5 | move_xy | 336 | 29 | 7.669 | 34.65 | 60.02 | 2218.08 | 0.9043 |
+| 6 | lower | 387 | 34 | 0.077 | 1.07 | 1.85 | 1214.40 | 0.9556 |
+| 7 | open | 131 | 12 | 0.926 | 5.30 | 9.18 | 3626.22 | 0.6078 |
+| 8 | retract | 414 | 36 | 3.211 | 12.95 | 22.43 | 2254.08 | 0.6978 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.135 |
+| TCP position RMSE (mm, per-axis) | 13.75 |
+| EE position RMS L2 (mm) | 25.06 |
+| TCP rotvec (mrad) | 2642.14 |
+| W1 effort mean (A) | 0.7907 |
+| W1 effort per joint (A) | j0=0.2513, j1=1.2059, j2=1.5822, j3=0.6772, j4=0.4208, j5=0.6067 |
+
+## Phase-end anchor (sim - 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 | -0.00025 | -0.00031 | 0.00055 | 0.037 |
+| 1 | 0.00042 | -0.00052 | -0.00081 | 0.00105 | 0.044 |
+| 2 | 0.00041 | -0.00056 | -0.00076 | 0.00103 | 0.034 |
+| 3 | 0.00110 | -0.00014 | -0.00125 | 0.00167 | 0.126 |
+| 4 | 0.00052 | 0.00001 | -0.00008 | 0.00053 | 0.145 |
+| 5 | 0.00109 | -0.00073 | -0.00164 | 0.00210 | 0.120 |
+| 6 | 0.00127 | -0.00076 | -0.00082 | 0.00170 | 0.138 |
+| 7 | 0.00018 | -0.00027 | -0.00053 | 0.00062 | 0.036 |
+| 8 | -0.00005 | -0.00006 | -0.00013 | 0.00015 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_16e58943-ea86-44b9-ba09-9e3e26ab5bdc.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/16e58943-ea86-44b9-ba09-9e3e26ab5bdc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/16e58943-ea86-44b9-ba09-9e3e26ab5bdc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1602 |
+| Sim rows | 164 |
+| Real episode_id | `16e58943-ea86-44b9-ba09-9e3e26ab5bdc` |
+| Sim episode_id | `16e58943-ea86-44b9-ba09-9e3e26ab5bdc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 161 | 16 | 2.238 | 13.86 | 24.01 | 273.42 | 0.7425 |
+| 1 | descend | 73 | 8 | 0.503 | 3.97 | 6.88 | 5.94 | 0.6968 |
+| 2 | settle | 18 | 3 | 0.025 | 3.12 | 5.41 | 6.19 | 0.6787 |
+| 3 | close | 371 | 37 | 0.150 | 3.78 | 6.55 | 11.05 | 1.1583 |
+| 4 | lift | 74 | 8 | 0.518 | 4.09 | 7.08 | 10.78 | 1.2916 |
+| 5 | move_xy | 210 | 21 | 3.153 | 21.95 | 38.02 | 149.29 | 1.2448 |
+| 6 | lower | 72 | 8 | 0.524 | 3.55 | 6.15 | 7.61 | 1.2000 |
+| 7 | open | 363 | 36 | 0.030 | 2.17 | 3.76 | 6.22 | 0.6645 |
+| 8 | retract | 74 | 8 | 0.444 | 3.10 | 5.38 | 5.84 | 0.8087 |
+| 9 | return | 186 | 19 | 3.335 | 18.64 | 32.29 | 783.32 | 0.7350 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.646 |
+| TCP position RMSE (mm, per-axis) | 10.51 |
+| EE position RMS L2 (mm) | 19.73 |
+| TCP rotvec (mrad) | 266.66 |
+| W1 effort mean (A) | 0.9001 |
+| W1 effort per joint (A) | j0=0.2041, j1=1.8391, j2=1.5903, j3=0.7983, j4=0.4430, j5=0.5256 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00221 | -0.00454 | -0.00083 | 0.00512 | 0.041 |
+| 1 | 0.00248 | -0.00469 | -0.00109 | 0.00542 | 0.044 |
+| 2 | 0.00245 | -0.00472 | -0.00113 | 0.00543 | 0.051 |
+| 3 | 0.00322 | -0.00444 | -0.00354 | 0.00653 | 0.236 |
+| 4 | 0.00259 | -0.00434 | -0.00397 | 0.00643 | 0.300 |
+| 5 | 0.00091 | -0.00308 | -0.00085 | 0.00332 | 0.163 |
+| 6 | 0.00095 | -0.00283 | -0.00181 | 0.00349 | 0.176 |
+| 7 | 0.00234 | -0.00292 | -0.00053 | 0.00377 | 0.066 |
+| 8 | 0.00216 | -0.00313 | -0.00072 | 0.00387 | 0.075 |
+| 9 | -0.00003 | -0.00021 | -0.00036 | 0.00042 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_17130a2b-ebd0-46fe-b05d-b6ba6e2d3013.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/17130a2b-ebd0-46fe-b05d-b6ba6e2d3013.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/17130a2b-ebd0-46fe-b05d-b6ba6e2d3013.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2673 |
+| Sim rows | 238 |
+| Real episode_id | `17130a2b-ebd0-46fe-b05d-b6ba6e2d3013` |
+| Sim episode_id | `17130a2b-ebd0-46fe-b05d-b6ba6e2d3013` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 194 | 17 | 3.328 | 12.61 | 21.84 | 1965.47 | 0.5941 |
+| 1 | descend | 272 | 24 | 1.512 | 8.86 | 15.34 | 3626.06 | 0.6392 |
+| 2 | settle | 356 | 31 | 0.022 | 0.67 | 1.17 | 3625.99 | 0.6376 |
+| 3 | close | 187 | 17 | 1.028 | 5.86 | 10.16 | 1565.13 | 0.9246 |
+| 4 | lift | 361 | 32 | 3.829 | 15.74 | 27.26 | 2108.34 | 1.1061 |
+| 5 | move_xy | 366 | 32 | 8.377 | 36.74 | 63.64 | 1986.14 | 0.8617 |
+| 6 | lower | 390 | 34 | 0.081 | 1.21 | 2.10 | 1029.03 | 0.8929 |
+| 7 | open | 186 | 17 | 1.193 | 6.71 | 11.62 | 3626.21 | 0.5970 |
+| 8 | retract | 361 | 32 | 3.835 | 15.82 | 27.40 | 2375.92 | 0.7130 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.581 |
+| TCP position RMSE (mm, per-axis) | 15.52 |
+| EE position RMS L2 (mm) | 28.85 |
+| TCP rotvec (mrad) | 2600.25 |
+| W1 effort mean (A) | 0.7670 |
+| W1 effort per joint (A) | j0=0.2341, j1=1.1975, j2=1.4625, j3=0.7056, j4=0.3500, j5=0.6524 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00064 | -0.00014 | -0.00041 | 0.00077 | 0.043 |
+| 1 | 0.00069 | -0.00053 | -0.00078 | 0.00117 | 0.041 |
+| 2 | 0.00070 | -0.00057 | -0.00073 | 0.00116 | 0.036 |
+| 3 | 0.00117 | -0.00028 | -0.00084 | 0.00147 | 0.103 |
+| 4 | 0.00012 | -0.00030 | -0.00031 | 0.00045 | 0.095 |
+| 5 | 0.00148 | -0.00073 | -0.00148 | 0.00221 | 0.107 |
+| 6 | 0.00139 | -0.00053 | -0.00180 | 0.00233 | 0.137 |
+| 7 | 0.00054 | -0.00023 | -0.00054 | 0.00079 | 0.043 |
+| 8 | -0.00009 | -0.00011 | -0.00015 | 0.00021 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1717c34a-2c20-4d68-81f7-a69f5955946a.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1717c34a-2c20-4d68-81f7-a69f5955946a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1717c34a-2c20-4d68-81f7-a69f5955946a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1576 |
+| Sim rows | 159 |
+| Real episode_id | `1717c34a-2c20-4d68-81f7-a69f5955946a` |
+| Sim episode_id | `1717c34a-2c20-4d68-81f7-a69f5955946a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 14 | 2.575 | 12.48 | 21.62 | 658.54 | 0.7003 |
+| 1 | descend | 71 | 8 | 0.679 | 3.97 | 6.88 | 4.87 | 0.6549 |
+| 2 | settle | 36 | 4 | 0.025 | 2.95 | 5.10 | 5.23 | 0.6768 |
+| 3 | close | 375 | 37 | 0.127 | 3.48 | 6.03 | 9.65 | 1.1341 |
+| 4 | lift | 77 | 8 | 0.680 | 4.22 | 7.31 | 8.80 | 1.1926 |
+| 5 | move_xy | 138 | 14 | 1.731 | 15.14 | 26.22 | 42.60 | 1.1077 |
+| 6 | lower | 77 | 8 | 0.644 | 3.76 | 6.51 | 9.05 | 1.0847 |
+| 7 | open | 378 | 37 | 0.030 | 2.67 | 4.62 | 4.93 | 0.6134 |
+| 8 | retract | 79 | 8 | 0.669 | 4.01 | 6.95 | 4.31 | 0.7344 |
+| 9 | return | 213 | 21 | 2.718 | 12.30 | 21.31 | 995.37 | 0.8020 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.372 |
+| TCP position RMSE (mm, per-axis) | 7.93 |
+| EE position RMS L2 (mm) | 13.58 |
+| TCP rotvec (mrad) | 377.70 |
+| W1 effort mean (A) | 0.8566 |
+| W1 effort per joint (A) | j0=0.1488, j1=1.5888, j2=1.5629, j3=0.7541, j4=0.5130, j5=0.5717 |
+
+## Phase-end anchor (sim - 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 | -0.00436 | -0.00061 | 0.00475 | 0.027 |
+| 1 | 0.00217 | -0.00456 | -0.00068 | 0.00510 | 0.041 |
+| 2 | 0.00216 | -0.00457 | -0.00080 | 0.00511 | 0.046 |
+| 3 | 0.00313 | -0.00441 | -0.00276 | 0.00607 | 0.222 |
+| 4 | 0.00237 | -0.00442 | -0.00263 | 0.00566 | 0.232 |
+| 5 | 0.00251 | -0.00364 | -0.00213 | 0.00491 | 0.210 |
+| 6 | 0.00329 | -0.00331 | -0.00182 | 0.00501 | 0.190 |
+| 7 | 0.00247 | -0.00387 | -0.00054 | 0.00462 | 0.057 |
+| 8 | 0.00208 | -0.00399 | -0.00062 | 0.00454 | 0.061 |
+| 9 | -0.00010 | -0.00013 | -0.00029 | 0.00034 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1718e58f-42e9-43cb-a07f-ef182023f5fb.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1718e58f-42e9-43cb-a07f-ef182023f5fb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1718e58f-42e9-43cb-a07f-ef182023f5fb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 577 |
+| Sim rows | 73 |
+| Real episode_id | `1718e58f-42e9-43cb-a07f-ef182023f5fb` |
+| Sim episode_id | `1718e58f-42e9-43cb-a07f-ef182023f5fb` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 367 | 36 | 3.981 | 20.23 | 35.04 | 886.59 | 0.7902 |
+| 1 | descend | 210 | 21 | 0.023 | 4.79 | 8.29 | 1.88 | 0.8173 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.815 |
+| TCP position RMSE (mm, per-axis) | 14.70 |
+| EE position RMS L2 (mm) | 28.39 |
+| TCP rotvec (mrad) | 626.92 |
+| W1 effort mean (A) | 0.8000 |
+| W1 effort per joint (A) | j0=0.1754, j1=1.6655, j2=1.7640, j3=0.8599, j4=0.1655, j5=0.1698 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00834 | 0.00090 | 0.00018 | 0.00839 | 0.031 |
+| 1 | -0.00820 | 0.00085 | -0.00003 | 0.00824 | 0.045 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_172c0d6b-4a0f-4d25-9221-f497ac52e782.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/172c0d6b-4a0f-4d25-9221-f497ac52e782.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/172c0d6b-4a0f-4d25-9221-f497ac52e782.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 474 |
+| Sim rows | 63 |
+| Real episode_id | `172c0d6b-4a0f-4d25-9221-f497ac52e782` |
+| Sim episode_id | `172c0d6b-4a0f-4d25-9221-f497ac52e782` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 264 | 26 | 2.198 | 12.60 | 21.82 | 514.98 | 0.7806 |
+| 1 | descend | 210 | 21 | 0.022 | 11.86 | 20.53 | 1.49 | 0.8470 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.554 |
+| TCP position RMSE (mm, per-axis) | 12.23 |
+| EE position RMS L2 (mm) | 21.26 |
+| TCP rotvec (mrad) | 364.15 |
+| W1 effort mean (A) | 0.8100 |
+| W1 effort per joint (A) | j0=0.1649, j1=1.7939, j2=1.8352, j3=0.6347, j4=0.2356, j5=0.1957 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.02026 | -0.00229 | -0.00324 | 0.02065 | 0.030 |
+| 1 | -0.02013 | -0.00224 | -0.00342 | 0.02054 | 0.043 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1736a426-3654-4058-95bd-8f35d35f8c03.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1736a426-3654-4058-95bd-8f35d35f8c03.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1736a426-3654-4058-95bd-8f35d35f8c03.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1578 |
+| Sim rows | 160 |
+| Real episode_id | `1736a426-3654-4058-95bd-8f35d35f8c03` |
+| Sim episode_id | `1736a426-3654-4058-95bd-8f35d35f8c03` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 1.888 | 12.06 | 20.89 | 665.74 | 0.7584 |
+| 1 | descend | 77 | 8 | 0.719 | 4.66 | 8.06 | 6.26 | 0.7417 |
+| 2 | settle | 19 | 3 | 0.025 | 3.21 | 5.56 | 6.73 | 0.7685 |
+| 3 | close | 321 | 32 | 0.155 | 3.79 | 6.57 | 3622.42 | 1.2909 |
+| 4 | lift | 77 | 8 | 0.617 | 4.38 | 7.59 | 3622.38 | 1.4271 |
+| 5 | move_xy | 163 | 17 | 6.823 | 17.12 | 29.66 | 1899.73 | 1.2684 |
+| 6 | lower | 79 | 8 | 13.552 | 4.55 | 7.88 | 526.00 | 1.1667 |
+| 7 | open | 288 | 29 | 13.515 | 2.59 | 4.48 | 525.39 | 0.6862 |
+| 8 | retract | 78 | 8 | 13.547 | 4.15 | 7.19 | 524.85 | 0.7437 |
+| 9 | return | 325 | 32 | 7.720 | 11.74 | 20.34 | 1196.87 | 0.7754 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 8.127 |
+| TCP position RMSE (mm, per-axis) | 8.29 |
+| EE position RMS L2 (mm) | 15.57 |
+| TCP rotvec (mrad) | 1804.34 |
+| W1 effort mean (A) | 0.9448 |
+| W1 effort per joint (A) | j0=0.1971, j1=1.7402, j2=1.6360, j3=0.8304, j4=0.4841, j5=0.7807 |
+
+## Phase-end anchor (sim - 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 | -0.00469 | -0.00105 | 0.00524 | 0.057 |
+| 1 | 0.00241 | -0.00484 | -0.00128 | 0.00555 | 0.044 |
+| 2 | 0.00240 | -0.00483 | -0.00140 | 0.00557 | 0.055 |
+| 3 | 0.00288 | -0.00411 | -0.00389 | 0.00634 | 0.254 |
+| 4 | 0.00202 | -0.00432 | -0.00407 | 0.00627 | 0.273 |
+| 5 | 0.00187 | -0.00355 | -0.00161 | 0.00432 | 33.120 |
+| 6 | 0.00282 | -0.00293 | -0.00189 | 0.00449 | 33.110 |
+| 7 | 0.00209 | -0.00396 | -0.00012 | 0.00448 | 33.103 |
+| 8 | 0.00151 | -0.00402 | -0.00031 | 0.00430 | 33.138 |
+| 9 | -0.00007 | -0.00005 | -0.00018 | 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.

gap_reports/gap_174b9e74-d96d-42b6-a2d8-b8ee0b0b0c6a.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/174b9e74-d96d-42b6-a2d8-b8ee0b0b0c6a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/174b9e74-d96d-42b6-a2d8-b8ee0b0b0c6a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2636 |
+| Sim rows | 234 |
+| Real episode_id | `174b9e74-d96d-42b6-a2d8-b8ee0b0b0c6a` |
+| Sim episode_id | `174b9e74-d96d-42b6-a2d8-b8ee0b0b0c6a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 161 | 15 | 2.332 | 9.66 | 16.73 | 2060.61 | 0.5706 |
+| 1 | descend | 480 | 41 | 0.706 | 4.15 | 7.19 | 3626.04 | 0.7202 |
+| 2 | settle | 385 | 34 | 0.021 | 0.56 | 0.97 | 3625.94 | 0.7047 |
+| 3 | close | 141 | 13 | 0.880 | 5.15 | 8.92 | 1997.51 | 0.9483 |
+| 4 | lift | 307 | 27 | 2.652 | 10.94 | 18.95 | 1849.44 | 1.0923 |
+| 5 | move_xy | 321 | 28 | 5.880 | 27.61 | 47.82 | 2066.49 | 0.9071 |
+| 6 | lower | 390 | 34 | 0.073 | 0.96 | 1.66 | 1367.87 | 0.9768 |
+| 7 | open | 142 | 13 | 0.943 | 5.50 | 9.52 | 3626.19 | 0.6013 |
+| 8 | retract | 309 | 27 | 2.758 | 11.42 | 19.77 | 2268.96 | 0.6925 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.513 |
+| TCP position RMSE (mm, per-axis) | 11.46 |
+| EE position RMS L2 (mm) | 20.06 |
+| TCP rotvec (mrad) | 2632.93 |
+| W1 effort mean (A) | 0.7885 |
+| W1 effort per joint (A) | j0=0.2416, j1=1.1681, j2=1.6092, j3=0.7542, j4=0.3665, j5=0.5914 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00013 | -0.00034 | -0.00045 | 0.00058 | 0.032 |
+| 1 | 0.00014 | -0.00058 | -0.00079 | 0.00099 | 0.037 |
+| 2 | 0.00017 | -0.00057 | -0.00078 | 0.00098 | 0.037 |
+| 3 | 0.00061 | -0.00050 | -0.00093 | 0.00122 | 0.089 |
+| 4 | 0.00066 | 0.00002 | -0.00031 | 0.00073 | 0.148 |
+| 5 | 0.00112 | -0.00078 | -0.00105 | 0.00172 | 0.144 |
+| 6 | 0.00108 | -0.00073 | -0.00053 | 0.00140 | 0.140 |
+| 7 | -0.00005 | -0.00035 | -0.00053 | 0.00064 | 0.039 |
+| 8 | -0.00007 | -0.00009 | -0.00013 | 0.00018 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_174e22a0-4f40-4712-bc2d-76d3984b9066.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/174e22a0-4f40-4712-bc2d-76d3984b9066.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/174e22a0-4f40-4712-bc2d-76d3984b9066.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1780 |
+| Sim rows | 180 |
+| Real episode_id | `174e22a0-4f40-4712-bc2d-76d3984b9066` |
+| Sim episode_id | `174e22a0-4f40-4712-bc2d-76d3984b9066` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.114 | 13.76 | 23.84 | 1351.44 | 0.6677 |
+| 1 | descend | 92 | 10 | 0.628 | 3.46 | 5.99 | 4.28 | 0.5172 |
+| 2 | settle | 27 | 3 | 0.018 | 2.86 | 4.96 | 4.70 | 0.4827 |
+| 3 | close | 382 | 37 | 0.127 | 3.29 | 5.71 | 3622.48 | 0.9281 |
+| 4 | lift | 92 | 10 | 0.681 | 3.94 | 6.82 | 3622.66 | 1.0714 |
+| 5 | move_xy | 262 | 26 | 6.411 | 36.20 | 62.70 | 1532.74 | 1.1241 |
+| 6 | lower | 91 | 10 | 0.631 | 3.82 | 6.62 | 8.31 | 1.2079 |
+| 7 | open | 371 | 36 | 0.025 | 2.09 | 3.63 | 5.39 | 0.7611 |
+| 8 | retract | 91 | 10 | 0.501 | 3.20 | 5.55 | 5.01 | 0.7421 |
+| 9 | return | 185 | 19 | 3.053 | 18.14 | 31.42 | 441.09 | 0.8065 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.483 |
+| TCP position RMSE (mm, per-axis) | 13.80 |
+| EE position RMS L2 (mm) | 27.55 |
+| TCP rotvec (mrad) | 1749.75 |
+| W1 effort mean (A) | 0.8452 |
+| W1 effort per joint (A) | j0=0.1950, j1=1.4022, j2=1.5370, j3=0.8400, j4=0.5364, j5=0.5604 |
+
+## Phase-end anchor (sim - 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 | -0.00417 | -0.00036 | 0.00453 | 0.026 |
+| 1 | 0.00198 | -0.00450 | -0.00031 | 0.00493 | 0.036 |
+| 2 | 0.00200 | -0.00452 | -0.00042 | 0.00496 | 0.026 |
+| 3 | 0.00304 | -0.00444 | -0.00201 | 0.00574 | 0.249 |
+| 4 | 0.00238 | -0.00406 | -0.00226 | 0.00522 | 0.266 |
+| 5 | 0.00144 | -0.00273 | -0.00244 | 0.00393 | 0.241 |
+| 6 | 0.00159 | -0.00213 | -0.00267 | 0.00377 | 0.238 |
+| 7 | 0.00217 | -0.00289 | -0.00031 | 0.00363 | 0.057 |
+| 8 | 0.00192 | -0.00310 | -0.00033 | 0.00366 | 0.058 |
+| 9 | -0.00003 | -0.00019 | -0.00030 | 0.00036 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_175a28b6-2e26-409f-89c6-f97d04bf7d10.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/175a28b6-2e26-409f-89c6-f97d04bf7d10.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/175a28b6-2e26-409f-89c6-f97d04bf7d10.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1565 |
+| Sim rows | 159 |
+| Real episode_id | `175a28b6-2e26-409f-89c6-f97d04bf7d10` |
+| Sim episode_id | `175a28b6-2e26-409f-89c6-f97d04bf7d10` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 15 | 2.697 | 15.55 | 26.93 | 1169.06 | 0.7582 |
+| 1 | descend | 72 | 8 | 0.438 | 3.63 | 6.28 | 5.92 | 0.6977 |
+| 2 | settle | 29 | 4 | 0.024 | 3.18 | 5.51 | 6.34 | 0.7144 |
+| 3 | close | 372 | 36 | 0.095 | 3.79 | 6.56 | 498.90 | 1.0945 |
+| 4 | lift | 74 | 8 | 0.686 | 4.53 | 7.85 | 7.55 | 1.2556 |
+| 5 | move_xy | 187 | 19 | 4.263 | 21.60 | 37.42 | 107.76 | 1.0825 |
+| 6 | lower | 73 | 8 | 0.524 | 2.88 | 4.99 | 5.69 | 1.0015 |
+| 7 | open | 354 | 35 | 0.026 | 2.20 | 3.81 | 4.73 | 0.5881 |
+| 8 | retract | 72 | 8 | 0.733 | 3.79 | 6.57 | 4.02 | 0.6945 |
+| 9 | return | 179 | 18 | 2.763 | 15.80 | 27.37 | 644.21 | 0.8010 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.859 |
+| TCP position RMSE (mm, per-axis) | 10.22 |
+| EE position RMS L2 (mm) | 18.60 |
+| TCP rotvec (mrad) | 451.93 |
+| W1 effort mean (A) | 0.8541 |
+| W1 effort per joint (A) | j0=0.2138, j1=1.6131, j2=1.5578, j3=0.7362, j4=0.3778, j5=0.6258 |
+
+## Phase-end anchor (sim - 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 | -0.00488 | -0.00111 | 0.00523 | 0.049 |
+| 1 | 0.00173 | -0.00506 | -0.00114 | 0.00547 | 0.052 |
+| 2 | 0.00174 | -0.00505 | -0.00138 | 0.00552 | 0.053 |
+| 3 | 0.00230 | -0.00558 | -0.00265 | 0.00659 | 0.153 |
+| 4 | 0.00164 | -0.00538 | -0.00337 | 0.00656 | 0.212 |
+| 5 | 0.00187 | -0.00243 | 0.00053 | 0.00311 | 0.194 |
+| 6 | 0.00239 | -0.00181 | -0.00189 | 0.00354 | 0.224 |
+| 7 | 0.00216 | -0.00311 | -0.00007 | 0.00379 | 0.042 |
+| 8 | 0.00182 | -0.00333 | -0.00030 | 0.00381 | 0.062 |
+| 9 | 0.00003 | -0.00018 | -0.00027 | 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.