diff --git a/gap_reports/gap_134bf200-9fd4-4aa4-b223-e7982bc4e24d.md b/gap_reports/gap_134bf200-9fd4-4aa4-b223-e7982bc4e24d.md
new file mode 100644
index 0000000000000000000000000000000000000000..68ec5c6981928ac4f95ce0a2ed4b30e47cdc141c
--- /dev/null
+++ b/gap_reports/gap_134bf200-9fd4-4aa4-b223-e7982bc4e24d.md
@@ -0,0 +1,73 @@
+# 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.
diff --git a/gap_reports/gap_138dc3f7-77d5-45c0-951e-6d5d410ddf96.md b/gap_reports/gap_138dc3f7-77d5-45c0-951e-6d5d410ddf96.md
new file mode 100644
index 0000000000000000000000000000000000000000..a3d53da915bc7fce9ad22096d6bf5e9a20dd674c
--- /dev/null
+++ b/gap_reports/gap_138dc3f7-77d5-45c0-951e-6d5d410ddf96.md
@@ -0,0 +1,73 @@
+# 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.
diff --git a/gap_reports/gap_13a9b3ee-5fb2-4566-a52c-317d165569bc.md b/gap_reports/gap_13a9b3ee-5fb2-4566-a52c-317d165569bc.md
new file mode 100644
index 0000000000000000000000000000000000000000..5c83bc5e3fb255ad78dc8d405c8c49952cdf15d4
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_13ca2ba7-5b75-41bc-bc1f-6ebc2c213118.md b/gap_reports/gap_13ca2ba7-5b75-41bc-bc1f-6ebc2c213118.md
new file mode 100644
index 0000000000000000000000000000000000000000..736aed1150f199bafbf444d5151ebbd101ea2b7b
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1410a36f-e422-4cb4-bb32-3041e9de814a.md b/gap_reports/gap_1410a36f-e422-4cb4-bb32-3041e9de814a.md
new file mode 100644
index 0000000000000000000000000000000000000000..66b4c30cc229a2df6a9a4c13320f09df6a276c1a
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_141b6796-c78c-4940-aa00-7a0ad51b9292.md b/gap_reports/gap_141b6796-c78c-4940-aa00-7a0ad51b9292.md
new file mode 100644
index 0000000000000000000000000000000000000000..2895e4a4c63c3225d3a54bc5eb2a0e2dff0f7aff
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_141dfa5c-4271-4ed9-ba84-dd1bb607dc65.md b/gap_reports/gap_141dfa5c-4271-4ed9-ba84-dd1bb607dc65.md
new file mode 100644
index 0000000000000000000000000000000000000000..04a9b6566e778502b62dfd3264b59e5f1f81f819
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1433e22e-33db-49ff-91c1-ed592579fedc.md b/gap_reports/gap_1433e22e-33db-49ff-91c1-ed592579fedc.md
new file mode 100644
index 0000000000000000000000000000000000000000..da8e28f5015dd8ef9f5971635b22ecc05f36d934
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1437b01b-3258-45a9-899c-8619684d0a3d.md b/gap_reports/gap_1437b01b-3258-45a9-899c-8619684d0a3d.md
new file mode 100644
index 0000000000000000000000000000000000000000..c4973c314b54225811db498f9587044c7e877dc7
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1465cc99-fea4-4053-9f2b-3151fdd4797c.md b/gap_reports/gap_1465cc99-fea4-4053-9f2b-3151fdd4797c.md
new file mode 100644
index 0000000000000000000000000000000000000000..c459ab6813d243c82afddd548cc6738bf0abfefc
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_14887586-dabe-4360-bee8-7c2cdf329f11.md b/gap_reports/gap_14887586-dabe-4360-bee8-7c2cdf329f11.md
new file mode 100644
index 0000000000000000000000000000000000000000..7683cd94b3b180d81768d0954ee3cbcc699f554f
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_148eb3fc-63da-44f2-b384-18fe92cf9bd2.md b/gap_reports/gap_148eb3fc-63da-44f2-b384-18fe92cf9bd2.md
new file mode 100644
index 0000000000000000000000000000000000000000..a5483eda3c34f1d02e8e83798ec8824149f803d0
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_148f717c-26fe-4173-98e7-f20917fbda5a.md b/gap_reports/gap_148f717c-26fe-4173-98e7-f20917fbda5a.md
new file mode 100644
index 0000000000000000000000000000000000000000..90bf3993207a6286c703de6734fb6a55b63272fd
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_149f7e69-d8b6-4aa6-9f43-0f3f69aad86f.md b/gap_reports/gap_149f7e69-d8b6-4aa6-9f43-0f3f69aad86f.md
new file mode 100644
index 0000000000000000000000000000000000000000..e2ff68e5ab05ad00610c74ce714c8bf363225585
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_14abcf55-c87a-4f99-bce6-aeb7af90f8d4.md b/gap_reports/gap_14abcf55-c87a-4f99-bce6-aeb7af90f8d4.md
new file mode 100644
index 0000000000000000000000000000000000000000..feb20f6adaf548f35a550764552ff72b2ca33ebe
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_14bed1c0-5bb7-4f94-b0f9-fb53e266e78b.md b/gap_reports/gap_14bed1c0-5bb7-4f94-b0f9-fb53e266e78b.md
new file mode 100644
index 0000000000000000000000000000000000000000..27fff3f1d07e3566b50e13858ad602fc4dd7cc07
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_14cc2bbf-3bd4-454c-9a00-651aec0e2313.md b/gap_reports/gap_14cc2bbf-3bd4-454c-9a00-651aec0e2313.md
new file mode 100644
index 0000000000000000000000000000000000000000..aadd5200b21b02e457e9f62852e7ff7139f057f5
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_152a5926-621d-4a5d-84f9-5e870410ff66.md b/gap_reports/gap_152a5926-621d-4a5d-84f9-5e870410ff66.md
new file mode 100644
index 0000000000000000000000000000000000000000..daf353ab70e6d7e24c563607aeb3a99aadda40a0
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_153056dd-7f6c-439f-92a5-e782eef26be6.md b/gap_reports/gap_153056dd-7f6c-439f-92a5-e782eef26be6.md
new file mode 100644
index 0000000000000000000000000000000000000000..8501d009fe25ae0da46116e65a326dd9f07bc12b
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1546ac32-6072-4f87-93f9-9b55a97a1c34.md b/gap_reports/gap_1546ac32-6072-4f87-93f9-9b55a97a1c34.md
new file mode 100644
index 0000000000000000000000000000000000000000..a373b536d6ea4d723cc6753dd54b2cc8418b6a18
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_15475438-78fa-4146-bd34-51215d2a359c.md b/gap_reports/gap_15475438-78fa-4146-bd34-51215d2a359c.md
new file mode 100644
index 0000000000000000000000000000000000000000..84541cb2044e56789034ce30fd26933d4b45e069
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_154960c9-9e19-4841-bb55-95d880731594.md b/gap_reports/gap_154960c9-9e19-4841-bb55-95d880731594.md
new file mode 100644
index 0000000000000000000000000000000000000000..75965e74c63b31cbd63dc4cf25a8d31e197ca2f0
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_157791b2-f3ef-47ef-b15b-46c5a873e8dc.md b/gap_reports/gap_157791b2-f3ef-47ef-b15b-46c5a873e8dc.md
new file mode 100644
index 0000000000000000000000000000000000000000..67e4e2d7acb6df2ccb187db6e9f545487caa432a
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1579699a-be84-44af-b729-96a2759aa655.md b/gap_reports/gap_1579699a-be84-44af-b729-96a2759aa655.md
new file mode 100644
index 0000000000000000000000000000000000000000..9029da5bda1910f731930c728e1b14dc967ed02f
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_158ca905-e52f-4cc7-a317-39ef0413db39.md b/gap_reports/gap_158ca905-e52f-4cc7-a317-39ef0413db39.md
new file mode 100644
index 0000000000000000000000000000000000000000..279748c9b91f33cbf897c4c016b85346862347d6
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_15c2c9a5-fae1-4822-8c7c-fc71fdd7cfac.md b/gap_reports/gap_15c2c9a5-fae1-4822-8c7c-fc71fdd7cfac.md
new file mode 100644
index 0000000000000000000000000000000000000000..3f8a8aabcef9290698897ee21024007505266c00
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_160dd982-f3bb-449a-971f-cff601ac7175.md b/gap_reports/gap_160dd982-f3bb-449a-971f-cff601ac7175.md
new file mode 100644
index 0000000000000000000000000000000000000000..49ac8711999c1fa6d8a12c31ba77b7d3fed83729
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_16155d0b-bb7b-4f64-a6cb-7f7775f5620a.md b/gap_reports/gap_16155d0b-bb7b-4f64-a6cb-7f7775f5620a.md
new file mode 100644
index 0000000000000000000000000000000000000000..c35c5419544230e4ad5f23e52739248de4cb1522
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_16280e51-237b-49e1-bc60-89c065b66452.md b/gap_reports/gap_16280e51-237b-49e1-bc60-89c065b66452.md
new file mode 100644
index 0000000000000000000000000000000000000000..50dd1ee700e707f7b6e1bd16387b04bb4768bcd8
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_162f4654-5420-4ac0-b429-aacfa3bd5020.md b/gap_reports/gap_162f4654-5420-4ac0-b429-aacfa3bd5020.md
new file mode 100644
index 0000000000000000000000000000000000000000..e04696a38aa7ecc7a41557d27d24d05d20d090ce
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1653469e-5904-46d4-ba24-4ad8f090de6f.md b/gap_reports/gap_1653469e-5904-46d4-ba24-4ad8f090de6f.md
new file mode 100644
index 0000000000000000000000000000000000000000..91f3f81ec746d4f1430b1bf0f65eab144dd6b107
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_165661aa-9100-4135-9948-539fe9d69c47.md b/gap_reports/gap_165661aa-9100-4135-9948-539fe9d69c47.md
new file mode 100644
index 0000000000000000000000000000000000000000..8b61aabf0beb52eb03db46801cb6178d18c0b65c
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_16594bd9-7150-4d8a-8cf3-fa5be9b89f06.md b/gap_reports/gap_16594bd9-7150-4d8a-8cf3-fa5be9b89f06.md
new file mode 100644
index 0000000000000000000000000000000000000000..6c1e2b93f94ca47bb1af3c3c53366cfe6142ab25
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_16682dff-f1c9-4f56-86d7-c41397453499.md b/gap_reports/gap_16682dff-f1c9-4f56-86d7-c41397453499.md
new file mode 100644
index 0000000000000000000000000000000000000000..abaca3b0b572724d214198c2eeda3ab43f6f5c29
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_16770c68-6ceb-4ed1-9f96-1bbc2e2264e5.md b/gap_reports/gap_16770c68-6ceb-4ed1-9f96-1bbc2e2264e5.md
new file mode 100644
index 0000000000000000000000000000000000000000..c4a8a4e215cc43aebef98c28f58a725189e69aca
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_169103f2-b8bb-403d-95b8-b1a651463adb.md b/gap_reports/gap_169103f2-b8bb-403d-95b8-b1a651463adb.md
new file mode 100644
index 0000000000000000000000000000000000000000..961cfa5db17d4d8abdcfff3f0a3fb9a8560a9274
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_169b0c14-3e9e-4770-975e-b4ff2700b08c.md b/gap_reports/gap_169b0c14-3e9e-4770-975e-b4ff2700b08c.md
new file mode 100644
index 0000000000000000000000000000000000000000..fd8c06624b231616e3e90482c789afe3a09efc24
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_16a42612-4620-4bcf-b6e0-df3b2d9161fd.md b/gap_reports/gap_16a42612-4620-4bcf-b6e0-df3b2d9161fd.md
new file mode 100644
index 0000000000000000000000000000000000000000..76bc23dda77f34378c8944c0ebf3004c326223cd
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_16bd0b85-28bc-445a-91f5-063e56db677b.md b/gap_reports/gap_16bd0b85-28bc-445a-91f5-063e56db677b.md
new file mode 100644
index 0000000000000000000000000000000000000000..a9c2b158b08c0817fa7d7bc662aaf2e6d96aecc3
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_16cc15ad-c256-4269-8e5e-d452122c8a24.md b/gap_reports/gap_16cc15ad-c256-4269-8e5e-d452122c8a24.md
new file mode 100644
index 0000000000000000000000000000000000000000..593c6b0528346412edc89d69b08ff7732ca9962a
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_16db433e-8466-484e-8f62-85a4ac25e055.md b/gap_reports/gap_16db433e-8466-484e-8f62-85a4ac25e055.md
new file mode 100644
index 0000000000000000000000000000000000000000..459762bd254ea5d8802896c7cf6cddb4802d2e45
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_16e58943-ea86-44b9-ba09-9e3e26ab5bdc.md b/gap_reports/gap_16e58943-ea86-44b9-ba09-9e3e26ab5bdc.md
new file mode 100644
index 0000000000000000000000000000000000000000..941173ce1e84872a0aef1531806528244554e7c4
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_17130a2b-ebd0-46fe-b05d-b6ba6e2d3013.md b/gap_reports/gap_17130a2b-ebd0-46fe-b05d-b6ba6e2d3013.md
new file mode 100644
index 0000000000000000000000000000000000000000..a148f84487f285d2c5b2ff0f1f0728ff70d14a67
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1717c34a-2c20-4d68-81f7-a69f5955946a.md b/gap_reports/gap_1717c34a-2c20-4d68-81f7-a69f5955946a.md
new file mode 100644
index 0000000000000000000000000000000000000000..6537af21b4160837fdc99e95f29a27fc16f7f398
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1718e58f-42e9-43cb-a07f-ef182023f5fb.md b/gap_reports/gap_1718e58f-42e9-43cb-a07f-ef182023f5fb.md
new file mode 100644
index 0000000000000000000000000000000000000000..59af4188f8775d1896a7699ae091659d7ace20ba
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_172c0d6b-4a0f-4d25-9221-f497ac52e782.md b/gap_reports/gap_172c0d6b-4a0f-4d25-9221-f497ac52e782.md
new file mode 100644
index 0000000000000000000000000000000000000000..7fb71ee46ec6cf11a2d475cf21edfadd9297fc58
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1736a426-3654-4058-95bd-8f35d35f8c03.md b/gap_reports/gap_1736a426-3654-4058-95bd-8f35d35f8c03.md
new file mode 100644
index 0000000000000000000000000000000000000000..cd35a7c03a5a6a46d0f974f66109fcc13ff9be68
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_174b9e74-d96d-42b6-a2d8-b8ee0b0b0c6a.md b/gap_reports/gap_174b9e74-d96d-42b6-a2d8-b8ee0b0b0c6a.md
new file mode 100644
index 0000000000000000000000000000000000000000..3255b2f996b833426c5b776f575aa4fd99dfb649
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_174e22a0-4f40-4712-bc2d-76d3984b9066.md b/gap_reports/gap_174e22a0-4f40-4712-bc2d-76d3984b9066.md
new file mode 100644
index 0000000000000000000000000000000000000000..3a2c58ad07a67e36f026179faf603bf4b512bb70
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_175a28b6-2e26-409f-89c6-f97d04bf7d10.md b/gap_reports/gap_175a28b6-2e26-409f-89c6-f97d04bf7d10.md
new file mode 100644
index 0000000000000000000000000000000000000000..35aeed7fc8b12d6262b92d877ef5b6eb7c852ec0
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_17a4af9f-8631-46bf-8157-590c6e2b5421.md b/gap_reports/gap_17a4af9f-8631-46bf-8157-590c6e2b5421.md
new file mode 100644
index 0000000000000000000000000000000000000000..03b38c8e175a52a8aea003b8bdd241c98a2242d1
--- /dev/null
+++ b/gap_reports/gap_17a4af9f-8631-46bf-8157-590c6e2b5421.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/17a4af9f-8631-46bf-8157-590c6e2b5421.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/17a4af9f-8631-46bf-8157-590c6e2b5421.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2076 |
+| Sim rows | 209 |
+| Real episode_id | `17a4af9f-8631-46bf-8157-590c6e2b5421` |
+| Sim episode_id | `17a4af9f-8631-46bf-8157-590c6e2b5421` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 154 | 16 | 2.218 | 8.82 | 15.28 | 1981.74 | 0.5565 |
+| 1 | descend | 262 | 26 | 0.836 | 5.04 | 8.72 | 3625.96 | 0.7554 |
+| 2 | settle | 327 | 32 | 0.024 | 0.58 | 1.01 | 3625.95 | 0.7165 |
+| 3 | close | 101 | 11 | 0.606 | 3.71 | 6.42 | 1745.30 | 0.9234 |
+| 4 | lift | 253 | 25 | 2.413 | 10.42 | 18.05 | 1780.48 | 1.0630 |
+| 5 | move_xy | 269 | 27 | 4.867 | 23.08 | 39.97 | 1896.53 | 0.8902 |
+| 6 | lower | 362 | 35 | 0.075 | 0.98 | 1.69 | 1680.79 | 0.9751 |
+| 7 | open | 95 | 10 | 0.580 | 3.45 | 5.98 | 3626.23 | 0.6224 |
+| 8 | retract | 253 | 25 | 2.388 | 10.37 | 17.96 | 2186.45 | 0.6820 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.148 |
+| TCP position RMSE (mm, per-axis) | 9.88 |
+| EE position RMS L2 (mm) | 17.81 |
+| TCP rotvec (mrad) | 2598.94 |
+| W1 effort mean (A) | 0.7921 |
+| W1 effort per joint (A) | j0=0.2393, j1=1.1581, j2=1.6078, j3=0.7368, j4=0.4109, j5=0.5999 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00017 | -0.00041 | -0.00054 | 0.00070 | 0.033 |
+| 1 | 0.00015 | -0.00060 | -0.00075 | 0.00097 | 0.037 |
+| 2 | 0.00016 | -0.00057 | -0.00079 | 0.00099 | 0.036 |
+| 3 | 0.00093 | -0.00054 | -0.00082 | 0.00135 | 0.127 |
+| 4 | 0.00018 | -0.00021 | -0.00020 | 0.00034 | 0.101 |
+| 5 | 0.00084 | -0.00087 | -0.00084 | 0.00147 | 0.103 |
+| 6 | 0.00072 | -0.00074 | -0.00053 | 0.00116 | 0.102 |
+| 7 | -0.00002 | -0.00037 | -0.00065 | 0.00074 | 0.041 |
+| 8 | -0.00009 | -0.00013 | -0.00017 | 0.00023 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_17a83a19-6aca-4d5c-8f26-bbbb63d0cfb5.md b/gap_reports/gap_17a83a19-6aca-4d5c-8f26-bbbb63d0cfb5.md
new file mode 100644
index 0000000000000000000000000000000000000000..db965f01fc4d9926d90ef7182f526b908ebde598
--- /dev/null
+++ b/gap_reports/gap_17a83a19-6aca-4d5c-8f26-bbbb63d0cfb5.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/17a83a19-6aca-4d5c-8f26-bbbb63d0cfb5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/17a83a19-6aca-4d5c-8f26-bbbb63d0cfb5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1940 |
+| Sim rows | 194 |
+| Real episode_id | `17a83a19-6aca-4d5c-8f26-bbbb63d0cfb5` |
+| Sim episode_id | `17a83a19-6aca-4d5c-8f26-bbbb63d0cfb5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 6.559 | 18.38 | 31.83 | 1260.44 | 0.7202 |
+| 1 | descend | 94 | 10 | 1.090 | 4.36 | 7.55 | 4.64 | 0.4853 |
+| 2 | settle | 34 | 4 | 0.019 | 2.54 | 4.39 | 4.97 | 0.5175 |
+| 3 | close | 388 | 38 | 0.075 | 2.54 | 4.41 | 8.02 | 1.0133 |
+| 4 | lift | 96 | 10 | 0.900 | 3.63 | 6.29 | 7.32 | 1.1036 |
+| 5 | move_xy | 264 | 26 | 14.327 | 26.31 | 45.57 | 374.98 | 1.1513 |
+| 6 | lower | 97 | 10 | 22.396 | 3.66 | 6.33 | 862.11 | 1.2600 |
+| 7 | open | 378 | 37 | 22.378 | 2.60 | 4.50 | 861.90 | 0.7985 |
+| 8 | retract | 96 | 10 | 22.391 | 3.59 | 6.21 | 861.57 | 0.8786 |
+| 9 | return | 284 | 28 | 12.725 | 15.10 | 26.16 | 1139.81 | 0.8663 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 13.842 |
+| TCP position RMSE (mm, per-axis) | 11.56 |
+| EE position RMS L2 (mm) | 22.56 |
+| TCP rotvec (mrad) | 725.06 |
+| W1 effort mean (A) | 0.8970 |
+| W1 effort per joint (A) | j0=0.1943, j1=1.2552, j2=1.5680, j3=1.0406, j4=0.3466, j5=0.9772 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00163 | -0.00358 | -0.00036 | 0.00395 | 0.035 |
+| 1 | 0.00165 | -0.00405 | -0.00031 | 0.00438 | 0.035 |
+| 2 | 0.00165 | -0.00405 | -0.00037 | 0.00439 | 0.026 |
+| 3 | 0.00163 | -0.00430 | -0.00050 | 0.00463 | 0.143 |
+| 4 | 0.00130 | -0.00338 | -0.00021 | 0.00362 | 0.106 |
+| 5 | 0.00190 | -0.00387 | -0.00062 | 0.00436 | 54.841 |
+| 6 | 0.00222 | -0.00345 | -0.00098 | 0.00422 | 54.816 |
+| 7 | 0.00217 | -0.00393 | -0.00030 | 0.00450 | 54.814 |
+| 8 | 0.00181 | -0.00407 | -0.00035 | 0.00447 | 54.857 |
+| 9 | -0.00006 | -0.00013 | -0.00025 | 0.00029 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_17cf64fe-42f0-4711-97dd-2aa3d5a3b037.md b/gap_reports/gap_17cf64fe-42f0-4711-97dd-2aa3d5a3b037.md
new file mode 100644
index 0000000000000000000000000000000000000000..23c1edb3dde6cb11d269c27e864a9d89e8b9991f
--- /dev/null
+++ b/gap_reports/gap_17cf64fe-42f0-4711-97dd-2aa3d5a3b037.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/17cf64fe-42f0-4711-97dd-2aa3d5a3b037.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/17cf64fe-42f0-4711-97dd-2aa3d5a3b037.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 546 |
+| Sim rows | 70 |
+| Real episode_id | `17cf64fe-42f0-4711-97dd-2aa3d5a3b037` |
+| Sim episode_id | `17cf64fe-42f0-4711-97dd-2aa3d5a3b037` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 335 | 33 | 3.083 | 15.92 | 27.57 | 11.35 | 0.8201 |
+| 1 | descend | 211 | 21 | 0.033 | 2.95 | 5.11 | 2.27 | 0.8296 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.180 |
+| TCP position RMSE (mm, per-axis) | 11.45 |
+| EE position RMS L2 (mm) | 21.82 |
+| TCP rotvec (mrad) | 8.18 |
+| W1 effort mean (A) | 0.8237 |
+| W1 effort per joint (A) | j0=0.2135, j1=1.5904, j2=1.7864, j3=0.9926, j4=0.1767, j5=0.1825 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00022 | 0.00501 | 0.00048 | 0.00503 | 0.046 |
+| 1 | 0.00055 | 0.00508 | 0.00037 | 0.00512 | 0.048 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_17d386ac-6d72-4f96-8b9b-986675a37f94.md b/gap_reports/gap_17d386ac-6d72-4f96-8b9b-986675a37f94.md
new file mode 100644
index 0000000000000000000000000000000000000000..38bc71fda9f9537117c6fa6365a88dda916d6f7f
--- /dev/null
+++ b/gap_reports/gap_17d386ac-6d72-4f96-8b9b-986675a37f94.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/17d386ac-6d72-4f96-8b9b-986675a37f94.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/17d386ac-6d72-4f96-8b9b-986675a37f94.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2746 |
+| Sim rows | 244 |
+| Real episode_id | `17d386ac-6d72-4f96-8b9b-986675a37f94` |
+| Sim episode_id | `17d386ac-6d72-4f96-8b9b-986675a37f94` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 244 | 22 | 3.104 | 13.98 | 24.22 | 2075.82 | 0.5789 |
+| 1 | descend | 423 | 37 | 1.009 | 6.71 | 11.62 | 3625.39 | 0.7115 |
+| 2 | settle | 364 | 32 | 0.024 | 0.77 | 1.34 | 3625.24 | 0.7127 |
+| 3 | close | 123 | 11 | 0.836 | 5.34 | 9.25 | 3377.71 | 0.9591 |
+| 4 | lift | 310 | 27 | 2.900 | 13.47 | 23.32 | 2302.47 | 1.0916 |
+| 5 | move_xy | 441 | 39 | 6.888 | 35.33 | 61.20 | 2852.34 | 0.9016 |
+| 6 | lower | 409 | 36 | 0.088 | 1.39 | 2.41 | 3556.21 | 1.0488 |
+| 7 | open | 124 | 11 | 0.822 | 5.26 | 9.12 | 3625.47 | 0.6623 |
+| 8 | retract | 308 | 27 | 2.684 | 12.67 | 21.95 | 2281.71 | 0.7280 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.889 |
+| TCP position RMSE (mm, per-axis) | 14.49 |
+| EE position RMS L2 (mm) | 28.26 |
+| TCP rotvec (mrad) | 3099.07 |
+| W1 effort mean (A) | 0.8084 |
+| W1 effort per joint (A) | j0=0.2354, j1=1.3216, j2=1.6545, j3=0.7701, j4=0.3127, j5=0.5562 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00063 | -0.00031 | -0.00070 | 0.00099 | 0.037 |
+| 1 | 0.00060 | -0.00065 | -0.00100 | 0.00134 | 0.049 |
+| 2 | 0.00063 | -0.00065 | -0.00100 | 0.00135 | 0.050 |
+| 3 | 0.00103 | -0.00047 | -0.00089 | 0.00144 | 0.083 |
+| 4 | 0.00013 | -0.00033 | -0.00033 | 0.00048 | 0.085 |
+| 5 | 0.00158 | -0.00082 | -0.00136 | 0.00224 | 0.132 |
+| 6 | 0.00175 | -0.00086 | -0.00185 | 0.00269 | 0.145 |
+| 7 | 0.00042 | -0.00035 | -0.00072 | 0.00091 | 0.040 |
+| 8 | -0.00014 | -0.00020 | -0.00019 | 0.00031 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_17e45966-9fd5-46d9-8591-58bda6c50c3c.md b/gap_reports/gap_17e45966-9fd5-46d9-8591-58bda6c50c3c.md
new file mode 100644
index 0000000000000000000000000000000000000000..829d363b2a0cc3988ab20d03716376fa11032cd0
--- /dev/null
+++ b/gap_reports/gap_17e45966-9fd5-46d9-8591-58bda6c50c3c.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/17e45966-9fd5-46d9-8591-58bda6c50c3c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/17e45966-9fd5-46d9-8591-58bda6c50c3c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 530 |
+| Sim rows | 69 |
+| Real episode_id | `17e45966-9fd5-46d9-8591-58bda6c50c3c` |
+| Sim episode_id | `17e45966-9fd5-46d9-8591-58bda6c50c3c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 322 | 32 | 5.191 | 19.91 | 34.48 | 10.70 | 0.7787 |
+| 1 | descend | 208 | 21 | 0.030 | 5.13 | 8.88 | 2.20 | 0.8486 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.671 |
+| TCP position RMSE (mm, per-axis) | 14.54 |
+| EE position RMS L2 (mm) | 27.45 |
+| TCP rotvec (mrad) | 7.72 |
+| W1 effort mean (A) | 0.8056 |
+| W1 effort per joint (A) | j0=0.1690, j1=1.6778, j2=1.8836, j3=0.8328, j4=0.1432, j5=0.1273 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00800 | -0.00330 | 0.00015 | 0.00865 | 0.042 |
+| 1 | 0.00834 | -0.00330 | -0.00002 | 0.00897 | 0.048 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1801d984-7966-440d-9ca8-654619a7eb92.md b/gap_reports/gap_1801d984-7966-440d-9ca8-654619a7eb92.md
new file mode 100644
index 0000000000000000000000000000000000000000..a0ab46866e2d7a9fc15768190a8ae30948e5f8c0
--- /dev/null
+++ b/gap_reports/gap_1801d984-7966-440d-9ca8-654619a7eb92.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1801d984-7966-440d-9ca8-654619a7eb92.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1801d984-7966-440d-9ca8-654619a7eb92.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1626 |
+| Sim rows | 165 |
+| Real episode_id | `1801d984-7966-440d-9ca8-654619a7eb92` |
+| Sim episode_id | `1801d984-7966-440d-9ca8-654619a7eb92` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 180 | 18 | 19.074 | 18.72 | 32.42 | 973.06 | 0.7180 |
+| 1 | descend | 89 | 10 | 33.532 | 4.04 | 7.00 | 1273.00 | 0.9200 |
+| 2 | settle | 26 | 3 | 33.509 | 2.33 | 4.04 | 1273.22 | 0.9433 |
+| 3 | close | 380 | 37 | 33.508 | 2.47 | 4.28 | 1272.79 | 1.3287 |
+| 4 | lift | 93 | 10 | 33.531 | 4.86 | 8.41 | 1272.38 | 1.3550 |
+| 5 | move_xy | 231 | 23 | 19.380 | 33.17 | 57.46 | 766.12 | 1.1572 |
+| 6 | lower | 91 | 10 | 0.949 | 5.02 | 8.70 | 1576.77 | 0.9881 |
+| 7 | open | 88 | 9 | 0.020 | 2.69 | 4.67 | 4.93 | 0.6322 |
+| 8 | retract | 91 | 10 | 0.776 | 4.16 | 7.21 | 4.33 | 0.7122 |
+| 9 | return | 357 | 35 | 4.623 | 19.20 | 33.26 | 915.14 | 0.6904 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 22.928 |
+| TCP position RMSE (mm, per-axis) | 13.86 |
+| EE position RMS L2 (mm) | 29.12 |
+| TCP rotvec (mrad) | 1064.80 |
+| W1 effort mean (A) | 0.9341 |
+| W1 effort per joint (A) | j0=0.1730, j1=1.5700, j2=1.5653, j3=0.8431, j4=0.1691, j5=1.2840 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00161 | -0.00376 | 0.00008 | 0.00409 | 82.145 |
+| 1 | 0.00194 | -0.00349 | -0.00002 | 0.00400 | 82.083 |
+| 2 | 0.00197 | -0.00354 | -0.00012 | 0.00406 | 82.079 |
+| 3 | 0.00185 | -0.00385 | -0.00027 | 0.00428 | 82.076 |
+| 4 | 0.00159 | -0.00426 | -0.00021 | 0.00455 | 82.140 |
+| 5 | 0.00224 | -0.00475 | -0.00188 | 0.00558 | 0.203 |
+| 6 | 0.00245 | -0.00470 | -0.00185 | 0.00562 | 0.127 |
+| 7 | 0.00184 | -0.00414 | -0.00107 | 0.00466 | 0.042 |
+| 8 | 0.00145 | -0.00369 | -0.00125 | 0.00416 | 0.054 |
+| 9 | -0.00006 | -0.00005 | -0.00020 | 0.00021 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_180423c4-1064-4c2a-ab48-5d67a65d8788.md b/gap_reports/gap_180423c4-1064-4c2a-ab48-5d67a65d8788.md
new file mode 100644
index 0000000000000000000000000000000000000000..1f15ca2e261e662cd2d5cc8520c25caa8df907dd
--- /dev/null
+++ b/gap_reports/gap_180423c4-1064-4c2a-ab48-5d67a65d8788.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/180423c4-1064-4c2a-ab48-5d67a65d8788.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/180423c4-1064-4c2a-ab48-5d67a65d8788.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2912 |
+| Sim rows | 258 |
+| Real episode_id | `180423c4-1064-4c2a-ab48-5d67a65d8788` |
+| Sim episode_id | `180423c4-1064-4c2a-ab48-5d67a65d8788` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.150 | 12.54 | 21.72 | 2.97 | 0.5691 |
+| 1 | descend | 610 | 53 | 0.695 | 4.44 | 7.68 | 4.28 | 0.7453 |
+| 2 | settle | 376 | 33 | 0.023 | 0.81 | 1.40 | 4.46 | 0.6832 |
+| 3 | close | 122 | 11 | 0.853 | 5.03 | 8.72 | 6.55 | 0.9077 |
+| 4 | lift | 340 | 30 | 2.783 | 11.31 | 19.58 | 4.50 | 1.0765 |
+| 5 | move_xy | 391 | 34 | 6.359 | 28.72 | 49.74 | 4.89 | 0.8954 |
+| 6 | lower | 395 | 35 | 0.083 | 1.32 | 2.29 | 6.42 | 0.9680 |
+| 7 | open | 121 | 11 | 0.856 | 4.97 | 8.61 | 4.61 | 0.6315 |
+| 8 | retract | 340 | 30 | 2.620 | 10.66 | 18.46 | 2.91 | 0.6948 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.727 |
+| TCP position RMSE (mm, per-axis) | 12.00 |
+| EE position RMS L2 (mm) | 21.71 |
+| TCP rotvec (mrad) | 4.77 |
+| W1 effort mean (A) | 0.7739 |
+| W1 effort per joint (A) | j0=0.2974, j1=1.1552, j2=1.4910, j3=0.6746, j4=0.4787, j5=0.5468 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00071 | -0.00059 | -0.00052 | 0.00106 | 0.033 |
+| 1 | 0.00071 | -0.00084 | -0.00081 | 0.00137 | 0.038 |
+| 2 | 0.00071 | -0.00089 | -0.00077 | 0.00138 | 0.039 |
+| 3 | 0.00086 | -0.00063 | -0.00113 | 0.00156 | 0.105 |
+| 4 | -0.00000 | -0.00043 | -0.00044 | 0.00061 | 0.090 |
+| 5 | 0.00129 | -0.00112 | -0.00189 | 0.00254 | 0.154 |
+| 6 | 0.00139 | -0.00105 | -0.00146 | 0.00228 | 0.100 |
+| 7 | 0.00047 | -0.00057 | -0.00059 | 0.00095 | 0.045 |
+| 8 | -0.00006 | -0.00010 | -0.00014 | 0.00018 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_180592b1-bf0a-4d37-9c06-858b435dda95.md b/gap_reports/gap_180592b1-bf0a-4d37-9c06-858b435dda95.md
new file mode 100644
index 0000000000000000000000000000000000000000..68a5af2daf03c607322d972585bbc7686e74c2b7
--- /dev/null
+++ b/gap_reports/gap_180592b1-bf0a-4d37-9c06-858b435dda95.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/180592b1-bf0a-4d37-9c06-858b435dda95.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/180592b1-bf0a-4d37-9c06-858b435dda95.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2784 |
+| Sim rows | 247 |
+| Real episode_id | `180592b1-bf0a-4d37-9c06-858b435dda95` |
+| Sim episode_id | `180592b1-bf0a-4d37-9c06-858b435dda95` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 220 | 20 | 2.460 | 12.18 | 21.10 | 1970.54 | 0.5567 |
+| 1 | descend | 391 | 34 | 0.481 | 3.17 | 5.48 | 3625.33 | 0.7173 |
+| 2 | settle | 369 | 32 | 0.022 | 0.72 | 1.25 | 3625.22 | 0.6619 |
+| 3 | close | 141 | 13 | 0.639 | 4.34 | 7.51 | 3625.86 | 1.0054 |
+| 4 | lift | 357 | 31 | 2.491 | 12.44 | 21.55 | 2129.59 | 1.0934 |
+| 5 | move_xy | 410 | 36 | 5.130 | 28.47 | 49.30 | 2672.57 | 0.9152 |
+| 6 | lower | 400 | 35 | 0.085 | 1.29 | 2.24 | 3554.21 | 0.9754 |
+| 7 | open | 141 | 13 | 0.607 | 3.96 | 6.86 | 3625.41 | 0.6814 |
+| 8 | retract | 355 | 31 | 2.329 | 11.82 | 20.48 | 2235.63 | 0.7108 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.236 |
+| TCP position RMSE (mm, per-axis) | 12.02 |
+| EE position RMS L2 (mm) | 22.73 |
+| TCP rotvec (mrad) | 3087.01 |
+| W1 effort mean (A) | 0.8004 |
+| W1 effort per joint (A) | j0=0.2158, j1=1.3237, j2=1.6227, j3=0.7502, j4=0.3010, j5=0.5889 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00043 | -0.00047 | -0.00075 | 0.00098 | 0.036 |
+| 1 | 0.00038 | -0.00071 | -0.00099 | 0.00127 | 0.048 |
+| 2 | 0.00040 | -0.00070 | -0.00095 | 0.00124 | 0.041 |
+| 3 | 0.00119 | -0.00047 | -0.00038 | 0.00133 | 0.120 |
+| 4 | 0.00016 | -0.00010 | -0.00003 | 0.00020 | 0.090 |
+| 5 | 0.00149 | -0.00078 | -0.00078 | 0.00186 | 0.160 |
+| 6 | 0.00105 | -0.00103 | -0.00126 | 0.00194 | 0.114 |
+| 7 | 0.00024 | -0.00048 | -0.00079 | 0.00095 | 0.041 |
+| 8 | -0.00010 | -0.00014 | -0.00015 | 0.00022 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_181abaa5-7471-438a-8b2e-be81556a2bcc.md b/gap_reports/gap_181abaa5-7471-438a-8b2e-be81556a2bcc.md
new file mode 100644
index 0000000000000000000000000000000000000000..d2fca9132f61a3908e9514f7ad7bd2174f901012
--- /dev/null
+++ b/gap_reports/gap_181abaa5-7471-438a-8b2e-be81556a2bcc.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/181abaa5-7471-438a-8b2e-be81556a2bcc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/181abaa5-7471-438a-8b2e-be81556a2bcc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2640 |
+| Sim rows | 236 |
+| Real episode_id | `181abaa5-7471-438a-8b2e-be81556a2bcc` |
+| Sim episode_id | `181abaa5-7471-438a-8b2e-be81556a2bcc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 196 | 18 | 2.445 | 9.51 | 16.48 | 2.58 | 0.5686 |
+| 1 | descend | 433 | 38 | 1.113 | 6.50 | 11.26 | 3.51 | 0.7462 |
+| 2 | settle | 351 | 31 | 0.025 | 0.74 | 1.28 | 3.71 | 0.7237 |
+| 3 | close | 131 | 12 | 1.197 | 6.92 | 11.99 | 5.55 | 0.8842 |
+| 4 | lift | 307 | 27 | 2.580 | 10.42 | 18.04 | 3.65 | 1.0644 |
+| 5 | move_xy | 401 | 35 | 5.660 | 27.14 | 47.01 | 4.49 | 0.9054 |
+| 6 | lower | 386 | 34 | 0.083 | 1.20 | 2.08 | 5.61 | 0.9949 |
+| 7 | open | 130 | 12 | 1.035 | 5.93 | 10.27 | 3.87 | 0.6275 |
+| 8 | retract | 305 | 27 | 2.586 | 10.46 | 18.11 | 2.61 | 0.6978 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.475 |
+| TCP position RMSE (mm, per-axis) | 11.41 |
+| EE position RMS L2 (mm) | 21.58 |
+| TCP rotvec (mrad) | 4.09 |
+| W1 effort mean (A) | 0.7919 |
+| W1 effort per joint (A) | j0=0.3122, j1=1.1143, j2=1.5613, j3=0.6960, j4=0.4858, j5=0.5815 |
+
+## Phase-end anchor (sim - 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 | -0.00059 | -0.00051 | 0.00089 | 0.034 |
+| 1 | 0.00046 | -0.00087 | -0.00073 | 0.00122 | 0.031 |
+| 2 | 0.00048 | -0.00086 | -0.00081 | 0.00127 | 0.038 |
+| 3 | 0.00112 | -0.00077 | -0.00070 | 0.00153 | 0.184 |
+| 4 | 0.00013 | -0.00033 | -0.00039 | 0.00053 | 0.110 |
+| 5 | 0.00149 | -0.00108 | -0.00089 | 0.00205 | 0.137 |
+| 6 | 0.00094 | -0.00101 | -0.00153 | 0.00206 | 0.115 |
+| 7 | 0.00022 | -0.00072 | -0.00055 | 0.00093 | 0.042 |
+| 8 | -0.00006 | -0.00008 | -0.00011 | 0.00015 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_182d1e7d-8e95-4cfc-bfc1-e8f53c2967bc.md b/gap_reports/gap_182d1e7d-8e95-4cfc-bfc1-e8f53c2967bc.md
new file mode 100644
index 0000000000000000000000000000000000000000..851d0270a9dffb3ae5c065baee0689757b476c38
--- /dev/null
+++ b/gap_reports/gap_182d1e7d-8e95-4cfc-bfc1-e8f53c2967bc.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/182d1e7d-8e95-4cfc-bfc1-e8f53c2967bc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/182d1e7d-8e95-4cfc-bfc1-e8f53c2967bc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2729 |
+| Sim rows | 243 |
+| Real episode_id | `182d1e7d-8e95-4cfc-bfc1-e8f53c2967bc` |
+| Sim episode_id | `182d1e7d-8e95-4cfc-bfc1-e8f53c2967bc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 218 | 20 | 3.084 | 12.00 | 20.78 | 2010.10 | 0.5696 |
+| 1 | descend | 332 | 29 | 1.358 | 8.00 | 13.85 | 3626.05 | 0.6939 |
+| 2 | settle | 374 | 33 | 0.022 | 0.60 | 1.04 | 3625.96 | 0.6960 |
+| 3 | close | 157 | 14 | 1.108 | 6.32 | 10.95 | 1921.78 | 0.9288 |
+| 4 | lift | 345 | 30 | 3.194 | 12.89 | 22.32 | 2010.01 | 1.0766 |
+| 5 | move_xy | 429 | 38 | 7.528 | 33.75 | 58.46 | 2009.93 | 0.8884 |
+| 6 | lower | 373 | 33 | 0.082 | 1.12 | 1.95 | 2158.36 | 0.9971 |
+| 7 | open | 154 | 14 | 1.096 | 6.41 | 11.11 | 3626.23 | 0.6134 |
+| 8 | retract | 347 | 30 | 3.177 | 12.91 | 22.36 | 2335.84 | 0.7072 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.176 |
+| TCP position RMSE (mm, per-axis) | 13.99 |
+| EE position RMS L2 (mm) | 27.13 |
+| TCP rotvec (mrad) | 2695.13 |
+| W1 effort mean (A) | 0.7829 |
+| W1 effort per joint (A) | j0=0.2465, j1=1.2023, j2=1.5437, j3=0.6949, j4=0.3620, j5=0.6483 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00037 | -0.00023 | -0.00049 | 0.00066 | 0.032 |
+| 1 | 0.00041 | -0.00052 | -0.00081 | 0.00105 | 0.042 |
+| 2 | 0.00041 | -0.00057 | -0.00074 | 0.00103 | 0.034 |
+| 3 | 0.00080 | -0.00031 | -0.00105 | 0.00136 | 0.096 |
+| 4 | 0.00053 | -0.00026 | -0.00053 | 0.00079 | 0.180 |
+| 5 | 0.00105 | -0.00084 | -0.00034 | 0.00139 | 0.118 |
+| 6 | 0.00138 | -0.00071 | -0.00033 | 0.00158 | 0.141 |
+| 7 | 0.00018 | -0.00033 | -0.00054 | 0.00065 | 0.041 |
+| 8 | -0.00008 | -0.00011 | -0.00014 | 0.00020 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_183e82c0-fe53-4929-8c38-26712cdd305b.md b/gap_reports/gap_183e82c0-fe53-4929-8c38-26712cdd305b.md
new file mode 100644
index 0000000000000000000000000000000000000000..7203caaf7732556d01f2362517e7d2d9746718b5
--- /dev/null
+++ b/gap_reports/gap_183e82c0-fe53-4929-8c38-26712cdd305b.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/183e82c0-fe53-4929-8c38-26712cdd305b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/183e82c0-fe53-4929-8c38-26712cdd305b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 768 |
+| Sim rows | 91 |
+| Real episode_id | `183e82c0-fe53-4929-8c38-26712cdd305b` |
+| Sim episode_id | `183e82c0-fe53-4929-8c38-26712cdd305b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 559 | 54 | 6.127 | 28.28 | 48.99 | 1224.24 | 0.6868 |
+| 1 | descend | 209 | 21 | 0.022 | 7.04 | 12.19 | 3.10 | 0.7099 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.332 |
+| TCP position RMSE (mm, per-axis) | 20.61 |
+| EE position RMS L2 (mm) | 42.28 |
+| TCP rotvec (mrad) | 865.67 |
+| W1 effort mean (A) | 0.6931 |
+| W1 effort per joint (A) | j0=0.1685, j1=1.2972, j2=1.6462, j3=0.7433, j4=0.1531, j5=0.1503 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.01206 | -0.00239 | -0.00013 | 0.01230 | 0.040 |
+| 1 | -0.01191 | -0.00250 | -0.00030 | 0.01218 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_184974da-15d7-4231-8138-099842403ccc.md b/gap_reports/gap_184974da-15d7-4231-8138-099842403ccc.md
new file mode 100644
index 0000000000000000000000000000000000000000..56f07d2308123df6f35a86bc9d66810ed95e67fa
--- /dev/null
+++ b/gap_reports/gap_184974da-15d7-4231-8138-099842403ccc.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/184974da-15d7-4231-8138-099842403ccc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/184974da-15d7-4231-8138-099842403ccc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1629 |
+| Sim rows | 164 |
+| Real episode_id | `184974da-15d7-4231-8138-099842403ccc` |
+| Sim episode_id | `184974da-15d7-4231-8138-099842403ccc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 164 | 17 | 3.423 | 17.64 | 30.56 | 1380.58 | 0.7792 |
+| 1 | descend | 67 | 7 | 0.445 | 3.60 | 6.23 | 5.33 | 0.6674 |
+| 2 | settle | 15 | 2 | 0.023 | 2.94 | 5.09 | 5.65 | 0.6566 |
+| 3 | close | 382 | 38 | 0.120 | 3.99 | 6.92 | 8.53 | 1.0708 |
+| 4 | lift | 67 | 7 | 0.450 | 4.16 | 7.21 | 8.04 | 1.1707 |
+| 5 | move_xy | 204 | 20 | 5.334 | 38.31 | 66.35 | 128.04 | 1.1272 |
+| 6 | lower | 68 | 7 | 0.465 | 3.57 | 6.18 | 7.87 | 1.1594 |
+| 7 | open | 361 | 36 | 0.030 | 2.16 | 3.73 | 5.68 | 0.6991 |
+| 8 | retract | 67 | 7 | 0.332 | 2.71 | 4.70 | 5.29 | 0.7625 |
+| 9 | return | 234 | 23 | 2.989 | 16.95 | 29.36 | 756.51 | 0.8033 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.233 |
+| TCP position RMSE (mm, per-axis) | 14.65 |
+| EE position RMS L2 (mm) | 28.10 |
+| TCP rotvec (mrad) | 499.50 |
+| W1 effort mean (A) | 0.8756 |
+| W1 effort per joint (A) | j0=0.2109, j1=1.7577, j2=1.5856, j3=0.6655, j4=0.4962, j5=0.5379 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00197 | -0.00428 | -0.00110 | 0.00484 | 0.043 |
+| 1 | 0.00217 | -0.00449 | -0.00110 | 0.00510 | 0.049 |
+| 2 | 0.00214 | -0.00449 | -0.00118 | 0.00511 | 0.042 |
+| 3 | 0.00287 | -0.00590 | -0.00182 | 0.00681 | 0.203 |
+| 4 | 0.00250 | -0.00571 | -0.00211 | 0.00659 | 0.200 |
+| 5 | 0.00342 | -0.00269 | -0.00097 | 0.00446 | 0.164 |
+| 6 | 0.00343 | -0.00219 | -0.00183 | 0.00447 | 0.173 |
+| 7 | 0.00226 | -0.00294 | -0.00044 | 0.00373 | 0.062 |
+| 8 | 0.00204 | -0.00314 | -0.00055 | 0.00378 | 0.073 |
+| 9 | -0.00008 | -0.00016 | -0.00026 | 0.00031 | 0.035 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_18625143-bc74-4c01-8ff5-b6ba0d81a115.md b/gap_reports/gap_18625143-bc74-4c01-8ff5-b6ba0d81a115.md
new file mode 100644
index 0000000000000000000000000000000000000000..b7e7de0814ee5f278490932b77313f9950317e4d
--- /dev/null
+++ b/gap_reports/gap_18625143-bc74-4c01-8ff5-b6ba0d81a115.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/18625143-bc74-4c01-8ff5-b6ba0d81a115.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/18625143-bc74-4c01-8ff5-b6ba0d81a115.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 491 |
+| Sim rows | 65 |
+| Real episode_id | `18625143-bc74-4c01-8ff5-b6ba0d81a115` |
+| Sim episode_id | `18625143-bc74-4c01-8ff5-b6ba0d81a115` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 282 | 28 | 4.731 | 21.46 | 37.17 | 880.49 | 0.7750 |
+| 1 | descend | 209 | 21 | 0.026 | 4.53 | 7.85 | 1.84 | 0.6977 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.345 |
+| TCP position RMSE (mm, per-axis) | 15.51 |
+| EE position RMS L2 (mm) | 28.63 |
+| TCP rotvec (mrad) | 622.60 |
+| W1 effort mean (A) | 0.7383 |
+| W1 effort per joint (A) | j0=0.2260, j1=1.5363, j2=1.6116, j3=0.8059, j4=0.1160, j5=0.1339 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00647 | -0.00405 | 0.00031 | 0.00764 | 0.048 |
+| 1 | -0.00668 | -0.00432 | -0.00002 | 0.00796 | 0.049 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_186c20fb-2987-46fa-a545-7844c8a882fe.md b/gap_reports/gap_186c20fb-2987-46fa-a545-7844c8a882fe.md
new file mode 100644
index 0000000000000000000000000000000000000000..c3237612efcd12624525d343646565c60ed15166
--- /dev/null
+++ b/gap_reports/gap_186c20fb-2987-46fa-a545-7844c8a882fe.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/186c20fb-2987-46fa-a545-7844c8a882fe.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/186c20fb-2987-46fa-a545-7844c8a882fe.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2667 |
+| Sim rows | 238 |
+| Real episode_id | `186c20fb-2987-46fa-a545-7844c8a882fe` |
+| Sim episode_id | `186c20fb-2987-46fa-a545-7844c8a882fe` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.911 | 11.40 | 19.74 | 1993.01 | 0.5934 |
+| 1 | descend | 244 | 22 | 0.964 | 5.80 | 10.05 | 3625.97 | 0.9305 |
+| 2 | settle | 359 | 31 | 0.021 | 0.60 | 1.04 | 3625.96 | 1.0216 |
+| 3 | close | 117 | 11 | 0.556 | 3.38 | 5.85 | 933.96 | 1.1161 |
+| 4 | lift | 395 | 35 | 3.172 | 13.02 | 22.55 | 1942.62 | 1.2259 |
+| 5 | move_xy | 402 | 35 | 6.390 | 28.86 | 49.99 | 2064.75 | 1.0278 |
+| 6 | lower | 404 | 35 | 0.078 | 1.08 | 1.87 | 1527.06 | 1.3340 |
+| 7 | open | 117 | 11 | 0.663 | 3.93 | 6.81 | 3626.27 | 0.7070 |
+| 8 | retract | 394 | 35 | 3.297 | 13.78 | 23.87 | 2259.41 | 0.8246 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.827 |
+| TCP position RMSE (mm, per-axis) | 12.40 |
+| EE position RMS L2 (mm) | 24.17 |
+| TCP rotvec (mrad) | 2576.89 |
+| W1 effort mean (A) | 1.0045 |
+| W1 effort per joint (A) | j0=0.6115, j1=1.1463, j2=1.8185, j3=1.0453, j4=0.7812, j5=0.6243 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00043 | -0.00035 | -0.00050 | 0.00075 | 0.029 |
+| 1 | 0.00038 | -0.00054 | -0.00080 | 0.00104 | 0.039 |
+| 2 | 0.00043 | -0.00054 | -0.00077 | 0.00103 | 0.037 |
+| 3 | 0.00081 | -0.00034 | -0.00075 | 0.00116 | 0.067 |
+| 4 | 0.00042 | 0.00028 | 0.00000 | 0.00051 | 0.078 |
+| 5 | 0.00089 | -0.00085 | -0.00079 | 0.00146 | 0.084 |
+| 6 | 0.00144 | -0.00067 | -0.00101 | 0.00188 | 0.141 |
+| 7 | 0.00025 | -0.00032 | -0.00060 | 0.00072 | 0.040 |
+| 8 | -0.00007 | -0.00009 | -0.00014 | 0.00018 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1878a96d-219d-43a1-9abd-1b4ffda2ab85.md b/gap_reports/gap_1878a96d-219d-43a1-9abd-1b4ffda2ab85.md
new file mode 100644
index 0000000000000000000000000000000000000000..268096a2a2a6ac6fcc42c93c039ee771be2b2d73
--- /dev/null
+++ b/gap_reports/gap_1878a96d-219d-43a1-9abd-1b4ffda2ab85.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1878a96d-219d-43a1-9abd-1b4ffda2ab85.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1878a96d-219d-43a1-9abd-1b4ffda2ab85.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2387 |
+| Sim rows | 213 |
+| Real episode_id | `1878a96d-219d-43a1-9abd-1b4ffda2ab85` |
+| Sim episode_id | `1878a96d-219d-43a1-9abd-1b4ffda2ab85` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 193 | 17 | 2.191 | 10.35 | 17.92 | 1952.87 | 0.5709 |
+| 1 | descend | 236 | 21 | 1.039 | 6.79 | 11.77 | 3625.37 | 0.6945 |
+| 2 | settle | 382 | 33 | 0.023 | 0.69 | 1.20 | 3625.33 | 0.7116 |
+| 3 | close | 110 | 10 | 0.461 | 3.07 | 5.31 | 3125.94 | 0.9425 |
+| 4 | lift | 316 | 28 | 2.535 | 12.81 | 22.19 | 2215.72 | 1.0983 |
+| 5 | move_xy | 324 | 28 | 4.540 | 24.84 | 43.02 | 2401.50 | 0.8719 |
+| 6 | lower | 397 | 35 | 0.079 | 1.16 | 2.01 | 3131.16 | 1.0804 |
+| 7 | open | 114 | 11 | 0.501 | 3.28 | 5.67 | 3625.42 | 0.6748 |
+| 8 | retract | 315 | 28 | 2.535 | 12.77 | 22.11 | 2256.16 | 0.7168 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.103 |
+| TCP position RMSE (mm, per-axis) | 11.15 |
+| EE position RMS L2 (mm) | 20.60 |
+| TCP rotvec (mrad) | 2954.96 |
+| W1 effort mean (A) | 0.8180 |
+| W1 effort per joint (A) | j0=0.2297, j1=1.3495, j2=1.6241, j3=0.7979, j4=0.2601, j5=0.6464 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00046 | -0.00038 | -0.00068 | 0.00090 | 0.040 |
+| 1 | 0.00039 | -0.00065 | -0.00093 | 0.00120 | 0.045 |
+| 2 | 0.00040 | -0.00064 | -0.00090 | 0.00117 | 0.040 |
+| 3 | 0.00077 | -0.00064 | -0.00082 | 0.00129 | 0.094 |
+| 4 | 0.00002 | -0.00034 | -0.00022 | 0.00040 | 0.077 |
+| 5 | 0.00163 | -0.00086 | -0.00156 | 0.00242 | 0.186 |
+| 6 | 0.00142 | -0.00066 | -0.00068 | 0.00171 | 0.137 |
+| 7 | 0.00027 | -0.00048 | -0.00080 | 0.00097 | 0.045 |
+| 8 | -0.00011 | -0.00018 | -0.00021 | 0.00030 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_187939c7-0cd6-4ed9-be7f-67555081f610.md b/gap_reports/gap_187939c7-0cd6-4ed9-be7f-67555081f610.md
new file mode 100644
index 0000000000000000000000000000000000000000..f62b77a17ead8c0b5fc597bd843f7ed4ae56b7ee
--- /dev/null
+++ b/gap_reports/gap_187939c7-0cd6-4ed9-be7f-67555081f610.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/187939c7-0cd6-4ed9-be7f-67555081f610.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/187939c7-0cd6-4ed9-be7f-67555081f610.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2592 |
+| Sim rows | 233 |
+| Real episode_id | `187939c7-0cd6-4ed9-be7f-67555081f610` |
+| Sim episode_id | `187939c7-0cd6-4ed9-be7f-67555081f610` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 173 | 16 | 3.100 | 17.11 | 29.63 | 1948.70 | 0.6227 |
+| 1 | descend | 393 | 35 | 0.809 | 5.47 | 9.48 | 3624.73 | 0.7868 |
+| 2 | settle | 384 | 34 | 0.027 | 0.96 | 1.67 | 3624.52 | 0.7923 |
+| 3 | close | 168 | 15 | 1.073 | 7.40 | 12.82 | 3624.98 | 1.0617 |
+| 4 | lift | 287 | 26 | 2.458 | 13.96 | 24.18 | 2421.32 | 1.1300 |
+| 5 | move_xy | 346 | 30 | 6.252 | 37.93 | 65.70 | 2903.61 | 1.0114 |
+| 6 | lower | 387 | 34 | 0.101 | 1.77 | 3.06 | 3624.84 | 1.1531 |
+| 7 | open | 166 | 15 | 0.790 | 5.50 | 9.52 | 3624.76 | 0.7316 |
+| 8 | retract | 288 | 26 | 2.510 | 14.32 | 24.80 | 2444.81 | 0.7582 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.656 |
+| TCP position RMSE (mm, per-axis) | 15.81 |
+| EE position RMS L2 (mm) | 28.28 |
+| TCP rotvec (mrad) | 3158.11 |
+| W1 effort mean (A) | 0.8874 |
+| W1 effort per joint (A) | j0=0.2448, j1=1.6512, j2=1.7298, j3=0.7651, j4=0.3283, j5=0.6054 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00075 | -0.00037 | -0.00062 | 0.00104 | 0.028 |
+| 1 | 0.00072 | -0.00087 | -0.00123 | 0.00167 | 0.062 |
+| 2 | 0.00076 | -0.00087 | -0.00123 | 0.00169 | 0.058 |
+| 3 | 0.00178 | -0.00058 | -0.00158 | 0.00245 | 0.140 |
+| 4 | 0.00004 | -0.00063 | -0.00073 | 0.00096 | 0.109 |
+| 5 | 0.00148 | -0.00123 | -0.00245 | 0.00311 | 0.158 |
+| 6 | 0.00234 | -0.00122 | -0.00162 | 0.00310 | 0.200 |
+| 7 | 0.00057 | -0.00050 | -0.00100 | 0.00125 | 0.060 |
+| 8 | -0.00012 | -0.00021 | -0.00020 | 0.00031 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1883de8a-0f27-4a59-894c-cafa653466b4.md b/gap_reports/gap_1883de8a-0f27-4a59-894c-cafa653466b4.md
new file mode 100644
index 0000000000000000000000000000000000000000..a060903461e48761995c0b8f59cafb231c52e002
--- /dev/null
+++ b/gap_reports/gap_1883de8a-0f27-4a59-894c-cafa653466b4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1883de8a-0f27-4a59-894c-cafa653466b4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1883de8a-0f27-4a59-894c-cafa653466b4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2876 |
+| Sim rows | 252 |
+| Real episode_id | `1883de8a-0f27-4a59-894c-cafa653466b4` |
+| Sim episode_id | `1883de8a-0f27-4a59-894c-cafa653466b4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 205 | 18 | 2.910 | 10.87 | 18.82 | 2.92 | 0.5845 |
+| 1 | descend | 423 | 37 | 0.999 | 6.08 | 10.53 | 4.18 | 0.7593 |
+| 2 | settle | 348 | 30 | 0.023 | 0.79 | 1.37 | 4.42 | 0.6833 |
+| 3 | close | 193 | 17 | 1.178 | 6.73 | 11.65 | 5.97 | 0.8958 |
+| 4 | lift | 354 | 31 | 2.675 | 10.62 | 18.39 | 3.72 | 1.0831 |
+| 5 | move_xy | 395 | 34 | 7.105 | 31.93 | 55.31 | 4.96 | 0.9000 |
+| 6 | lower | 416 | 36 | 0.087 | 1.36 | 2.35 | 6.73 | 1.0060 |
+| 7 | open | 193 | 17 | 1.275 | 7.19 | 12.45 | 4.41 | 0.6072 |
+| 8 | retract | 349 | 30 | 2.709 | 10.87 | 18.83 | 2.84 | 0.7085 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.934 |
+| TCP position RMSE (mm, per-axis) | 12.93 |
+| EE position RMS L2 (mm) | 23.81 |
+| TCP rotvec (mrad) | 4.62 |
+| W1 effort mean (A) | 0.7921 |
+| W1 effort per joint (A) | j0=0.2862, j1=1.1899, j2=1.5007, j3=0.6832, j4=0.4913, j5=0.6011 |
+
+## Phase-end anchor (sim - 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 | -0.00051 | -0.00043 | 0.00092 | 0.029 |
+| 1 | 0.00071 | -0.00084 | -0.00080 | 0.00137 | 0.038 |
+| 2 | 0.00070 | -0.00087 | -0.00074 | 0.00134 | 0.036 |
+| 3 | 0.00103 | -0.00067 | -0.00076 | 0.00145 | 0.098 |
+| 4 | 0.00016 | -0.00014 | -0.00012 | 0.00025 | 0.095 |
+| 5 | 0.00128 | -0.00114 | -0.00175 | 0.00245 | 0.151 |
+| 6 | 0.00134 | -0.00109 | -0.00131 | 0.00217 | 0.096 |
+| 7 | 0.00053 | -0.00060 | -0.00053 | 0.00096 | 0.039 |
+| 8 | -0.00005 | -0.00010 | -0.00014 | 0.00018 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_189d7c37-fb8a-4611-b2cc-748240a586ac.md b/gap_reports/gap_189d7c37-fb8a-4611-b2cc-748240a586ac.md
new file mode 100644
index 0000000000000000000000000000000000000000..cb762e4e1f0c751ec9b6120df09e6d7b081e591f
--- /dev/null
+++ b/gap_reports/gap_189d7c37-fb8a-4611-b2cc-748240a586ac.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/189d7c37-fb8a-4611-b2cc-748240a586ac.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/189d7c37-fb8a-4611-b2cc-748240a586ac.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3089 |
+| Sim rows | 274 |
+| Real episode_id | `189d7c37-fb8a-4611-b2cc-748240a586ac` |
+| Sim episode_id | `189d7c37-fb8a-4611-b2cc-748240a586ac` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 205 | 19 | 3.115 | 13.93 | 24.13 | 1944.92 | 0.5870 |
+| 1 | descend | 735 | 64 | 0.522 | 3.52 | 6.10 | 3625.42 | 0.6906 |
+| 2 | settle | 382 | 34 | 0.023 | 0.76 | 1.31 | 3625.26 | 0.7386 |
+| 3 | close | 135 | 12 | 1.243 | 7.81 | 13.52 | 3400.64 | 0.9452 |
+| 4 | lift | 345 | 30 | 3.205 | 14.79 | 25.61 | 2177.07 | 1.0932 |
+| 5 | move_xy | 409 | 36 | 7.835 | 40.26 | 69.74 | 2746.98 | 0.9058 |
+| 6 | lower | 400 | 35 | 0.082 | 1.33 | 2.30 | 3554.21 | 0.9905 |
+| 7 | open | 132 | 12 | 1.058 | 6.76 | 11.70 | 3625.52 | 0.6358 |
+| 8 | retract | 346 | 30 | 3.105 | 14.46 | 25.05 | 2395.06 | 0.7337 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.231 |
+| TCP position RMSE (mm, per-axis) | 16.21 |
+| EE position RMS L2 (mm) | 29.15 |
+| TCP rotvec (mrad) | 3080.98 |
+| W1 effort mean (A) | 0.7899 |
+| W1 effort per joint (A) | j0=0.2586, j1=1.3321, j2=1.6304, j3=0.6989, j4=0.2974, j5=0.5219 |
+
+## Phase-end anchor (sim - 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 | -0.00021 | -0.00069 | 0.00093 | 0.039 |
+| 1 | 0.00061 | -0.00063 | -0.00095 | 0.00130 | 0.041 |
+| 2 | 0.00065 | -0.00064 | -0.00096 | 0.00133 | 0.040 |
+| 3 | 0.00111 | -0.00036 | -0.00108 | 0.00159 | 0.097 |
+| 4 | 0.00023 | -0.00031 | -0.00049 | 0.00062 | 0.103 |
+| 5 | 0.00187 | -0.00080 | -0.00142 | 0.00248 | 0.188 |
+| 6 | 0.00125 | -0.00092 | -0.00241 | 0.00286 | 0.195 |
+| 7 | 0.00035 | -0.00032 | -0.00079 | 0.00092 | 0.052 |
+| 8 | -0.00012 | -0.00018 | -0.00021 | 0.00030 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_189de7c8-0726-4580-adfe-6d93f4b3b4d1.md b/gap_reports/gap_189de7c8-0726-4580-adfe-6d93f4b3b4d1.md
new file mode 100644
index 0000000000000000000000000000000000000000..4eb933bce81b6582c7b6950db208686ffaa8abc8
--- /dev/null
+++ b/gap_reports/gap_189de7c8-0726-4580-adfe-6d93f4b3b4d1.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/189de7c8-0726-4580-adfe-6d93f4b3b4d1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/189de7c8-0726-4580-adfe-6d93f4b3b4d1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2616 |
+| Sim rows | 232 |
+| Real episode_id | `189de7c8-0726-4580-adfe-6d93f4b3b4d1` |
+| Sim episode_id | `189de7c8-0726-4580-adfe-6d93f4b3b4d1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 182 | 17 | 2.503 | 13.87 | 24.03 | 1861.57 | 0.6152 |
+| 1 | descend | 614 | 53 | 0.437 | 3.18 | 5.50 | 3624.66 | 0.8038 |
+| 2 | settle | 366 | 32 | 0.027 | 0.96 | 1.67 | 3624.50 | 0.7432 |
+| 3 | close | 110 | 10 | 0.626 | 4.51 | 7.81 | 3625.10 | 1.0694 |
+| 4 | lift | 252 | 22 | 2.028 | 12.13 | 21.01 | 2340.16 | 1.1387 |
+| 5 | move_xy | 334 | 29 | 5.275 | 32.66 | 56.57 | 2846.78 | 0.9426 |
+| 6 | lower | 396 | 35 | 0.092 | 1.69 | 2.92 | 3625.04 | 1.1532 |
+| 7 | open | 110 | 10 | 0.566 | 3.95 | 6.85 | 3624.54 | 0.8061 |
+| 8 | retract | 252 | 22 | 2.282 | 13.73 | 23.77 | 2317.36 | 0.7551 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.219 |
+| TCP position RMSE (mm, per-axis) | 13.52 |
+| EE position RMS L2 (mm) | 23.65 |
+| TCP rotvec (mrad) | 3128.91 |
+| W1 effort mean (A) | 0.8684 |
+| W1 effort per joint (A) | j0=0.2574, j1=1.5224, j2=1.7992, j3=0.8074, j4=0.2233, j5=0.6006 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00080 | -0.00049 | -0.00063 | 0.00113 | 0.028 |
+| 1 | 0.00076 | -0.00088 | -0.00122 | 0.00169 | 0.055 |
+| 2 | 0.00075 | -0.00089 | -0.00120 | 0.00167 | 0.055 |
+| 3 | 0.00118 | -0.00092 | -0.00202 | 0.00252 | 0.165 |
+| 4 | 0.00001 | -0.00036 | -0.00034 | 0.00049 | 0.063 |
+| 5 | 0.00275 | -0.00141 | -0.00166 | 0.00351 | 0.249 |
+| 6 | 0.00141 | -0.00147 | -0.00293 | 0.00357 | 0.240 |
+| 7 | 0.00054 | -0.00062 | -0.00103 | 0.00132 | 0.049 |
+| 8 | -0.00017 | -0.00029 | -0.00025 | 0.00042 | 0.045 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_18a15834-0c8d-4662-9f8f-97184e604da9.md b/gap_reports/gap_18a15834-0c8d-4662-9f8f-97184e604da9.md
new file mode 100644
index 0000000000000000000000000000000000000000..0f6e8aabf46b735332c0f3136b435fce560df117
--- /dev/null
+++ b/gap_reports/gap_18a15834-0c8d-4662-9f8f-97184e604da9.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/18a15834-0c8d-4662-9f8f-97184e604da9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/18a15834-0c8d-4662-9f8f-97184e604da9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2910 |
+| Sim rows | 259 |
+| Real episode_id | `18a15834-0c8d-4662-9f8f-97184e604da9` |
+| Sim episode_id | `18a15834-0c8d-4662-9f8f-97184e604da9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 182 | 16 | 2.702 | 11.54 | 19.99 | 2011.03 | 0.5878 |
+| 1 | descend | 650 | 56 | 0.628 | 4.16 | 7.20 | 3625.42 | 0.7465 |
+| 2 | settle | 363 | 32 | 0.024 | 0.77 | 1.34 | 3625.23 | 0.6876 |
+| 3 | close | 140 | 13 | 0.943 | 6.20 | 10.74 | 3419.80 | 0.9901 |
+| 4 | lift | 347 | 31 | 3.167 | 14.62 | 25.33 | 2160.78 | 1.0760 |
+| 5 | move_xy | 339 | 30 | 7.573 | 38.10 | 65.99 | 2619.05 | 0.8914 |
+| 6 | lower | 400 | 35 | 0.081 | 1.31 | 2.28 | 3554.18 | 1.0114 |
+| 7 | open | 142 | 13 | 1.207 | 7.58 | 13.12 | 3625.52 | 0.6402 |
+| 8 | retract | 347 | 31 | 3.257 | 15.09 | 26.14 | 2407.36 | 0.7307 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.128 |
+| TCP position RMSE (mm, per-axis) | 15.43 |
+| EE position RMS L2 (mm) | 26.77 |
+| TCP rotvec (mrad) | 3075.45 |
+| W1 effort mean (A) | 0.8040 |
+| W1 effort per joint (A) | j0=0.2497, j1=1.3476, j2=1.6357, j3=0.7458, j4=0.2641, 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 | 0.00064 | -0.00020 | -0.00067 | 0.00094 | 0.044 |
+| 1 | 0.00061 | -0.00064 | -0.00097 | 0.00131 | 0.045 |
+| 2 | 0.00065 | -0.00065 | -0.00098 | 0.00134 | 0.045 |
+| 3 | 0.00136 | -0.00021 | -0.00038 | 0.00142 | 0.127 |
+| 4 | 0.00011 | -0.00029 | -0.00021 | 0.00038 | 0.092 |
+| 5 | 0.00143 | -0.00081 | -0.00076 | 0.00181 | 0.098 |
+| 6 | 0.00126 | -0.00089 | -0.00108 | 0.00188 | 0.102 |
+| 7 | 0.00048 | -0.00035 | -0.00078 | 0.00098 | 0.054 |
+| 8 | -0.00011 | -0.00017 | -0.00018 | 0.00027 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_18dbf926-3f45-4671-9b63-00d465f4c9c5.md b/gap_reports/gap_18dbf926-3f45-4671-9b63-00d465f4c9c5.md
new file mode 100644
index 0000000000000000000000000000000000000000..bd278fc362ff6e40788350047ecd776db44d53e4
--- /dev/null
+++ b/gap_reports/gap_18dbf926-3f45-4671-9b63-00d465f4c9c5.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/18dbf926-3f45-4671-9b63-00d465f4c9c5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/18dbf926-3f45-4671-9b63-00d465f4c9c5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2293 |
+| Sim rows | 230 |
+| Real episode_id | `18dbf926-3f45-4671-9b63-00d465f4c9c5` |
+| Sim episode_id | `18dbf926-3f45-4671-9b63-00d465f4c9c5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 183 | 18 | 2.938 | 15.28 | 26.46 | 1913.62 | 0.6253 |
+| 1 | descend | 285 | 28 | 1.002 | 7.04 | 12.20 | 3624.72 | 0.8119 |
+| 2 | settle | 334 | 33 | 0.026 | 0.96 | 1.66 | 3624.54 | 0.7225 |
+| 3 | close | 106 | 11 | 0.599 | 4.42 | 7.65 | 3625.25 | 1.0337 |
+| 4 | lift | 323 | 32 | 2.832 | 15.75 | 27.28 | 2352.30 | 1.1326 |
+| 5 | move_xy | 312 | 31 | 6.776 | 39.48 | 68.37 | 2776.06 | 0.9346 |
+| 6 | lower | 329 | 32 | 0.092 | 1.69 | 2.92 | 3546.45 | 1.0603 |
+| 7 | open | 105 | 11 | 0.515 | 3.67 | 6.36 | 3624.73 | 0.7444 |
+| 8 | retract | 316 | 32 | 2.903 | 16.24 | 28.13 | 2333.86 | 0.7442 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.841 |
+| TCP position RMSE (mm, per-axis) | 16.30 |
+| EE position RMS L2 (mm) | 30.50 |
+| TCP rotvec (mrad) | 3117.75 |
+| W1 effort mean (A) | 0.8578 |
+| W1 effort per joint (A) | j0=0.2608, j1=1.5310, j2=1.7056, j3=0.7641, j4=0.3043, j5=0.5811 |
+
+## Phase-end anchor (sim - 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 | -0.00042 | -0.00074 | 0.00126 | 0.029 |
+| 1 | 0.00091 | -0.00074 | -0.00114 | 0.00163 | 0.046 |
+| 2 | 0.00093 | -0.00075 | -0.00119 | 0.00169 | 0.056 |
+| 3 | 0.00154 | -0.00063 | -0.00155 | 0.00228 | 0.117 |
+| 4 | 0.00019 | -0.00017 | -0.00017 | 0.00031 | 0.091 |
+| 5 | 0.00183 | -0.00101 | -0.00104 | 0.00233 | 0.118 |
+| 6 | 0.00169 | -0.00108 | -0.00145 | 0.00247 | 0.100 |
+| 7 | 0.00073 | -0.00044 | -0.00098 | 0.00130 | 0.045 |
+| 8 | -0.00016 | -0.00023 | -0.00022 | 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.
diff --git a/gap_reports/gap_19115280-f623-4121-9f39-5b845272c049.md b/gap_reports/gap_19115280-f623-4121-9f39-5b845272c049.md
new file mode 100644
index 0000000000000000000000000000000000000000..4bbe0b0e12cb1315b728f52da7095381ee0dc275
--- /dev/null
+++ b/gap_reports/gap_19115280-f623-4121-9f39-5b845272c049.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/19115280-f623-4121-9f39-5b845272c049.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/19115280-f623-4121-9f39-5b845272c049.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2651 |
+| Sim rows | 234 |
+| Real episode_id | `19115280-f623-4121-9f39-5b845272c049` |
+| Sim episode_id | `19115280-f623-4121-9f39-5b845272c049` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 190 | 17 | 2.712 | 12.76 | 22.10 | 1802.97 | 0.6415 |
+| 1 | descend | 383 | 33 | 0.707 | 4.93 | 8.53 | 3624.77 | 0.8368 |
+| 2 | settle | 385 | 33 | 0.028 | 0.98 | 1.70 | 3624.57 | 0.7272 |
+| 3 | close | 182 | 16 | 0.954 | 6.71 | 11.62 | 3625.18 | 1.0315 |
+| 4 | lift | 309 | 27 | 2.224 | 11.83 | 20.49 | 2310.94 | 1.1360 |
+| 5 | move_xy | 342 | 30 | 6.927 | 39.88 | 69.08 | 2799.59 | 0.9740 |
+| 6 | lower | 400 | 35 | 0.098 | 1.76 | 3.04 | 3625.10 | 1.0724 |
+| 7 | open | 180 | 16 | 0.932 | 6.49 | 11.25 | 3624.77 | 0.7576 |
+| 8 | retract | 280 | 25 | 2.481 | 13.13 | 22.75 | 2572.36 | 0.7809 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.763 |
+| TCP position RMSE (mm, per-axis) | 15.57 |
+| EE position RMS L2 (mm) | 28.01 |
+| TCP rotvec (mrad) | 3140.14 |
+| W1 effort mean (A) | 0.8734 |
+| W1 effort per joint (A) | j0=0.2491, j1=1.5994, j2=1.7293, j3=0.7629, j4=0.3171, j5=0.5828 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00085 | -0.00026 | -0.00072 | 0.00115 | 0.030 |
+| 1 | 0.00090 | -0.00070 | -0.00123 | 0.00168 | 0.056 |
+| 2 | 0.00096 | -0.00075 | -0.00120 | 0.00171 | 0.055 |
+| 3 | 0.00122 | -0.00041 | -0.00069 | 0.00146 | 0.087 |
+| 4 | 0.00008 | -0.00037 | -0.00030 | 0.00049 | 0.087 |
+| 5 | 0.00226 | -0.00094 | -0.00139 | 0.00282 | 0.172 |
+| 6 | 0.00182 | -0.00097 | -0.00166 | 0.00265 | 0.112 |
+| 7 | 0.00072 | -0.00035 | -0.00100 | 0.00129 | 0.062 |
+| 8 | -0.00022 | -0.00060 | -0.00044 | 0.00078 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_19219de4-e1d2-49ab-9914-006969a63583.md b/gap_reports/gap_19219de4-e1d2-49ab-9914-006969a63583.md
new file mode 100644
index 0000000000000000000000000000000000000000..837e3da8f21f480cc3215bd7a132de8625de73c9
--- /dev/null
+++ b/gap_reports/gap_19219de4-e1d2-49ab-9914-006969a63583.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/19219de4-e1d2-49ab-9914-006969a63583.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/19219de4-e1d2-49ab-9914-006969a63583.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2685 |
+| Sim rows | 240 |
+| Real episode_id | `19219de4-e1d2-49ab-9914-006969a63583` |
+| Sim episode_id | `19219de4-e1d2-49ab-9914-006969a63583` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 261 | 23 | 2.508 | 14.16 | 24.53 | 2019.33 | 0.5976 |
+| 1 | descend | 304 | 27 | 0.501 | 3.54 | 6.12 | 3624.67 | 0.7398 |
+| 2 | settle | 433 | 38 | 0.028 | 0.97 | 1.68 | 3624.49 | 0.7154 |
+| 3 | close | 109 | 10 | 0.563 | 4.00 | 6.94 | 3348.96 | 1.0260 |
+| 4 | lift | 302 | 27 | 2.382 | 14.34 | 24.84 | 2313.65 | 1.1235 |
+| 5 | move_xy | 452 | 40 | 5.216 | 32.20 | 55.77 | 2791.28 | 0.9500 |
+| 6 | lower | 413 | 36 | 0.094 | 1.68 | 2.92 | 3625.02 | 1.0987 |
+| 7 | open | 110 | 10 | 0.512 | 3.61 | 6.25 | 3624.62 | 0.7445 |
+| 8 | retract | 301 | 27 | 2.435 | 14.71 | 25.47 | 2317.13 | 0.7304 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.259 |
+| TCP position RMSE (mm, per-axis) | 13.76 |
+| EE position RMS L2 (mm) | 27.09 |
+| TCP rotvec (mrad) | 3097.67 |
+| W1 effort mean (A) | 0.8440 |
+| W1 effort per joint (A) | j0=0.2097, j1=1.5183, j2=1.7169, j3=0.7674, j4=0.2711, j5=0.5809 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00082 | -0.00055 | -0.00081 | 0.00128 | 0.029 |
+| 1 | 0.00077 | -0.00087 | -0.00124 | 0.00169 | 0.060 |
+| 2 | 0.00076 | -0.00087 | -0.00124 | 0.00169 | 0.060 |
+| 3 | 0.00119 | -0.00078 | -0.00094 | 0.00170 | 0.098 |
+| 4 | 0.00048 | -0.00033 | -0.00062 | 0.00085 | 0.159 |
+| 5 | 0.00227 | -0.00132 | -0.00193 | 0.00325 | 0.194 |
+| 6 | 0.00192 | -0.00122 | -0.00178 | 0.00289 | 0.149 |
+| 7 | 0.00052 | -0.00061 | -0.00100 | 0.00128 | 0.048 |
+| 8 | -0.00015 | -0.00020 | -0.00020 | 0.00032 | 0.037 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_19325702-38fa-44a2-927b-eb99c49ed4aa.md b/gap_reports/gap_19325702-38fa-44a2-927b-eb99c49ed4aa.md
new file mode 100644
index 0000000000000000000000000000000000000000..3b662ccba151169e7687bc9cbee4021acaca1652
--- /dev/null
+++ b/gap_reports/gap_19325702-38fa-44a2-927b-eb99c49ed4aa.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/19325702-38fa-44a2-927b-eb99c49ed4aa.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/19325702-38fa-44a2-927b-eb99c49ed4aa.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2714 |
+| Sim rows | 240 |
+| Real episode_id | `19325702-38fa-44a2-927b-eb99c49ed4aa` |
+| Sim episode_id | `19325702-38fa-44a2-927b-eb99c49ed4aa` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 209 | 19 | 3.703 | 16.94 | 29.35 | 1958.35 | 0.6423 |
+| 1 | descend | 345 | 30 | 1.447 | 10.27 | 17.79 | 3624.73 | 0.8211 |
+| 2 | settle | 365 | 32 | 0.027 | 1.01 | 1.76 | 3624.61 | 0.7157 |
+| 3 | close | 134 | 12 | 1.107 | 7.61 | 13.17 | 3625.27 | 1.0020 |
+| 4 | lift | 368 | 32 | 3.431 | 18.04 | 31.24 | 2507.14 | 1.1174 |
+| 5 | move_xy | 387 | 34 | 8.921 | 48.90 | 84.70 | 2812.84 | 0.9317 |
+| 6 | lower | 404 | 35 | 0.093 | 1.77 | 3.06 | 3625.12 | 1.0457 |
+| 7 | open | 134 | 12 | 0.938 | 6.38 | 11.04 | 3624.76 | 0.7477 |
+| 8 | retract | 368 | 32 | 3.564 | 18.81 | 32.57 | 2463.76 | 0.7580 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.682 |
+| TCP position RMSE (mm, per-axis) | 19.90 |
+| EE position RMS L2 (mm) | 37.71 |
+| TCP rotvec (mrad) | 3158.81 |
+| W1 effort mean (A) | 0.8533 |
+| W1 effort per joint (A) | j0=0.2604, j1=1.6193, j2=1.5903, j3=0.7476, j4=0.2844, j5=0.6180 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00106 | -0.00014 | -0.00070 | 0.00128 | 0.036 |
+| 1 | 0.00113 | -0.00063 | -0.00120 | 0.00176 | 0.056 |
+| 2 | 0.00113 | -0.00066 | -0.00118 | 0.00176 | 0.058 |
+| 3 | 0.00162 | -0.00025 | -0.00059 | 0.00174 | 0.097 |
+| 4 | 0.00011 | -0.00012 | -0.00037 | 0.00041 | 0.080 |
+| 5 | 0.00247 | -0.00091 | -0.00264 | 0.00373 | 0.195 |
+| 6 | 0.00231 | -0.00087 | -0.00177 | 0.00304 | 0.139 |
+| 7 | 0.00086 | -0.00021 | -0.00105 | 0.00137 | 0.068 |
+| 8 | -0.00012 | -0.00022 | -0.00022 | 0.00033 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1952a7d2-12cf-4287-9dea-b7eec71fdb42.md b/gap_reports/gap_1952a7d2-12cf-4287-9dea-b7eec71fdb42.md
new file mode 100644
index 0000000000000000000000000000000000000000..3d27bcae904272f7abeed4eba60496f11a6fcac0
--- /dev/null
+++ b/gap_reports/gap_1952a7d2-12cf-4287-9dea-b7eec71fdb42.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1952a7d2-12cf-4287-9dea-b7eec71fdb42.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1952a7d2-12cf-4287-9dea-b7eec71fdb42.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3128 |
+| Sim rows | 273 |
+| Real episode_id | `1952a7d2-12cf-4287-9dea-b7eec71fdb42` |
+| Sim episode_id | `1952a7d2-12cf-4287-9dea-b7eec71fdb42` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.337 | 14.22 | 24.63 | 2000.02 | 0.6051 |
+| 1 | descend | 502 | 43 | 0.800 | 5.20 | 9.01 | 3625.38 | 0.6983 |
+| 2 | settle | 377 | 33 | 0.025 | 0.83 | 1.43 | 3625.27 | 0.6323 |
+| 3 | close | 132 | 12 | 0.975 | 6.34 | 10.98 | 2820.78 | 1.0207 |
+| 4 | lift | 505 | 43 | 3.700 | 16.91 | 29.29 | 2452.18 | 1.1204 |
+| 5 | move_xy | 369 | 32 | 8.138 | 39.77 | 68.89 | 2786.64 | 0.8903 |
+| 6 | lower | 405 | 35 | 0.090 | 1.48 | 2.57 | 3481.18 | 0.8801 |
+| 7 | open | 132 | 12 | 0.894 | 5.70 | 9.87 | 3625.53 | 0.6389 |
+| 8 | retract | 499 | 43 | 3.757 | 17.28 | 29.93 | 2439.81 | 0.7294 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.457 |
+| TCP position RMSE (mm, per-axis) | 16.57 |
+| EE position RMS L2 (mm) | 30.08 |
+| TCP rotvec (mrad) | 3041.15 |
+| W1 effort mean (A) | 0.7907 |
+| W1 effort per joint (A) | j0=0.2800, j1=1.3183, j2=1.4840, j3=0.6618, j4=0.4025, j5=0.5976 |
+
+## Phase-end anchor (sim - 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 | -0.00018 | -0.00052 | 0.00098 | 0.032 |
+| 1 | 0.00090 | -0.00058 | -0.00099 | 0.00146 | 0.048 |
+| 2 | 0.00088 | -0.00060 | -0.00095 | 0.00143 | 0.047 |
+| 3 | 0.00105 | -0.00040 | -0.00064 | 0.00130 | 0.109 |
+| 4 | 0.00023 | -0.00027 | -0.00038 | 0.00051 | 0.110 |
+| 5 | 0.00199 | -0.00068 | -0.00231 | 0.00313 | 0.158 |
+| 6 | 0.00164 | -0.00075 | -0.00193 | 0.00265 | 0.147 |
+| 7 | 0.00063 | -0.00028 | -0.00070 | 0.00098 | 0.048 |
+| 8 | -0.00007 | -0.00008 | -0.00012 | 0.00016 | 0.019 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1983c30a-3cf8-495a-a6cf-aa90a91daf34.md b/gap_reports/gap_1983c30a-3cf8-495a-a6cf-aa90a91daf34.md
new file mode 100644
index 0000000000000000000000000000000000000000..cebec9676802d72a71cdc92a65895acdaf9dc8df
--- /dev/null
+++ b/gap_reports/gap_1983c30a-3cf8-495a-a6cf-aa90a91daf34.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1983c30a-3cf8-495a-a6cf-aa90a91daf34.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1983c30a-3cf8-495a-a6cf-aa90a91daf34.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2394 |
+| Sim rows | 242 |
+| Real episode_id | `1983c30a-3cf8-495a-a6cf-aa90a91daf34` |
+| Sim episode_id | `1983c30a-3cf8-495a-a6cf-aa90a91daf34` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 186 | 19 | 3.310 | 15.90 | 27.55 | 2041.56 | 0.6349 |
+| 1 | descend | 258 | 26 | 0.880 | 6.09 | 10.55 | 3624.71 | 0.8211 |
+| 2 | settle | 335 | 33 | 0.029 | 1.02 | 1.76 | 3624.60 | 0.7047 |
+| 3 | close | 142 | 14 | 1.028 | 7.08 | 12.27 | 3625.04 | 1.0051 |
+| 4 | lift | 336 | 33 | 2.613 | 13.40 | 23.22 | 2446.29 | 1.1608 |
+| 5 | move_xy | 327 | 33 | 8.138 | 44.63 | 77.30 | 2784.85 | 0.9339 |
+| 6 | lower | 339 | 34 | 0.092 | 1.74 | 3.01 | 3625.11 | 1.0020 |
+| 7 | open | 142 | 15 | 0.836 | 5.84 | 10.12 | 3624.74 | 0.7575 |
+| 8 | retract | 329 | 33 | 2.945 | 15.27 | 26.44 | 2471.98 | 0.7644 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.253 |
+| TCP position RMSE (mm, per-axis) | 17.58 |
+| EE position RMS L2 (mm) | 32.80 |
+| TCP rotvec (mrad) | 3157.28 |
+| W1 effort mean (A) | 0.8555 |
+| W1 effort per joint (A) | j0=0.2367, j1=1.5802, j2=1.5926, j3=0.7865, j4=0.2973, j5=0.6397 |
+
+## Phase-end anchor (sim - 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 | -0.00017 | -0.00073 | 0.00128 | 0.035 |
+| 1 | 0.00112 | -0.00059 | -0.00129 | 0.00181 | 0.066 |
+| 2 | 0.00112 | -0.00065 | -0.00121 | 0.00177 | 0.060 |
+| 3 | 0.00169 | -0.00031 | -0.00144 | 0.00224 | 0.127 |
+| 4 | 0.00021 | -0.00019 | -0.00026 | 0.00039 | 0.098 |
+| 5 | 0.00249 | -0.00095 | -0.00165 | 0.00314 | 0.183 |
+| 6 | 0.00208 | -0.00096 | -0.00068 | 0.00239 | 0.120 |
+| 7 | 0.00086 | -0.00025 | -0.00099 | 0.00133 | 0.062 |
+| 8 | -0.00012 | -0.00019 | -0.00020 | 0.00030 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_19c7d3ad-4473-4881-ab84-678015dcc5d5.md b/gap_reports/gap_19c7d3ad-4473-4881-ab84-678015dcc5d5.md
new file mode 100644
index 0000000000000000000000000000000000000000..765c7a9b182c83180342d9b4010ec1a499b68f42
--- /dev/null
+++ b/gap_reports/gap_19c7d3ad-4473-4881-ab84-678015dcc5d5.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/19c7d3ad-4473-4881-ab84-678015dcc5d5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/19c7d3ad-4473-4881-ab84-678015dcc5d5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2593 |
+| Sim rows | 231 |
+| Real episode_id | `19c7d3ad-4473-4881-ab84-678015dcc5d5` |
+| Sim episode_id | `19c7d3ad-4473-4881-ab84-678015dcc5d5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 170 | 15 | 1.820 | 6.91 | 11.97 | 1906.60 | 0.5692 |
+| 1 | descend | 254 | 22 | 1.160 | 6.82 | 11.82 | 3626.00 | 0.7495 |
+| 2 | settle | 387 | 34 | 0.022 | 0.57 | 0.98 | 3625.93 | 0.7114 |
+| 3 | close | 127 | 12 | 0.778 | 4.70 | 8.14 | 669.70 | 0.9041 |
+| 4 | lift | 409 | 36 | 2.779 | 11.42 | 19.79 | 1992.71 | 1.0966 |
+| 5 | move_xy | 334 | 29 | 5.798 | 27.49 | 47.61 | 2046.53 | 0.9132 |
+| 6 | lower | 378 | 33 | 0.077 | 1.00 | 1.73 | 1568.35 | 0.9976 |
+| 7 | open | 128 | 12 | 0.848 | 4.92 | 8.52 | 3626.18 | 0.6065 |
+| 8 | retract | 406 | 36 | 2.660 | 10.99 | 19.03 | 2283.29 | 0.6879 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.458 |
+| TCP position RMSE (mm, per-axis) | 11.30 |
+| EE position RMS L2 (mm) | 21.00 |
+| TCP rotvec (mrad) | 2568.19 |
+| W1 effort mean (A) | 0.8086 |
+| W1 effort per joint (A) | j0=0.2331, j1=1.2088, j2=1.6363, j3=0.7395, j4=0.4074, j5=0.6263 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00014 | -0.00036 | -0.00043 | 0.00058 | 0.030 |
+| 1 | 0.00015 | -0.00056 | -0.00077 | 0.00096 | 0.033 |
+| 2 | 0.00017 | -0.00057 | -0.00077 | 0.00097 | 0.035 |
+| 3 | 0.00046 | -0.00059 | -0.00163 | 0.00180 | 0.152 |
+| 4 | 0.00035 | -0.00001 | -0.00033 | 0.00048 | 0.086 |
+| 5 | 0.00105 | -0.00081 | -0.00130 | 0.00186 | 0.131 |
+| 6 | 0.00103 | -0.00071 | -0.00077 | 0.00147 | 0.118 |
+| 7 | -0.00010 | -0.00035 | -0.00055 | 0.00066 | 0.038 |
+| 8 | -0.00006 | -0.00007 | -0.00013 | 0.00016 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_19cc99a3-79b6-4849-9430-5346a11e988b.md b/gap_reports/gap_19cc99a3-79b6-4849-9430-5346a11e988b.md
new file mode 100644
index 0000000000000000000000000000000000000000..eb037131061d7335ee3b19b03f6c0d4abd506a1f
--- /dev/null
+++ b/gap_reports/gap_19cc99a3-79b6-4849-9430-5346a11e988b.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/19cc99a3-79b6-4849-9430-5346a11e988b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/19cc99a3-79b6-4849-9430-5346a11e988b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 608 |
+| Sim rows | 76 |
+| Real episode_id | `19cc99a3-79b6-4849-9430-5346a11e988b` |
+| Sim episode_id | `19cc99a3-79b6-4849-9430-5346a11e988b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 401 | 39 | 7.888 | 38.27 | 66.28 | 11.90 | 0.7177 |
+| 1 | descend | 207 | 21 | 0.022 | 0.74 | 1.29 | 3.43 | 0.6787 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.578 |
+| TCP position RMSE (mm, per-axis) | 27.06 |
+| EE position RMS L2 (mm) | 53.83 |
+| TCP rotvec (mrad) | 8.75 |
+| W1 effort mean (A) | 0.7027 |
+| W1 effort per joint (A) | j0=0.1504, j1=1.4342, j2=1.5993, j3=0.7775, j4=0.1105, j5=0.1442 |
+
+## Phase-end anchor (sim - 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 | 0.00092 | 0.00117 | 0.00149 | 0.049 |
+| 1 | 0.00007 | 0.00075 | 0.00104 | 0.00129 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_19e5e1da-6b56-4462-a677-78e474b45e04.md b/gap_reports/gap_19e5e1da-6b56-4462-a677-78e474b45e04.md
new file mode 100644
index 0000000000000000000000000000000000000000..223ca55fffefc57394e968f8ecac670157b26b65
--- /dev/null
+++ b/gap_reports/gap_19e5e1da-6b56-4462-a677-78e474b45e04.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/19e5e1da-6b56-4462-a677-78e474b45e04.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/19e5e1da-6b56-4462-a677-78e474b45e04.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 894 |
+| Sim rows | 97 |
+| Real episode_id | `19e5e1da-6b56-4462-a677-78e474b45e04` |
+| Sim episode_id | `19e5e1da-6b56-4462-a677-78e474b45e04` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 134 | 14 | 9.099 | 15.76 | 27.30 | 650.30 | 0.6640 |
+| 1 | descend | 70 | 8 | 16.543 | 3.96 | 6.85 | 639.25 | 0.7297 |
+| 2 | settle | 17 | 3 | 16.517 | 2.40 | 4.15 | 639.82 | 0.7283 |
+| 3 | close | 35 | 4 | 16.518 | 2.29 | 3.97 | 640.16 | 1.1230 |
+| 4 | lift | 71 | 8 | 16.533 | 3.49 | 6.05 | 639.80 | 1.2403 |
+| 5 | move_xy | 147 | 15 | 10.926 | 17.28 | 29.93 | 368.88 | 1.2464 |
+| 6 | lower | 69 | 8 | 3.449 | 4.01 | 6.95 | 136.00 | 1.0684 |
+| 7 | open | 95 | 10 | 3.386 | 3.03 | 5.25 | 135.51 | 0.7680 |
+| 8 | retract | 72 | 8 | 3.465 | 4.28 | 7.41 | 135.25 | 0.7821 |
+| 9 | return | 184 | 19 | 2.750 | 11.50 | 19.91 | 808.09 | 0.8143 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 11.566 |
+| TCP position RMSE (mm, per-axis) | 8.73 |
+| EE position RMS L2 (mm) | 18.95 |
+| TCP rotvec (mrad) | 538.91 |
+| W1 effort mean (A) | 0.8921 |
+| W1 effort per joint (A) | j0=0.2392, j1=1.5656, j2=1.6066, j3=0.8388, j4=0.2059, j5=0.8963 |
+
+## Phase-end anchor (sim - 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 | -0.00376 | 0.00009 | 0.00406 | 40.499 |
+| 1 | 0.00212 | -0.00358 | 0.00005 | 0.00416 | 40.459 |
+| 2 | 0.00210 | -0.00359 | -0.00000 | 0.00416 | 40.459 |
+| 3 | 0.00222 | -0.00314 | -0.00100 | 0.00397 | 40.458 |
+| 4 | 0.00193 | -0.00357 | -0.00086 | 0.00414 | 40.495 |
+| 5 | 0.00261 | -0.00453 | -0.00192 | 0.00557 | 8.366 |
+| 6 | 0.00288 | -0.00445 | -0.00176 | 0.00558 | 8.299 |
+| 7 | 0.00246 | -0.00454 | -0.00095 | 0.00525 | 8.294 |
+| 8 | 0.00195 | -0.00452 | -0.00117 | 0.00506 | 8.364 |
+| 9 | -0.00019 | -0.00015 | -0.00030 | 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.
diff --git a/gap_reports/gap_1a2e1fa5-4720-4b1d-8cdd-8b873840efb5.md b/gap_reports/gap_1a2e1fa5-4720-4b1d-8cdd-8b873840efb5.md
new file mode 100644
index 0000000000000000000000000000000000000000..ada45d9028526bf7f085fd2c25abd422c317993f
--- /dev/null
+++ b/gap_reports/gap_1a2e1fa5-4720-4b1d-8cdd-8b873840efb5.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1a2e1fa5-4720-4b1d-8cdd-8b873840efb5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1a2e1fa5-4720-4b1d-8cdd-8b873840efb5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1578 |
+| Sim rows | 159 |
+| Real episode_id | `1a2e1fa5-4720-4b1d-8cdd-8b873840efb5` |
+| Sim episode_id | `1a2e1fa5-4720-4b1d-8cdd-8b873840efb5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.808 | 12.66 | 21.92 | 1280.08 | 0.7228 |
+| 1 | descend | 95 | 10 | 0.838 | 4.11 | 7.12 | 4.18 | 0.6097 |
+| 2 | settle | 32 | 4 | 0.019 | 2.78 | 4.82 | 4.89 | 0.6138 |
+| 3 | close | 331 | 32 | 0.072 | 2.69 | 4.67 | 4.80 | 1.1234 |
+| 4 | lift | 96 | 10 | 1.118 | 5.16 | 8.94 | 4.42 | 1.2389 |
+| 5 | move_xy | 210 | 21 | 9.412 | 30.34 | 52.55 | 204.10 | 1.1542 |
+| 6 | lower | 96 | 10 | 13.792 | 4.29 | 7.43 | 534.21 | 1.2162 |
+| 7 | open | 263 | 26 | 13.749 | 2.39 | 4.14 | 534.01 | 0.6975 |
+| 8 | retract | 95 | 10 | 13.783 | 4.19 | 7.26 | 533.70 | 0.8090 |
+| 9 | return | 205 | 20 | 7.772 | 16.22 | 28.09 | 576.47 | 0.8654 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 8.533 |
+| TCP position RMSE (mm, per-axis) | 12.02 |
+| EE position RMS L2 (mm) | 23.23 |
+| TCP rotvec (mrad) | 535.54 |
+| W1 effort mean (A) | 0.9204 |
+| W1 effort per joint (A) | j0=0.2332, j1=1.4838, j2=1.5646, j3=0.8524, j4=0.4861, j5=0.9024 |
+
+## Phase-end anchor (sim - 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 | -0.00382 | -0.00079 | 0.00425 | 0.037 |
+| 1 | 0.00211 | -0.00427 | -0.00064 | 0.00481 | 0.044 |
+| 2 | 0.00208 | -0.00429 | -0.00075 | 0.00482 | 0.032 |
+| 3 | 0.00235 | -0.00388 | -0.00170 | 0.00484 | 0.119 |
+| 4 | 0.00150 | -0.00336 | -0.00194 | 0.00416 | 0.151 |
+| 5 | 0.00183 | -0.00340 | -0.00115 | 0.00403 | 33.767 |
+| 6 | 0.00241 | -0.00240 | -0.00179 | 0.00385 | 33.688 |
+| 7 | 0.00227 | -0.00345 | -0.00018 | 0.00413 | 33.680 |
+| 8 | 0.00193 | -0.00371 | -0.00034 | 0.00420 | 33.752 |
+| 9 | 0.00001 | -0.00015 | -0.00028 | 0.00032 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1a460e1e-ad86-4b45-9499-8e278d020952.md b/gap_reports/gap_1a460e1e-ad86-4b45-9499-8e278d020952.md
new file mode 100644
index 0000000000000000000000000000000000000000..c6e6778e13627b035f7cb71b1b24c734ec09bd76
--- /dev/null
+++ b/gap_reports/gap_1a460e1e-ad86-4b45-9499-8e278d020952.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1a460e1e-ad86-4b45-9499-8e278d020952.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1a460e1e-ad86-4b45-9499-8e278d020952.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2596 |
+| Sim rows | 230 |
+| Real episode_id | `1a460e1e-ad86-4b45-9499-8e278d020952` |
+| Sim episode_id | `1a460e1e-ad86-4b45-9499-8e278d020952` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 237 | 21 | 3.718 | 14.05 | 24.33 | 1927.92 | 0.5797 |
+| 1 | descend | 320 | 28 | 1.292 | 7.73 | 13.39 | 3626.10 | 0.6577 |
+| 2 | settle | 367 | 32 | 0.020 | 0.63 | 1.10 | 3626.07 | 0.7090 |
+| 3 | close | 109 | 10 | 0.675 | 4.02 | 6.96 | 1839.51 | 0.9194 |
+| 4 | lift | 320 | 28 | 4.090 | 16.98 | 29.40 | 1805.89 | 1.0638 |
+| 5 | move_xy | 415 | 36 | 8.249 | 35.52 | 61.52 | 2045.99 | 0.8594 |
+| 6 | lower | 400 | 35 | 0.079 | 1.13 | 1.96 | 1648.74 | 1.0056 |
+| 7 | open | 110 | 10 | 0.618 | 3.50 | 6.06 | 3626.14 | 0.6364 |
+| 8 | retract | 318 | 28 | 3.846 | 15.76 | 27.29 | 2397.17 | 0.7122 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.589 |
+| TCP position RMSE (mm, per-axis) | 15.22 |
+| EE position RMS L2 (mm) | 29.72 |
+| TCP rotvec (mrad) | 2634.36 |
+| W1 effort mean (A) | 0.7903 |
+| W1 effort per joint (A) | j0=0.2352, j1=1.1676, j2=1.5428, j3=0.8325, j4=0.3058, j5=0.6581 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00069 | -0.00020 | -0.00046 | 0.00086 | 0.034 |
+| 1 | 0.00070 | -0.00050 | -0.00069 | 0.00110 | 0.035 |
+| 2 | 0.00069 | -0.00048 | -0.00072 | 0.00111 | 0.038 |
+| 3 | 0.00095 | -0.00029 | -0.00075 | 0.00125 | 0.086 |
+| 4 | 0.00027 | -0.00011 | -0.00021 | 0.00036 | 0.113 |
+| 5 | 0.00128 | -0.00056 | -0.00144 | 0.00200 | 0.105 |
+| 6 | 0.00120 | -0.00073 | -0.00057 | 0.00151 | 0.105 |
+| 7 | 0.00045 | -0.00022 | -0.00052 | 0.00072 | 0.039 |
+| 8 | -0.00011 | -0.00015 | -0.00017 | 0.00025 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1a6175a4-dfb1-44bf-9e68-29f50a83ddd5.md b/gap_reports/gap_1a6175a4-dfb1-44bf-9e68-29f50a83ddd5.md
new file mode 100644
index 0000000000000000000000000000000000000000..7634e61cbbcc87f4ae08568eb1305d37811986bf
--- /dev/null
+++ b/gap_reports/gap_1a6175a4-dfb1-44bf-9e68-29f50a83ddd5.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1a6175a4-dfb1-44bf-9e68-29f50a83ddd5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1a6175a4-dfb1-44bf-9e68-29f50a83ddd5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1867 |
+| Sim rows | 187 |
+| Real episode_id | `1a6175a4-dfb1-44bf-9e68-29f50a83ddd5` |
+| Sim episode_id | `1a6175a4-dfb1-44bf-9e68-29f50a83ddd5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.922 | 12.31 | 21.31 | 276.79 | 0.6439 |
+| 1 | descend | 107 | 11 | 1.295 | 5.51 | 9.54 | 3.82 | 0.5842 |
+| 2 | settle | 35 | 4 | 0.017 | 2.02 | 3.50 | 4.52 | 0.5513 |
+| 3 | close | 379 | 37 | 0.169 | 1.73 | 3.00 | 6.81 | 1.0327 |
+| 4 | lift | 105 | 11 | 1.076 | 4.50 | 7.79 | 6.23 | 1.1575 |
+| 5 | move_xy | 278 | 28 | 5.106 | 25.14 | 43.55 | 251.12 | 1.1556 |
+| 6 | lower | 107 | 11 | 3.632 | 5.10 | 8.84 | 141.83 | 1.2377 |
+| 7 | open | 355 | 35 | 3.504 | 3.13 | 5.42 | 140.10 | 0.7206 |
+| 8 | retract | 110 | 11 | 3.650 | 5.40 | 9.36 | 139.73 | 0.7911 |
+| 9 | return | 182 | 18 | 2.928 | 14.76 | 25.57 | 888.82 | 0.7699 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.913 |
+| TCP position RMSE (mm, per-axis) | 10.60 |
+| EE position RMS L2 (mm) | 20.57 |
+| TCP rotvec (mrad) | 314.49 |
+| W1 effort mean (A) | 0.8778 |
+| W1 effort per joint (A) | j0=0.1844, j1=1.5450, j2=1.4805, j3=0.9078, j4=0.6222, j5=0.5269 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00117 | -0.00313 | 0.00003 | 0.00335 | 0.039 |
+| 1 | 0.00185 | -0.00298 | 0.00014 | 0.00351 | 0.029 |
+| 2 | 0.00183 | -0.00298 | 0.00005 | 0.00350 | 0.032 |
+| 3 | 0.00019 | -0.00292 | -0.00065 | 0.00299 | 0.363 |
+| 4 | -0.00013 | -0.00329 | -0.00073 | 0.00337 | 0.284 |
+| 5 | 0.00283 | -0.00496 | -0.00200 | 0.00605 | 8.653 |
+| 6 | 0.00362 | -0.00491 | -0.00287 | 0.00674 | 8.581 |
+| 7 | 0.00201 | -0.00490 | -0.00117 | 0.00542 | 8.581 |
+| 8 | 0.00142 | -0.00467 | -0.00123 | 0.00504 | 8.663 |
+| 9 | -0.00019 | -0.00015 | -0.00028 | 0.00037 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1a7f74ae-ccde-4348-aaa2-c04dc24b3532.md b/gap_reports/gap_1a7f74ae-ccde-4348-aaa2-c04dc24b3532.md
new file mode 100644
index 0000000000000000000000000000000000000000..1c3399da1b16b41aeca39e7c0e95f6c641b7b41a
--- /dev/null
+++ b/gap_reports/gap_1a7f74ae-ccde-4348-aaa2-c04dc24b3532.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1a7f74ae-ccde-4348-aaa2-c04dc24b3532.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1a7f74ae-ccde-4348-aaa2-c04dc24b3532.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2782 |
+| Sim rows | 246 |
+| Real episode_id | `1a7f74ae-ccde-4348-aaa2-c04dc24b3532` |
+| Sim episode_id | `1a7f74ae-ccde-4348-aaa2-c04dc24b3532` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.569 | 11.58 | 20.06 | 2.91 | 0.5898 |
+| 1 | descend | 504 | 44 | 0.815 | 5.57 | 9.65 | 4.54 | 0.7189 |
+| 2 | settle | 378 | 33 | 0.025 | 0.97 | 1.68 | 4.66 | 0.6651 |
+| 3 | close | 151 | 14 | 0.796 | 5.05 | 8.74 | 6.66 | 0.9697 |
+| 4 | lift | 325 | 28 | 3.087 | 14.25 | 24.69 | 4.80 | 1.0913 |
+| 5 | move_xy | 341 | 30 | 5.842 | 29.93 | 51.85 | 5.19 | 0.8932 |
+| 6 | lower | 412 | 36 | 0.094 | 1.66 | 2.88 | 7.07 | 0.9679 |
+| 7 | open | 153 | 14 | 0.769 | 5.07 | 8.77 | 4.60 | 0.6416 |
+| 8 | retract | 324 | 28 | 3.097 | 14.61 | 25.30 | 3.23 | 0.7244 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.619 |
+| TCP position RMSE (mm, per-axis) | 13.05 |
+| EE position RMS L2 (mm) | 23.03 |
+| TCP rotvec (mrad) | 5.02 |
+| W1 effort mean (A) | 0.7786 |
+| W1 effort per joint (A) | j0=0.2881, j1=1.3481, j2=1.4497, j3=0.6269, j4=0.4303, j5=0.5285 |
+
+## Phase-end anchor (sim - 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 | -0.00055 | -0.00062 | 0.00125 | 0.036 |
+| 1 | 0.00093 | -0.00092 | -0.00103 | 0.00167 | 0.046 |
+| 2 | 0.00092 | -0.00096 | -0.00099 | 0.00166 | 0.046 |
+| 3 | 0.00202 | -0.00044 | -0.00123 | 0.00240 | 0.175 |
+| 4 | -0.00002 | -0.00065 | -0.00070 | 0.00096 | 0.108 |
+| 5 | 0.00182 | -0.00120 | -0.00209 | 0.00302 | 0.142 |
+| 6 | 0.00206 | -0.00125 | -0.00196 | 0.00310 | 0.155 |
+| 7 | 0.00076 | -0.00063 | -0.00076 | 0.00125 | 0.035 |
+| 8 | -0.00012 | -0.00018 | -0.00020 | 0.00029 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1ab9aa4b-e495-4c48-89a6-8dd298665c3d.md b/gap_reports/gap_1ab9aa4b-e495-4c48-89a6-8dd298665c3d.md
new file mode 100644
index 0000000000000000000000000000000000000000..0f4977b2624db656c8cd33c0726b8b6d037340e5
--- /dev/null
+++ b/gap_reports/gap_1ab9aa4b-e495-4c48-89a6-8dd298665c3d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1ab9aa4b-e495-4c48-89a6-8dd298665c3d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1ab9aa4b-e495-4c48-89a6-8dd298665c3d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2435 |
+| Sim rows | 217 |
+| Real episode_id | `1ab9aa4b-e495-4c48-89a6-8dd298665c3d` |
+| Sim episode_id | `1ab9aa4b-e495-4c48-89a6-8dd298665c3d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 163 | 15 | 2.385 | 11.49 | 19.91 | 1946.73 | 0.5778 |
+| 1 | descend | 297 | 26 | 1.155 | 7.43 | 12.87 | 3625.44 | 0.7555 |
+| 2 | settle | 359 | 31 | 0.024 | 0.70 | 1.21 | 3625.31 | 0.6768 |
+| 3 | close | 120 | 11 | 0.732 | 4.75 | 8.22 | 3377.74 | 0.9853 |
+| 4 | lift | 330 | 29 | 2.570 | 12.47 | 21.60 | 2189.56 | 1.1123 |
+| 5 | move_xy | 305 | 27 | 5.503 | 29.36 | 50.86 | 2831.22 | 0.9103 |
+| 6 | lower | 412 | 36 | 0.082 | 1.22 | 2.11 | 3222.02 | 1.0773 |
+| 7 | open | 119 | 11 | 0.751 | 4.83 | 8.37 | 3625.45 | 0.6802 |
+| 8 | retract | 330 | 29 | 2.462 | 11.95 | 20.71 | 2344.44 | 0.7208 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.382 |
+| TCP position RMSE (mm, per-axis) | 12.45 |
+| EE position RMS L2 (mm) | 22.36 |
+| TCP rotvec (mrad) | 3042.61 |
+| W1 effort mean (A) | 0.8347 |
+| W1 effort per joint (A) | j0=0.2526, j1=1.3832, j2=1.6256, j3=0.8061, j4=0.3233, j5=0.6171 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00040 | -0.00034 | -0.00067 | 0.00086 | 0.040 |
+| 1 | 0.00037 | -0.00067 | -0.00092 | 0.00119 | 0.046 |
+| 2 | 0.00040 | -0.00068 | -0.00093 | 0.00122 | 0.047 |
+| 3 | 0.00084 | -0.00059 | -0.00119 | 0.00157 | 0.097 |
+| 4 | 0.00036 | 0.00003 | -0.00004 | 0.00037 | 0.070 |
+| 5 | 0.00120 | -0.00082 | -0.00092 | 0.00172 | 0.114 |
+| 6 | 0.00116 | -0.00093 | -0.00082 | 0.00170 | 0.114 |
+| 7 | 0.00021 | -0.00049 | -0.00076 | 0.00093 | 0.049 |
+| 8 | -0.00010 | -0.00015 | -0.00016 | 0.00024 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1ae8777e-adaa-4aaf-959c-427d3a09694d.md b/gap_reports/gap_1ae8777e-adaa-4aaf-959c-427d3a09694d.md
new file mode 100644
index 0000000000000000000000000000000000000000..13c3a29b6c6d6cecb96c36d871e67d11bb162a2a
--- /dev/null
+++ b/gap_reports/gap_1ae8777e-adaa-4aaf-959c-427d3a09694d.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1ae8777e-adaa-4aaf-959c-427d3a09694d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1ae8777e-adaa-4aaf-959c-427d3a09694d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1741 |
+| Sim rows | 178 |
+| Real episode_id | `1ae8777e-adaa-4aaf-959c-427d3a09694d` |
+| Sim episode_id | `1ae8777e-adaa-4aaf-959c-427d3a09694d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 211 | 21 | 6.311 | 21.18 | 36.69 | 2017.79 | 0.8007 |
+| 1 | descend | 78 | 8 | 0.450 | 3.21 | 5.57 | 4.90 | 0.6111 |
+| 2 | settle | 32 | 4 | 0.020 | 2.66 | 4.60 | 5.20 | 0.6352 |
+| 3 | close | 368 | 37 | 0.123 | 2.49 | 4.31 | 6.90 | 1.1271 |
+| 4 | lift | 80 | 9 | 0.492 | 3.18 | 5.50 | 6.41 | 1.2116 |
+| 5 | move_xy | 226 | 23 | 7.688 | 24.80 | 42.96 | 145.37 | 1.1144 |
+| 6 | lower | 82 | 9 | 0.517 | 3.10 | 5.37 | 9.58 | 0.9947 |
+| 7 | open | 380 | 37 | 0.023 | 2.56 | 4.43 | 4.60 | 0.5495 |
+| 8 | retract | 80 | 9 | 0.536 | 3.27 | 5.67 | 4.02 | 0.6468 |
+| 9 | return | 204 | 21 | 2.838 | 11.58 | 20.06 | 1110.19 | 0.7573 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.286 |
+| TCP position RMSE (mm, per-axis) | 11.22 |
+| EE position RMS L2 (mm) | 21.54 |
+| TCP rotvec (mrad) | 729.75 |
+| W1 effort mean (A) | 0.8447 |
+| W1 effort per joint (A) | j0=0.2087, j1=1.4952, j2=1.4895, j3=1.0457, j4=0.2681, j5=0.5613 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00134 | -0.00392 | -0.00112 | 0.00429 | 0.032 |
+| 1 | 0.00151 | -0.00418 | -0.00119 | 0.00460 | 0.036 |
+| 2 | 0.00152 | -0.00418 | -0.00129 | 0.00463 | 0.043 |
+| 3 | 0.00034 | -0.00428 | -0.00047 | 0.00432 | 0.220 |
+| 4 | 0.00030 | -0.00404 | -0.00097 | 0.00417 | 0.188 |
+| 5 | 0.00250 | -0.00289 | -0.00099 | 0.00395 | 0.234 |
+| 6 | 0.00329 | -0.00233 | -0.00171 | 0.00438 | 0.305 |
+| 7 | 0.00227 | -0.00379 | -0.00012 | 0.00442 | 0.035 |
+| 8 | 0.00193 | -0.00379 | -0.00023 | 0.00426 | 0.043 |
+| 9 | -0.00004 | -0.00015 | -0.00025 | 0.00030 | 0.035 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1af98338-554b-40f9-926c-c3fee9aa9dcb.md b/gap_reports/gap_1af98338-554b-40f9-926c-c3fee9aa9dcb.md
new file mode 100644
index 0000000000000000000000000000000000000000..7fd1c63b6587f23805bb721d193ca31bc8551eee
--- /dev/null
+++ b/gap_reports/gap_1af98338-554b-40f9-926c-c3fee9aa9dcb.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1af98338-554b-40f9-926c-c3fee9aa9dcb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1af98338-554b-40f9-926c-c3fee9aa9dcb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2953 |
+| Sim rows | 260 |
+| Real episode_id | `1af98338-554b-40f9-926c-c3fee9aa9dcb` |
+| Sim episode_id | `1af98338-554b-40f9-926c-c3fee9aa9dcb` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 220 | 20 | 3.676 | 15.79 | 27.36 | 3.46 | 0.6065 |
+| 1 | descend | 426 | 37 | 0.975 | 6.60 | 11.43 | 5.14 | 0.6798 |
+| 2 | settle | 383 | 33 | 0.026 | 1.01 | 1.74 | 5.33 | 0.5921 |
+| 3 | close | 171 | 15 | 1.076 | 6.99 | 12.10 | 7.85 | 0.9748 |
+| 4 | lift | 393 | 34 | 3.835 | 17.86 | 30.93 | 5.10 | 1.1320 |
+| 5 | move_xy | 411 | 36 | 8.727 | 42.62 | 73.82 | 5.91 | 0.9195 |
+| 6 | lower | 387 | 34 | 0.097 | 1.75 | 3.03 | 7.88 | 0.9396 |
+| 7 | open | 170 | 15 | 0.970 | 6.15 | 10.66 | 5.36 | 0.6017 |
+| 8 | retract | 392 | 34 | 3.919 | 18.24 | 31.60 | 3.69 | 0.7335 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.694 |
+| TCP position RMSE (mm, per-axis) | 17.80 |
+| EE position RMS L2 (mm) | 33.31 |
+| TCP rotvec (mrad) | 5.71 |
+| W1 effort mean (A) | 0.7795 |
+| W1 effort per joint (A) | j0=0.2801, j1=1.2829, j2=1.3955, j3=0.6442, j4=0.4867, j5=0.5875 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00110 | -0.00045 | -0.00058 | 0.00132 | 0.028 |
+| 1 | 0.00116 | -0.00085 | -0.00099 | 0.00174 | 0.049 |
+| 2 | 0.00113 | -0.00088 | -0.00096 | 0.00172 | 0.049 |
+| 3 | 0.00145 | -0.00066 | -0.00038 | 0.00164 | 0.107 |
+| 4 | 0.00025 | -0.00020 | -0.00027 | 0.00042 | 0.110 |
+| 5 | 0.00195 | -0.00090 | -0.00198 | 0.00293 | 0.131 |
+| 6 | 0.00193 | -0.00098 | -0.00164 | 0.00272 | 0.102 |
+| 7 | 0.00096 | -0.00054 | -0.00072 | 0.00131 | 0.052 |
+| 8 | -0.00010 | -0.00015 | -0.00016 | 0.00024 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1b067e4b-f11f-4d79-a7e3-e5f2dc6f37c5.md b/gap_reports/gap_1b067e4b-f11f-4d79-a7e3-e5f2dc6f37c5.md
new file mode 100644
index 0000000000000000000000000000000000000000..48fbfcb0bdfcd597818c1f2beb6ed842d0f00963
--- /dev/null
+++ b/gap_reports/gap_1b067e4b-f11f-4d79-a7e3-e5f2dc6f37c5.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1b067e4b-f11f-4d79-a7e3-e5f2dc6f37c5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1b067e4b-f11f-4d79-a7e3-e5f2dc6f37c5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2762 |
+| Sim rows | 247 |
+| Real episode_id | `1b067e4b-f11f-4d79-a7e3-e5f2dc6f37c5` |
+| Sim episode_id | `1b067e4b-f11f-4d79-a7e3-e5f2dc6f37c5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 233 | 21 | 2.936 | 13.09 | 22.67 | 2001.24 | 0.5776 |
+| 1 | descend | 239 | 21 | 0.919 | 5.95 | 10.31 | 3625.29 | 0.7461 |
+| 2 | settle | 361 | 32 | 0.028 | 0.78 | 1.35 | 3625.28 | 0.6561 |
+| 3 | close | 150 | 14 | 0.773 | 4.79 | 8.30 | 3235.57 | 0.9604 |
+| 4 | lift | 430 | 38 | 3.196 | 14.84 | 25.71 | 2299.74 | 1.0956 |
+| 5 | move_xy | 397 | 35 | 6.103 | 31.25 | 54.13 | 2490.83 | 0.8805 |
+| 6 | lower | 375 | 33 | 0.087 | 1.40 | 2.42 | 3625.69 | 1.0084 |
+| 7 | open | 150 | 14 | 0.687 | 4.48 | 7.76 | 3625.47 | 0.6437 |
+| 8 | retract | 427 | 37 | 3.173 | 14.79 | 25.61 | 2294.17 | 0.7172 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.750 |
+| TCP position RMSE (mm, per-axis) | 13.61 |
+| EE position RMS L2 (mm) | 26.19 |
+| TCP rotvec (mrad) | 3051.51 |
+| W1 effort mean (A) | 0.8087 |
+| W1 effort per joint (A) | j0=0.2417, j1=1.3401, j2=1.5811, j3=0.7472, j4=0.3327, j5=0.6091 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00064 | -0.00030 | -0.00075 | 0.00103 | 0.045 |
+| 1 | 0.00147 | -0.00060 | -0.00108 | 0.00192 | 0.089 |
+| 2 | 0.00064 | -0.00063 | -0.00103 | 0.00137 | 0.051 |
+| 3 | 0.00107 | -0.00041 | -0.00125 | 0.00170 | 0.095 |
+| 4 | 0.00015 | -0.00029 | -0.00040 | 0.00052 | 0.088 |
+| 5 | 0.00175 | -0.00094 | -0.00141 | 0.00244 | 0.165 |
+| 6 | 0.00130 | -0.00091 | -0.00138 | 0.00210 | 0.115 |
+| 7 | 0.00047 | -0.00035 | -0.00078 | 0.00097 | 0.047 |
+| 8 | -0.00008 | -0.00010 | -0.00013 | 0.00019 | 0.021 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1b0ea4ca-7c71-4393-b91e-f119a907dec0.md b/gap_reports/gap_1b0ea4ca-7c71-4393-b91e-f119a907dec0.md
new file mode 100644
index 0000000000000000000000000000000000000000..571f598d153743e06ea5d7dcfca1528859f6a6b3
--- /dev/null
+++ b/gap_reports/gap_1b0ea4ca-7c71-4393-b91e-f119a907dec0.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1b0ea4ca-7c71-4393-b91e-f119a907dec0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1b0ea4ca-7c71-4393-b91e-f119a907dec0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2936 |
+| Sim rows | 259 |
+| Real episode_id | `1b0ea4ca-7c71-4393-b91e-f119a907dec0` |
+| Sim episode_id | `1b0ea4ca-7c71-4393-b91e-f119a907dec0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 204 | 18 | 2.445 | 11.86 | 20.55 | 1916.35 | 0.5669 |
+| 1 | descend | 619 | 53 | 0.328 | 2.23 | 3.86 | 3625.37 | 0.6878 |
+| 2 | settle | 369 | 32 | 0.023 | 0.73 | 1.27 | 3625.23 | 0.6789 |
+| 3 | close | 133 | 12 | 0.821 | 5.43 | 9.40 | 3221.82 | 0.9922 |
+| 4 | lift | 352 | 31 | 2.565 | 12.62 | 21.85 | 2151.94 | 1.0776 |
+| 5 | move_xy | 374 | 33 | 4.909 | 26.97 | 46.72 | 2484.31 | 0.8396 |
+| 6 | lower | 396 | 35 | 0.082 | 1.26 | 2.19 | 3554.27 | 0.9760 |
+| 7 | open | 136 | 12 | 0.888 | 5.69 | 9.86 | 3625.48 | 0.6726 |
+| 8 | retract | 353 | 31 | 2.599 | 12.81 | 22.18 | 2274.93 | 0.7165 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.236 |
+| TCP position RMSE (mm, per-axis) | 11.83 |
+| EE position RMS L2 (mm) | 20.89 |
+| TCP rotvec (mrad) | 3020.17 |
+| W1 effort mean (A) | 0.7767 |
+| W1 effort per joint (A) | j0=0.2408, j1=1.3223, j2=1.5933, j3=0.7005, j4=0.2743, j5=0.5291 |
+
+## Phase-end anchor (sim - 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 | -0.00040 | -0.00072 | 0.00093 | 0.039 |
+| 1 | 0.00041 | -0.00069 | -0.00100 | 0.00128 | 0.045 |
+| 2 | 0.00043 | -0.00070 | -0.00095 | 0.00126 | 0.039 |
+| 3 | 0.00087 | -0.00047 | -0.00068 | 0.00120 | 0.090 |
+| 4 | 0.00020 | -0.00016 | -0.00015 | 0.00030 | 0.087 |
+| 5 | 0.00110 | -0.00103 | -0.00152 | 0.00214 | 0.105 |
+| 6 | 0.00158 | -0.00086 | -0.00105 | 0.00209 | 0.157 |
+| 7 | 0.00029 | -0.00045 | -0.00074 | 0.00091 | 0.040 |
+| 8 | -0.00009 | -0.00012 | -0.00014 | 0.00021 | 0.021 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1b2dc580-3ba5-4932-ac55-31b2769a6766.md b/gap_reports/gap_1b2dc580-3ba5-4932-ac55-31b2769a6766.md
new file mode 100644
index 0000000000000000000000000000000000000000..3c97303b939b8f59421d41ebcbb68e4b945a81ad
--- /dev/null
+++ b/gap_reports/gap_1b2dc580-3ba5-4932-ac55-31b2769a6766.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1b2dc580-3ba5-4932-ac55-31b2769a6766.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1b2dc580-3ba5-4932-ac55-31b2769a6766.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2447 |
+| Sim rows | 219 |
+| Real episode_id | `1b2dc580-3ba5-4932-ac55-31b2769a6766` |
+| Sim episode_id | `1b2dc580-3ba5-4932-ac55-31b2769a6766` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 209 | 19 | 2.228 | 12.06 | 20.89 | 1893.07 | 0.6168 |
+| 1 | descend | 272 | 24 | 0.867 | 6.10 | 10.56 | 3624.77 | 0.7624 |
+| 2 | settle | 364 | 32 | 0.026 | 0.90 | 1.56 | 3624.62 | 0.7327 |
+| 3 | close | 156 | 14 | 0.703 | 5.05 | 8.74 | 3625.18 | 1.0253 |
+| 4 | lift | 269 | 24 | 2.192 | 12.56 | 21.75 | 2390.90 | 1.1317 |
+| 5 | move_xy | 366 | 32 | 5.955 | 35.89 | 62.16 | 2784.78 | 0.9376 |
+| 6 | lower | 389 | 34 | 0.091 | 1.59 | 2.75 | 3625.18 | 1.1026 |
+| 7 | open | 156 | 14 | 0.875 | 5.97 | 10.34 | 3624.75 | 0.7553 |
+| 8 | retract | 266 | 24 | 2.184 | 12.62 | 21.85 | 2414.34 | 0.7585 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.404 |
+| TCP position RMSE (mm, per-axis) | 14.34 |
+| EE position RMS L2 (mm) | 27.29 |
+| TCP rotvec (mrad) | 3137.30 |
+| W1 effort mean (A) | 0.8592 |
+| W1 effort per joint (A) | j0=0.2025, j1=1.5292, j2=1.7263, j3=0.8089, j4=0.3024, j5=0.5858 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00074 | -0.00044 | -0.00074 | 0.00113 | 0.028 |
+| 1 | 0.00073 | -0.00081 | -0.00115 | 0.00158 | 0.058 |
+| 2 | 0.00071 | -0.00077 | -0.00115 | 0.00156 | 0.053 |
+| 3 | 0.00157 | -0.00056 | -0.00096 | 0.00192 | 0.115 |
+| 4 | 0.00030 | -0.00020 | -0.00034 | 0.00050 | 0.090 |
+| 5 | 0.00196 | -0.00111 | -0.00226 | 0.00319 | 0.177 |
+| 6 | 0.00215 | -0.00098 | -0.00085 | 0.00251 | 0.163 |
+| 7 | 0.00061 | -0.00055 | -0.00097 | 0.00127 | 0.060 |
+| 8 | -0.00012 | -0.00022 | -0.00022 | 0.00034 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1b333e33-a393-461b-aa98-6657b2caf2bf.md b/gap_reports/gap_1b333e33-a393-461b-aa98-6657b2caf2bf.md
new file mode 100644
index 0000000000000000000000000000000000000000..afc4130981138b411cdff2f336e1aea6459ee507
--- /dev/null
+++ b/gap_reports/gap_1b333e33-a393-461b-aa98-6657b2caf2bf.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1b333e33-a393-461b-aa98-6657b2caf2bf.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1b333e33-a393-461b-aa98-6657b2caf2bf.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2832 |
+| Sim rows | 253 |
+| Real episode_id | `1b333e33-a393-461b-aa98-6657b2caf2bf` |
+| Sim episode_id | `1b333e33-a393-461b-aa98-6657b2caf2bf` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 223 | 20 | 3.034 | 15.74 | 27.26 | 1986.91 | 0.6187 |
+| 1 | descend | 354 | 31 | 1.026 | 7.16 | 12.40 | 3624.74 | 0.8259 |
+| 2 | settle | 381 | 33 | 0.026 | 0.96 | 1.66 | 3624.53 | 0.6857 |
+| 3 | close | 151 | 14 | 0.860 | 6.23 | 10.80 | 3525.52 | 1.0339 |
+| 4 | lift | 397 | 35 | 3.030 | 16.71 | 28.95 | 2337.22 | 1.1142 |
+| 5 | move_xy | 394 | 35 | 6.352 | 36.67 | 63.52 | 2829.13 | 0.9327 |
+| 6 | lower | 387 | 34 | 0.091 | 1.67 | 2.89 | 3625.27 | 1.0266 |
+| 7 | open | 153 | 14 | 0.898 | 6.17 | 10.69 | 3624.74 | 0.7515 |
+| 8 | retract | 392 | 35 | 2.777 | 15.17 | 26.28 | 2394.13 | 0.7426 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.770 |
+| TCP position RMSE (mm, per-axis) | 15.76 |
+| EE position RMS L2 (mm) | 29.43 |
+| TCP rotvec (mrad) | 3129.30 |
+| W1 effort mean (A) | 0.8467 |
+| W1 effort per joint (A) | j0=0.2615, j1=1.5193, j2=1.6735, j3=0.7480, j4=0.2698, j5=0.6078 |
+
+## Phase-end anchor (sim - 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 | -0.00035 | -0.00076 | 0.00125 | 0.032 |
+| 1 | 0.00091 | -0.00074 | -0.00114 | 0.00164 | 0.048 |
+| 2 | 0.00091 | -0.00073 | -0.00117 | 0.00166 | 0.053 |
+| 3 | 0.00210 | -0.00045 | -0.00097 | 0.00235 | 0.157 |
+| 4 | -0.00005 | -0.00064 | -0.00090 | 0.00111 | 0.118 |
+| 5 | 0.00186 | -0.00103 | -0.00236 | 0.00317 | 0.158 |
+| 6 | 0.00192 | -0.00102 | -0.00144 | 0.00261 | 0.121 |
+| 7 | 0.00080 | -0.00039 | -0.00097 | 0.00132 | 0.046 |
+| 8 | -0.00009 | -0.00011 | -0.00014 | 0.00020 | 0.020 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1b633b49-4be2-4169-8f24-0eaa12e6d553.md b/gap_reports/gap_1b633b49-4be2-4169-8f24-0eaa12e6d553.md
new file mode 100644
index 0000000000000000000000000000000000000000..760b45fa8b09500c69750dc20281cb5072dbfafc
--- /dev/null
+++ b/gap_reports/gap_1b633b49-4be2-4169-8f24-0eaa12e6d553.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1b633b49-4be2-4169-8f24-0eaa12e6d553.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1b633b49-4be2-4169-8f24-0eaa12e6d553.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 903 |
+| Sim rows | 98 |
+| Real episode_id | `1b633b49-4be2-4169-8f24-0eaa12e6d553` |
+| Sim episode_id | `1b633b49-4be2-4169-8f24-0eaa12e6d553` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 133 | 14 | 4.338 | 12.49 | 21.63 | 339.43 | 0.6699 |
+| 1 | descend | 80 | 9 | 6.703 | 3.51 | 6.08 | 261.59 | 0.6907 |
+| 2 | settle | 14 | 2 | 6.665 | 2.48 | 4.29 | 261.88 | 0.6933 |
+| 3 | close | 41 | 5 | 6.665 | 2.63 | 4.55 | 263.14 | 1.1197 |
+| 4 | lift | 82 | 9 | 6.718 | 4.31 | 7.46 | 262.73 | 1.2204 |
+| 5 | move_xy | 166 | 17 | 4.594 | 19.11 | 33.11 | 131.27 | 1.1924 |
+| 6 | lower | 81 | 9 | 0.782 | 5.35 | 9.27 | 9.99 | 1.0592 |
+| 7 | open | 80 | 9 | 0.026 | 3.11 | 5.38 | 5.98 | 0.6962 |
+| 8 | retract | 81 | 9 | 0.742 | 4.46 | 7.72 | 5.34 | 0.7731 |
+| 9 | return | 145 | 15 | 2.340 | 14.74 | 25.53 | 340.82 | 0.7644 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.748 |
+| TCP position RMSE (mm, per-axis) | 9.17 |
+| EE position RMS L2 (mm) | 20.01 |
+| TCP rotvec (mrad) | 228.92 |
+| W1 effort mean (A) | 0.8754 |
+| W1 effort per joint (A) | j0=0.1969, j1=1.6342, j2=1.5773, j3=0.7883, j4=0.3573, j5=0.6985 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00180 | -0.00372 | -0.00008 | 0.00413 | 16.386 |
+| 1 | 0.00242 | -0.00353 | -0.00016 | 0.00428 | 16.326 |
+| 2 | 0.00241 | -0.00357 | -0.00029 | 0.00432 | 16.324 |
+| 3 | 0.00298 | -0.00286 | -0.00231 | 0.00473 | 16.324 |
+| 4 | 0.00258 | -0.00327 | -0.00182 | 0.00455 | 16.389 |
+| 5 | 0.00238 | -0.00500 | -0.00275 | 0.00619 | 0.243 |
+| 6 | 0.00320 | -0.00496 | -0.00298 | 0.00661 | 0.214 |
+| 7 | 0.00214 | -0.00483 | -0.00115 | 0.00540 | 0.058 |
+| 8 | 0.00155 | -0.00462 | -0.00138 | 0.00506 | 0.066 |
+| 9 | -0.00028 | -0.00016 | -0.00033 | 0.00046 | 0.052 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1b67eb24-a221-490c-aa59-b9d88bcdf282.md b/gap_reports/gap_1b67eb24-a221-490c-aa59-b9d88bcdf282.md
new file mode 100644
index 0000000000000000000000000000000000000000..f2595366cb86003ada5a30033dbc61591c6d66ce
--- /dev/null
+++ b/gap_reports/gap_1b67eb24-a221-490c-aa59-b9d88bcdf282.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1b67eb24-a221-490c-aa59-b9d88bcdf282.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1b67eb24-a221-490c-aa59-b9d88bcdf282.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2796 |
+| Sim rows | 249 |
+| Real episode_id | `1b67eb24-a221-490c-aa59-b9d88bcdf282` |
+| Sim episode_id | `1b67eb24-a221-490c-aa59-b9d88bcdf282` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.395 | 9.34 | 16.18 | 1992.55 | 0.5660 |
+| 1 | descend | 443 | 39 | 1.015 | 6.03 | 10.44 | 3626.05 | 0.7139 |
+| 2 | settle | 372 | 33 | 0.021 | 0.59 | 1.02 | 3625.86 | 0.5986 |
+| 3 | close | 155 | 14 | 1.226 | 7.08 | 12.27 | 1735.82 | 0.9289 |
+| 4 | lift | 355 | 31 | 2.641 | 10.85 | 18.80 | 2113.53 | 1.0804 |
+| 5 | move_xy | 385 | 34 | 5.869 | 27.36 | 47.39 | 2161.88 | 0.8817 |
+| 6 | lower | 376 | 33 | 0.082 | 1.06 | 1.84 | 1889.29 | 0.9629 |
+| 7 | open | 155 | 14 | 0.944 | 5.48 | 9.49 | 3626.02 | 0.6484 |
+| 8 | retract | 353 | 31 | 2.776 | 11.40 | 19.74 | 2299.70 | 0.6950 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.545 |
+| TCP position RMSE (mm, per-axis) | 11.55 |
+| EE position RMS L2 (mm) | 21.29 |
+| TCP rotvec (mrad) | 2675.51 |
+| W1 effort mean (A) | 0.7760 |
+| W1 effort per joint (A) | j0=0.2307, j1=1.1481, j2=1.6361, j3=0.7883, j4=0.2936, j5=0.5595 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00012 | -0.00035 | -0.00051 | 0.00063 | 0.030 |
+| 1 | 0.00018 | -0.00061 | -0.00079 | 0.00101 | 0.035 |
+| 2 | 0.00016 | -0.00060 | -0.00076 | 0.00098 | 0.035 |
+| 3 | 0.00065 | -0.00044 | -0.00042 | 0.00089 | 0.086 |
+| 4 | 0.00056 | 0.00007 | -0.00006 | 0.00056 | 0.137 |
+| 5 | 0.00094 | -0.00092 | -0.00159 | 0.00206 | 0.118 |
+| 6 | 0.00087 | -0.00097 | -0.00160 | 0.00207 | 0.120 |
+| 7 | -0.00001 | -0.00043 | -0.00056 | 0.00071 | 0.037 |
+| 8 | -0.00006 | -0.00005 | -0.00011 | 0.00014 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1b7585b4-03be-4444-9c10-51fe9850cb70.md b/gap_reports/gap_1b7585b4-03be-4444-9c10-51fe9850cb70.md
new file mode 100644
index 0000000000000000000000000000000000000000..7f9e0bdae1b47c9374b667315887d5ad1235e2d3
--- /dev/null
+++ b/gap_reports/gap_1b7585b4-03be-4444-9c10-51fe9850cb70.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1b7585b4-03be-4444-9c10-51fe9850cb70.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1b7585b4-03be-4444-9c10-51fe9850cb70.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2834 |
+| Sim rows | 251 |
+| Real episode_id | `1b7585b4-03be-4444-9c10-51fe9850cb70` |
+| Sim episode_id | `1b7585b4-03be-4444-9c10-51fe9850cb70` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.974 | 13.35 | 23.12 | 1982.82 | 0.5823 |
+| 1 | descend | 342 | 30 | 0.946 | 6.30 | 10.92 | 3625.36 | 0.7500 |
+| 2 | settle | 351 | 31 | 0.024 | 0.78 | 1.34 | 3625.24 | 0.7096 |
+| 3 | close | 121 | 11 | 0.714 | 4.94 | 8.56 | 2893.49 | 0.9552 |
+| 4 | lift | 436 | 38 | 3.088 | 14.44 | 25.01 | 2132.94 | 1.1126 |
+| 5 | move_xy | 391 | 34 | 5.356 | 27.18 | 47.07 | 2719.57 | 0.8898 |
+| 6 | lower | 401 | 35 | 0.087 | 1.40 | 2.42 | 3554.13 | 1.0171 |
+| 7 | open | 122 | 11 | 0.620 | 3.98 | 6.90 | 3625.47 | 0.6452 |
+| 8 | retract | 436 | 38 | 3.080 | 14.38 | 24.92 | 2303.33 | 0.7145 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.546 |
+| TCP position RMSE (mm, per-axis) | 12.54 |
+| EE position RMS L2 (mm) | 23.71 |
+| TCP rotvec (mrad) | 3011.39 |
+| W1 effort mean (A) | 0.8185 |
+| W1 effort per joint (A) | j0=0.2284, j1=1.3368, j2=1.6564, j3=0.7601, j4=0.3389, j5=0.5906 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00066 | -0.00033 | -0.00075 | 0.00105 | 0.042 |
+| 1 | 0.00063 | -0.00064 | -0.00100 | 0.00134 | 0.047 |
+| 2 | 0.00066 | -0.00065 | -0.00098 | 0.00135 | 0.045 |
+| 3 | 0.00157 | -0.00036 | -0.00088 | 0.00184 | 0.137 |
+| 4 | 0.00031 | -0.00004 | -0.00037 | 0.00048 | 0.088 |
+| 5 | 0.00143 | -0.00083 | -0.00184 | 0.00247 | 0.115 |
+| 6 | 0.00153 | -0.00082 | -0.00192 | 0.00259 | 0.128 |
+| 7 | 0.00042 | -0.00035 | -0.00079 | 0.00096 | 0.046 |
+| 8 | -0.00004 | -0.00006 | -0.00010 | 0.00012 | 0.017 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1b907407-8d3b-4b09-b966-c43ed2889a67.md b/gap_reports/gap_1b907407-8d3b-4b09-b966-c43ed2889a67.md
new file mode 100644
index 0000000000000000000000000000000000000000..778b677cb1d037e65ac6ed20244e54e3ea08c5f7
--- /dev/null
+++ b/gap_reports/gap_1b907407-8d3b-4b09-b966-c43ed2889a67.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1b907407-8d3b-4b09-b966-c43ed2889a67.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1b907407-8d3b-4b09-b966-c43ed2889a67.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2486 |
+| Sim rows | 250 |
+| Real episode_id | `1b907407-8d3b-4b09-b966-c43ed2889a67` |
+| Sim episode_id | `1b907407-8d3b-4b09-b966-c43ed2889a67` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.876 | 18.40 | 31.87 | 1955.08 | 0.6361 |
+| 1 | descend | 251 | 25 | 0.948 | 6.62 | 11.46 | 3624.69 | 0.8320 |
+| 2 | settle | 346 | 34 | 0.029 | 1.02 | 1.77 | 3624.58 | 0.7344 |
+| 3 | close | 154 | 16 | 0.802 | 5.80 | 10.04 | 3625.38 | 1.0345 |
+| 4 | lift | 313 | 31 | 3.425 | 18.26 | 31.63 | 2450.42 | 1.1260 |
+| 5 | move_xy | 394 | 39 | 8.265 | 45.55 | 78.90 | 2834.99 | 0.9278 |
+| 6 | lower | 342 | 34 | 0.095 | 1.79 | 3.11 | 3625.07 | 1.0887 |
+| 7 | open | 155 | 16 | 0.779 | 5.48 | 9.49 | 3624.77 | 0.7632 |
+| 8 | retract | 311 | 31 | 3.634 | 19.20 | 33.26 | 2449.39 | 0.7608 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.503 |
+| TCP position RMSE (mm, per-axis) | 18.94 |
+| EE position RMS L2 (mm) | 36.98 |
+| TCP rotvec (mrad) | 3154.59 |
+| W1 effort mean (A) | 0.8595 |
+| W1 effort per joint (A) | j0=0.2394, j1=1.5984, j2=1.5970, j3=0.8126, j4=0.3094, j5=0.5999 |
+
+## Phase-end anchor (sim - 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 | -0.00024 | -0.00073 | 0.00132 | 0.030 |
+| 1 | 0.00113 | -0.00060 | -0.00123 | 0.00178 | 0.056 |
+| 2 | 0.00112 | -0.00064 | -0.00123 | 0.00178 | 0.062 |
+| 3 | 0.00156 | -0.00040 | -0.00084 | 0.00181 | 0.095 |
+| 4 | 0.00020 | -0.00017 | -0.00020 | 0.00033 | 0.090 |
+| 5 | 0.00230 | -0.00093 | -0.00176 | 0.00304 | 0.149 |
+| 6 | 0.00215 | -0.00088 | -0.00083 | 0.00247 | 0.126 |
+| 7 | 0.00099 | -0.00025 | -0.00096 | 0.00140 | 0.050 |
+| 8 | -0.00013 | -0.00021 | -0.00022 | 0.00033 | 0.037 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1b90c343-132e-49dc-9ffb-3f2f195fc4b6.md b/gap_reports/gap_1b90c343-132e-49dc-9ffb-3f2f195fc4b6.md
new file mode 100644
index 0000000000000000000000000000000000000000..86a779876c508292d0b49e62310964b76bca2e4d
--- /dev/null
+++ b/gap_reports/gap_1b90c343-132e-49dc-9ffb-3f2f195fc4b6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1b90c343-132e-49dc-9ffb-3f2f195fc4b6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1b90c343-132e-49dc-9ffb-3f2f195fc4b6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2742 |
+| Sim rows | 244 |
+| Real episode_id | `1b90c343-132e-49dc-9ffb-3f2f195fc4b6` |
+| Sim episode_id | `1b90c343-132e-49dc-9ffb-3f2f195fc4b6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 177 | 16 | 2.586 | 10.70 | 18.53 | 2057.36 | 0.5889 |
+| 1 | descend | 439 | 38 | 0.710 | 4.66 | 8.06 | 3625.38 | 0.7224 |
+| 2 | settle | 367 | 32 | 0.024 | 0.76 | 1.32 | 3625.24 | 0.7267 |
+| 3 | close | 126 | 12 | 0.886 | 5.67 | 9.82 | 3334.44 | 0.9947 |
+| 4 | lift | 393 | 34 | 2.995 | 13.85 | 23.99 | 2377.66 | 1.1040 |
+| 5 | move_xy | 327 | 29 | 6.848 | 34.79 | 60.27 | 2628.92 | 0.8783 |
+| 6 | lower | 398 | 35 | 0.080 | 1.30 | 2.25 | 3481.02 | 1.0306 |
+| 7 | open | 125 | 12 | 0.853 | 5.43 | 9.40 | 3625.48 | 0.6755 |
+| 8 | retract | 390 | 34 | 3.053 | 14.34 | 24.83 | 2307.55 | 0.7258 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.865 |
+| TCP position RMSE (mm, per-axis) | 14.17 |
+| EE position RMS L2 (mm) | 25.40 |
+| TCP rotvec (mrad) | 3069.34 |
+| W1 effort mean (A) | 0.8220 |
+| W1 effort per joint (A) | j0=0.2374, j1=1.3784, j2=1.6710, j3=0.7432, j4=0.2702, j5=0.6317 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00064 | -0.00026 | -0.00065 | 0.00094 | 0.038 |
+| 1 | 0.00062 | -0.00064 | -0.00098 | 0.00133 | 0.049 |
+| 2 | 0.00062 | -0.00063 | -0.00099 | 0.00132 | 0.048 |
+| 3 | 0.00101 | -0.00036 | -0.00036 | 0.00113 | 0.087 |
+| 4 | 0.00014 | -0.00029 | -0.00044 | 0.00055 | 0.073 |
+| 5 | 0.00129 | -0.00087 | -0.00108 | 0.00190 | 0.103 |
+| 6 | 0.00174 | -0.00077 | -0.00114 | 0.00222 | 0.167 |
+| 7 | 0.00043 | -0.00032 | -0.00075 | 0.00093 | 0.041 |
+| 8 | -0.00010 | -0.00015 | -0.00017 | 0.00025 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1bd54f74-96bb-4686-8a2a-99255569c77d.md b/gap_reports/gap_1bd54f74-96bb-4686-8a2a-99255569c77d.md
new file mode 100644
index 0000000000000000000000000000000000000000..c1371356dad6ae373ce9bcac32e494ba481e781d
--- /dev/null
+++ b/gap_reports/gap_1bd54f74-96bb-4686-8a2a-99255569c77d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1bd54f74-96bb-4686-8a2a-99255569c77d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1bd54f74-96bb-4686-8a2a-99255569c77d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2817 |
+| Sim rows | 251 |
+| Real episode_id | `1bd54f74-96bb-4686-8a2a-99255569c77d` |
+| Sim episode_id | `1bd54f74-96bb-4686-8a2a-99255569c77d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 248 | 22 | 3.626 | 13.90 | 24.07 | 1980.66 | 0.5550 |
+| 1 | descend | 254 | 23 | 0.920 | 5.63 | 9.76 | 3626.05 | 0.6371 |
+| 2 | settle | 410 | 36 | 0.020 | 0.66 | 1.15 | 3625.90 | 0.6171 |
+| 3 | close | 100 | 9 | 0.454 | 2.85 | 4.93 | 1667.71 | 0.9167 |
+| 4 | lift | 421 | 37 | 3.871 | 15.96 | 27.64 | 2174.88 | 1.0809 |
+| 5 | move_xy | 428 | 37 | 8.860 | 38.51 | 66.70 | 2129.96 | 0.8541 |
+| 6 | lower | 431 | 38 | 0.082 | 1.22 | 2.12 | 1790.70 | 0.9384 |
+| 7 | open | 101 | 10 | 0.570 | 3.38 | 5.86 | 3626.02 | 0.6457 |
+| 8 | retract | 424 | 37 | 4.223 | 17.82 | 30.86 | 2248.00 | 0.6638 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.739 |
+| TCP position RMSE (mm, per-axis) | 15.99 |
+| EE position RMS L2 (mm) | 31.56 |
+| TCP rotvec (mrad) | 2659.88 |
+| W1 effort mean (A) | 0.7695 |
+| W1 effort per joint (A) | j0=0.1967, j1=1.1903, j2=1.5336, j3=0.7495, j4=0.2815, j5=0.6655 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00067 | -0.00032 | -0.00054 | 0.00092 | 0.029 |
+| 1 | 0.00066 | -0.00056 | -0.00072 | 0.00112 | 0.036 |
+| 2 | 0.00067 | -0.00055 | -0.00075 | 0.00114 | 0.037 |
+| 3 | 0.00141 | -0.00024 | -0.00088 | 0.00168 | 0.122 |
+| 4 | 0.00024 | -0.00014 | -0.00025 | 0.00037 | 0.091 |
+| 5 | 0.00142 | -0.00079 | -0.00119 | 0.00201 | 0.107 |
+| 6 | 0.00169 | -0.00062 | -0.00158 | 0.00239 | 0.160 |
+| 7 | 0.00052 | -0.00035 | -0.00054 | 0.00083 | 0.031 |
+| 8 | -0.00004 | -0.00007 | -0.00011 | 0.00013 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1bd5a479-2e53-4cb3-945f-08219b7b845f.md b/gap_reports/gap_1bd5a479-2e53-4cb3-945f-08219b7b845f.md
new file mode 100644
index 0000000000000000000000000000000000000000..39de4167b63847e00776f26213a647a7dd5e3481
--- /dev/null
+++ b/gap_reports/gap_1bd5a479-2e53-4cb3-945f-08219b7b845f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1bd5a479-2e53-4cb3-945f-08219b7b845f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1bd5a479-2e53-4cb3-945f-08219b7b845f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2645 |
+| Sim rows | 236 |
+| Real episode_id | `1bd5a479-2e53-4cb3-945f-08219b7b845f` |
+| Sim episode_id | `1bd5a479-2e53-4cb3-945f-08219b7b845f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 210 | 19 | 3.570 | 17.63 | 30.53 | 1855.08 | 0.6306 |
+| 1 | descend | 276 | 24 | 0.989 | 7.06 | 12.23 | 3624.68 | 0.7240 |
+| 2 | settle | 378 | 33 | 0.026 | 1.00 | 1.74 | 3624.58 | 0.7638 |
+| 3 | close | 139 | 13 | 0.636 | 4.46 | 7.72 | 3625.40 | 1.0078 |
+| 4 | lift | 383 | 34 | 3.078 | 16.09 | 27.86 | 2335.88 | 1.1193 |
+| 5 | move_xy | 352 | 31 | 6.972 | 38.38 | 66.47 | 2718.67 | 0.9234 |
+| 6 | lower | 389 | 34 | 0.087 | 1.70 | 2.94 | 3625.17 | 1.0126 |
+| 7 | open | 138 | 13 | 0.690 | 4.77 | 8.27 | 3624.74 | 0.7441 |
+| 8 | retract | 380 | 33 | 2.710 | 14.43 | 24.99 | 2359.42 | 0.7572 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.982 |
+| TCP position RMSE (mm, per-axis) | 16.15 |
+| EE position RMS L2 (mm) | 29.80 |
+| TCP rotvec (mrad) | 3119.04 |
+| W1 effort mean (A) | 0.8472 |
+| W1 effort per joint (A) | j0=0.2341, j1=1.6171, j2=1.5739, j3=0.7686, j4=0.2423, j5=0.6473 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00111 | -0.00032 | -0.00069 | 0.00135 | 0.030 |
+| 1 | 0.00110 | -0.00065 | -0.00119 | 0.00174 | 0.058 |
+| 2 | 0.00111 | -0.00064 | -0.00117 | 0.00174 | 0.053 |
+| 3 | 0.00167 | -0.00047 | -0.00201 | 0.00265 | 0.174 |
+| 4 | 0.00033 | -0.00007 | -0.00040 | 0.00052 | 0.099 |
+| 5 | 0.00209 | -0.00080 | -0.00213 | 0.00309 | 0.132 |
+| 6 | 0.00218 | -0.00093 | -0.00166 | 0.00290 | 0.127 |
+| 7 | 0.00095 | -0.00033 | -0.00097 | 0.00140 | 0.043 |
+| 8 | -0.00013 | -0.00018 | -0.00020 | 0.00030 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1bdaba88-057d-4371-a062-04d0ae0e3e34.md b/gap_reports/gap_1bdaba88-057d-4371-a062-04d0ae0e3e34.md
new file mode 100644
index 0000000000000000000000000000000000000000..76080e617050c5c8fe146fa007e28d162263eaa7
--- /dev/null
+++ b/gap_reports/gap_1bdaba88-057d-4371-a062-04d0ae0e3e34.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1bdaba88-057d-4371-a062-04d0ae0e3e34.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1bdaba88-057d-4371-a062-04d0ae0e3e34.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2926 |
+| Sim rows | 258 |
+| Real episode_id | `1bdaba88-057d-4371-a062-04d0ae0e3e34` |
+| Sim episode_id | `1bdaba88-057d-4371-a062-04d0ae0e3e34` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 215 | 19 | 2.878 | 11.35 | 19.67 | 3.03 | 0.5709 |
+| 1 | descend | 613 | 53 | 0.689 | 4.40 | 7.62 | 4.31 | 0.7320 |
+| 2 | settle | 378 | 33 | 0.023 | 0.80 | 1.38 | 4.45 | 0.6712 |
+| 3 | close | 121 | 11 | 0.772 | 4.66 | 8.07 | 6.33 | 0.8922 |
+| 4 | lift | 341 | 30 | 2.639 | 10.68 | 18.50 | 4.26 | 1.1009 |
+| 5 | move_xy | 393 | 34 | 6.812 | 30.59 | 52.98 | 5.04 | 0.8993 |
+| 6 | lower | 403 | 35 | 0.088 | 1.37 | 2.38 | 6.81 | 0.9783 |
+| 7 | open | 122 | 11 | 0.871 | 5.09 | 8.81 | 4.61 | 0.6245 |
+| 8 | retract | 340 | 30 | 2.649 | 10.69 | 18.51 | 2.91 | 0.6949 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.799 |
+| TCP position RMSE (mm, per-axis) | 12.30 |
+| EE position RMS L2 (mm) | 22.45 |
+| TCP rotvec (mrad) | 4.80 |
+| W1 effort mean (A) | 0.7756 |
+| W1 effort per joint (A) | j0=0.3001, j1=1.1316, j2=1.4836, j3=0.6853, j4=0.5097, j5=0.5432 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00070 | -0.00059 | -0.00049 | 0.00104 | 0.031 |
+| 1 | 0.00073 | -0.00086 | -0.00076 | 0.00136 | 0.035 |
+| 2 | 0.00072 | -0.00090 | -0.00070 | 0.00135 | 0.034 |
+| 3 | 0.00119 | -0.00066 | -0.00104 | 0.00172 | 0.099 |
+| 4 | 0.00009 | -0.00030 | -0.00031 | 0.00044 | 0.072 |
+| 5 | 0.00136 | -0.00111 | -0.00125 | 0.00216 | 0.096 |
+| 6 | 0.00147 | -0.00102 | -0.00095 | 0.00203 | 0.104 |
+| 7 | 0.00049 | -0.00057 | -0.00055 | 0.00093 | 0.041 |
+| 8 | -0.00006 | -0.00009 | -0.00013 | 0.00017 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1be9ea3b-7b08-4014-93d4-93444a778471.md b/gap_reports/gap_1be9ea3b-7b08-4014-93d4-93444a778471.md
new file mode 100644
index 0000000000000000000000000000000000000000..046adbed4f7673be4dbd2b8ce9ab48a5f7847311
--- /dev/null
+++ b/gap_reports/gap_1be9ea3b-7b08-4014-93d4-93444a778471.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1be9ea3b-7b08-4014-93d4-93444a778471.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1be9ea3b-7b08-4014-93d4-93444a778471.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2937 |
+| Sim rows | 262 |
+| Real episode_id | `1be9ea3b-7b08-4014-93d4-93444a778471` |
+| Sim episode_id | `1be9ea3b-7b08-4014-93d4-93444a778471` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 198 | 18 | 3.195 | 12.11 | 20.98 | 1996.01 | 0.5973 |
+| 1 | descend | 307 | 27 | 1.227 | 7.30 | 12.65 | 3625.99 | 0.7822 |
+| 2 | settle | 363 | 32 | 0.024 | 0.69 | 1.19 | 3565.53 | 0.6797 |
+| 3 | close | 183 | 17 | 1.046 | 6.04 | 10.46 | 1167.28 | 0.8903 |
+| 4 | lift | 474 | 41 | 3.958 | 16.11 | 27.90 | 2203.04 | 1.0840 |
+| 5 | move_xy | 371 | 33 | 8.392 | 36.74 | 63.64 | 2102.73 | 0.8446 |
+| 6 | lower | 386 | 34 | 0.078 | 1.17 | 2.03 | 1500.51 | 0.9115 |
+| 7 | open | 181 | 17 | 0.976 | 5.57 | 9.64 | 3626.16 | 0.5976 |
+| 8 | retract | 474 | 41 | 3.903 | 15.95 | 27.63 | 2447.62 | 0.7066 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.576 |
+| TCP position RMSE (mm, per-axis) | 15.40 |
+| EE position RMS L2 (mm) | 28.64 |
+| TCP rotvec (mrad) | 2621.99 |
+| W1 effort mean (A) | 0.7932 |
+| W1 effort per joint (A) | j0=0.2759, j1=1.2136, j2=1.5063, j3=0.7309, j4=0.3955, j5=0.6370 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00062 | -0.00017 | -0.00036 | 0.00074 | 0.047 |
+| 1 | 0.00075 | -0.00056 | -0.00081 | 0.00124 | 0.041 |
+| 2 | 0.00068 | -0.00056 | -0.00076 | 0.00116 | 0.038 |
+| 3 | 0.00160 | -0.00023 | -0.00063 | 0.00173 | 0.167 |
+| 4 | 0.00047 | -0.00024 | -0.00043 | 0.00068 | 0.137 |
+| 5 | 0.00166 | -0.00081 | -0.00030 | 0.00187 | 0.158 |
+| 6 | 0.00133 | -0.00075 | -0.00131 | 0.00201 | 0.106 |
+| 7 | 0.00050 | -0.00027 | -0.00049 | 0.00075 | 0.037 |
+| 8 | -0.00006 | -0.00006 | -0.00011 | 0.00014 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1bfa2308-00fc-44be-933d-78b2681649ec.md b/gap_reports/gap_1bfa2308-00fc-44be-933d-78b2681649ec.md
new file mode 100644
index 0000000000000000000000000000000000000000..fa8f549de859bba3aef7e4116a7de0e184aee992
--- /dev/null
+++ b/gap_reports/gap_1bfa2308-00fc-44be-933d-78b2681649ec.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1bfa2308-00fc-44be-933d-78b2681649ec.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1bfa2308-00fc-44be-933d-78b2681649ec.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1263 |
+| Sim rows | 130 |
+| Real episode_id | `1bfa2308-00fc-44be-933d-78b2681649ec` |
+| Sim episode_id | `1bfa2308-00fc-44be-933d-78b2681649ec` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 190 | 19 | 4.274 | 15.66 | 27.13 | 310.27 | 0.6273 |
+| 1 | descend | 103 | 11 | 5.042 | 3.68 | 6.37 | 196.34 | 0.6226 |
+| 2 | settle | 37 | 4 | 4.981 | 2.25 | 3.89 | 196.83 | 0.6474 |
+| 3 | close | 36 | 4 | 4.982 | 2.09 | 3.63 | 197.18 | 1.0058 |
+| 4 | lift | 103 | 11 | 5.085 | 4.53 | 7.85 | 196.70 | 1.0756 |
+| 5 | move_xy | 243 | 24 | 6.761 | 23.52 | 40.74 | 477.05 | 1.1546 |
+| 6 | lower | 103 | 11 | 0.859 | 4.80 | 8.31 | 2096.78 | 1.1473 |
+| 7 | open | 95 | 10 | 0.030 | 2.90 | 5.02 | 6.63 | 0.7500 |
+| 8 | retract | 102 | 11 | 0.631 | 3.90 | 6.76 | 6.11 | 0.8221 |
+| 9 | return | 251 | 25 | 3.583 | 15.37 | 26.62 | 1107.33 | 0.6628 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.229 |
+| TCP position RMSE (mm, per-axis) | 10.61 |
+| EE position RMS L2 (mm) | 24.31 |
+| TCP rotvec (mrad) | 781.12 |
+| W1 effort mean (A) | 0.8053 |
+| W1 effort per joint (A) | j0=0.1846, j1=1.5675, j2=1.4593, j3=0.8113, j4=0.2459, j5=0.5631 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00145 | -0.00361 | 0.00024 | 0.00390 | 12.227 |
+| 1 | 0.00203 | -0.00328 | 0.00018 | 0.00386 | 12.204 |
+| 2 | 0.00204 | -0.00333 | 0.00013 | 0.00391 | 12.202 |
+| 3 | 0.00212 | -0.00283 | -0.00065 | 0.00360 | 12.202 |
+| 4 | 0.00173 | -0.00322 | -0.00073 | 0.00373 | 12.224 |
+| 5 | 0.00140 | -0.00361 | -0.00265 | 0.00470 | 0.153 |
+| 6 | 0.00174 | -0.00341 | -0.00210 | 0.00437 | 0.144 |
+| 7 | 0.00238 | -0.00419 | -0.00137 | 0.00501 | 0.066 |
+| 8 | 0.00193 | -0.00421 | -0.00141 | 0.00484 | 0.060 |
+| 9 | -0.00016 | -0.00008 | -0.00031 | 0.00036 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1c006ecc-0291-4f76-9cec-d9f1a1bc8725.md b/gap_reports/gap_1c006ecc-0291-4f76-9cec-d9f1a1bc8725.md
new file mode 100644
index 0000000000000000000000000000000000000000..096824f91e1e52f0fa1fc68db43655d94528b9b4
--- /dev/null
+++ b/gap_reports/gap_1c006ecc-0291-4f76-9cec-d9f1a1bc8725.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1c006ecc-0291-4f76-9cec-d9f1a1bc8725.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1c006ecc-0291-4f76-9cec-d9f1a1bc8725.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2481 |
+| Sim rows | 221 |
+| Real episode_id | `1c006ecc-0291-4f76-9cec-d9f1a1bc8725` |
+| Sim episode_id | `1c006ecc-0291-4f76-9cec-d9f1a1bc8725` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 182 | 16 | 2.884 | 12.27 | 21.24 | 1992.98 | 0.5912 |
+| 1 | descend | 415 | 36 | 0.399 | 2.71 | 4.70 | 3625.42 | 0.6929 |
+| 2 | settle | 370 | 32 | 0.022 | 0.71 | 1.23 | 3625.33 | 0.7066 |
+| 3 | close | 95 | 9 | 0.469 | 3.37 | 5.84 | 3625.68 | 0.9820 |
+| 4 | lift | 302 | 27 | 3.030 | 14.48 | 25.08 | 2275.93 | 1.1692 |
+| 5 | move_xy | 316 | 28 | 6.819 | 34.85 | 60.37 | 2601.82 | 0.8820 |
+| 6 | lower | 403 | 35 | 0.090 | 1.36 | 2.36 | 3480.90 | 1.0423 |
+| 7 | open | 94 | 9 | 0.447 | 2.92 | 5.05 | 3625.43 | 0.6696 |
+| 8 | retract | 304 | 27 | 3.080 | 14.80 | 25.64 | 2268.22 | 0.7238 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.869 |
+| TCP position RMSE (mm, per-axis) | 14.23 |
+| EE position RMS L2 (mm) | 25.72 |
+| TCP rotvec (mrad) | 3086.87 |
+| W1 effort mean (A) | 0.8195 |
+| W1 effort per joint (A) | j0=0.2331, j1=1.3418, j2=1.6357, j3=0.7706, j4=0.3142, j5=0.6217 |
+
+## Phase-end anchor (sim - 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 | -0.00031 | -0.00066 | 0.00097 | 0.038 |
+| 1 | 0.00057 | -0.00055 | -0.00092 | 0.00121 | 0.041 |
+| 2 | 0.00062 | -0.00057 | -0.00089 | 0.00123 | 0.041 |
+| 3 | 0.00113 | -0.00049 | -0.00185 | 0.00222 | 0.153 |
+| 4 | -0.00007 | -0.00061 | -0.00057 | 0.00084 | 0.103 |
+| 5 | 0.00171 | -0.00073 | -0.00106 | 0.00214 | 0.157 |
+| 6 | 0.00139 | -0.00070 | -0.00129 | 0.00202 | 0.109 |
+| 7 | 0.00039 | -0.00038 | -0.00077 | 0.00094 | 0.038 |
+| 8 | -0.00012 | -0.00016 | -0.00016 | 0.00026 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1c0b3bfc-6679-4cee-a230-053c01e5d92a.md b/gap_reports/gap_1c0b3bfc-6679-4cee-a230-053c01e5d92a.md
new file mode 100644
index 0000000000000000000000000000000000000000..8dddc23da2665a307768916f989c28fdd4dae7d0
--- /dev/null
+++ b/gap_reports/gap_1c0b3bfc-6679-4cee-a230-053c01e5d92a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1c0b3bfc-6679-4cee-a230-053c01e5d92a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1c0b3bfc-6679-4cee-a230-053c01e5d92a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2555 |
+| Sim rows | 225 |
+| Real episode_id | `1c0b3bfc-6679-4cee-a230-053c01e5d92a` |
+| Sim episode_id | `1c0b3bfc-6679-4cee-a230-053c01e5d92a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 183 | 16 | 2.378 | 8.90 | 15.42 | 2023.68 | 0.5666 |
+| 1 | descend | 379 | 33 | 0.838 | 4.86 | 8.42 | 3626.06 | 0.7087 |
+| 2 | settle | 391 | 34 | 0.021 | 0.57 | 0.99 | 3625.91 | 0.6999 |
+| 3 | close | 134 | 12 | 1.149 | 6.71 | 11.61 | 1792.39 | 0.9291 |
+| 4 | lift | 287 | 25 | 2.515 | 10.31 | 17.86 | 1304.84 | 1.0740 |
+| 5 | move_xy | 356 | 31 | 5.583 | 25.73 | 44.57 | 1943.35 | 0.8826 |
+| 6 | lower | 402 | 35 | 0.080 | 1.03 | 1.78 | 1242.38 | 1.0051 |
+| 7 | open | 135 | 12 | 1.009 | 5.76 | 9.98 | 3626.03 | 0.6598 |
+| 8 | retract | 288 | 25 | 2.667 | 10.93 | 18.92 | 2311.10 | 0.6964 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.434 |
+| TCP position RMSE (mm, per-axis) | 10.91 |
+| EE position RMS L2 (mm) | 19.84 |
+| TCP rotvec (mrad) | 2562.89 |
+| W1 effort mean (A) | 0.7980 |
+| W1 effort per joint (A) | j0=0.2135, j1=1.1762, j2=1.6425, j3=0.8478, j4=0.2926, j5=0.6156 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00012 | -0.00035 | -0.00045 | 0.00059 | 0.025 |
+| 1 | 0.00014 | -0.00059 | -0.00075 | 0.00096 | 0.035 |
+| 2 | 0.00013 | -0.00057 | -0.00080 | 0.00099 | 0.037 |
+| 3 | 0.00084 | -0.00060 | -0.00179 | 0.00206 | 0.171 |
+| 4 | 0.00039 | -0.00008 | -0.00046 | 0.00061 | 0.111 |
+| 5 | 0.00089 | -0.00076 | -0.00053 | 0.00128 | 0.116 |
+| 6 | 0.00075 | -0.00077 | -0.00077 | 0.00132 | 0.106 |
+| 7 | -0.00006 | -0.00041 | -0.00051 | 0.00066 | 0.030 |
+| 8 | -0.00007 | -0.00010 | -0.00014 | 0.00019 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1c0ea95f-a0e4-4b24-8ed5-a8ce8529b7d4.md b/gap_reports/gap_1c0ea95f-a0e4-4b24-8ed5-a8ce8529b7d4.md
new file mode 100644
index 0000000000000000000000000000000000000000..c409488b77e8d7459b322e8f060706340310aca7
--- /dev/null
+++ b/gap_reports/gap_1c0ea95f-a0e4-4b24-8ed5-a8ce8529b7d4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1c0ea95f-a0e4-4b24-8ed5-a8ce8529b7d4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1c0ea95f-a0e4-4b24-8ed5-a8ce8529b7d4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2598 |
+| Sim rows | 234 |
+| Real episode_id | `1c0ea95f-a0e4-4b24-8ed5-a8ce8529b7d4` |
+| Sim episode_id | `1c0ea95f-a0e4-4b24-8ed5-a8ce8529b7d4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.016 | 10.12 | 17.54 | 1798.09 | 0.5675 |
+| 1 | descend | 444 | 39 | 0.525 | 3.54 | 6.14 | 3625.34 | 0.7816 |
+| 2 | settle | 380 | 34 | 0.024 | 0.75 | 1.30 | 3625.23 | 0.6269 |
+| 3 | close | 111 | 10 | 0.519 | 3.41 | 5.90 | 2957.23 | 0.9756 |
+| 4 | lift | 326 | 29 | 2.416 | 12.30 | 21.31 | 2227.07 | 1.0978 |
+| 5 | move_xy | 324 | 29 | 4.895 | 27.20 | 47.11 | 2615.38 | 0.8954 |
+| 6 | lower | 391 | 34 | 0.089 | 1.37 | 2.37 | 3551.96 | 0.9861 |
+| 7 | open | 112 | 11 | 0.529 | 3.45 | 5.97 | 3625.46 | 0.6461 |
+| 8 | retract | 323 | 29 | 2.380 | 12.17 | 21.08 | 2228.02 | 0.7041 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.118 |
+| TCP position RMSE (mm, per-axis) | 11.45 |
+| EE position RMS L2 (mm) | 20.54 |
+| TCP rotvec (mrad) | 2996.07 |
+| W1 effort mean (A) | 0.7995 |
+| W1 effort per joint (A) | j0=0.2137, j1=1.3272, j2=1.6238, j3=0.7695, j4=0.2802, j5=0.5825 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00049 | -0.00049 | -0.00067 | 0.00096 | 0.033 |
+| 1 | 0.00040 | -0.00074 | -0.00096 | 0.00128 | 0.046 |
+| 2 | 0.00044 | -0.00075 | -0.00098 | 0.00131 | 0.043 |
+| 3 | 0.00086 | -0.00064 | -0.00108 | 0.00152 | 0.074 |
+| 4 | 0.00021 | -0.00034 | -0.00047 | 0.00062 | 0.100 |
+| 5 | 0.00112 | -0.00106 | -0.00125 | 0.00199 | 0.099 |
+| 6 | 0.00102 | -0.00107 | -0.00190 | 0.00241 | 0.140 |
+| 7 | 0.00024 | -0.00055 | -0.00081 | 0.00101 | 0.040 |
+| 8 | -0.00012 | -0.00018 | -0.00016 | 0.00027 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1c2dd612-53e1-4509-950a-19ae8548c4d5.md b/gap_reports/gap_1c2dd612-53e1-4509-950a-19ae8548c4d5.md
new file mode 100644
index 0000000000000000000000000000000000000000..b6af5ecc44d3cc5f496bffd7ffdc6c51662f0393
--- /dev/null
+++ b/gap_reports/gap_1c2dd612-53e1-4509-950a-19ae8548c4d5.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1c2dd612-53e1-4509-950a-19ae8548c4d5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1c2dd612-53e1-4509-950a-19ae8548c4d5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 374 |
+| Sim rows | 54 |
+| Real episode_id | `1c2dd612-53e1-4509-950a-19ae8548c4d5` |
+| Sim episode_id | `1c2dd612-53e1-4509-950a-19ae8548c4d5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 164 | 17 | 2.464 | 10.96 | 18.98 | 555.24 | 0.8083 |
+| 1 | descend | 210 | 21 | 0.023 | 2.06 | 3.56 | 2.08 | 0.7663 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.742 |
+| TCP position RMSE (mm, per-axis) | 7.88 |
+| EE position RMS L2 (mm) | 12.85 |
+| TCP rotvec (mrad) | 392.62 |
+| W1 effort mean (A) | 0.7844 |
+| W1 effort per joint (A) | j0=0.1222, j1=1.8238, j2=1.7025, j3=0.8332, j4=0.0983, j5=0.1268 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00118 | -0.00340 | 0.00062 | 0.00366 | 0.045 |
+| 1 | -0.00095 | -0.00340 | 0.00050 | 0.00356 | 0.047 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1c2e0875-c8fc-48ab-be24-64d2ecfb4875.md b/gap_reports/gap_1c2e0875-c8fc-48ab-be24-64d2ecfb4875.md
new file mode 100644
index 0000000000000000000000000000000000000000..994051fa15f2916765255cb26b2e5b4cc937637c
--- /dev/null
+++ b/gap_reports/gap_1c2e0875-c8fc-48ab-be24-64d2ecfb4875.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1c2e0875-c8fc-48ab-be24-64d2ecfb4875.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1c2e0875-c8fc-48ab-be24-64d2ecfb4875.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1832 |
+| Sim rows | 186 |
+| Real episode_id | `1c2e0875-c8fc-48ab-be24-64d2ecfb4875` |
+| Sim episode_id | `1c2e0875-c8fc-48ab-be24-64d2ecfb4875` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 23 | 5.992 | 19.20 | 33.26 | 1590.04 | 0.7504 |
+| 1 | descend | 93 | 10 | 0.580 | 3.44 | 5.96 | 4.42 | 0.5977 |
+| 2 | settle | 21 | 3 | 0.020 | 2.61 | 4.52 | 4.89 | 0.5891 |
+| 3 | close | 366 | 36 | 0.113 | 1.88 | 3.26 | 4.39 | 0.9716 |
+| 4 | lift | 95 | 10 | 0.644 | 3.23 | 5.60 | 4.32 | 1.0082 |
+| 5 | move_xy | 225 | 22 | 3.520 | 20.02 | 34.67 | 6.78 | 0.9934 |
+| 6 | lower | 93 | 10 | 0.540 | 2.85 | 4.94 | 6.84 | 1.0675 |
+| 7 | open | 358 | 35 | 0.025 | 2.32 | 4.02 | 5.13 | 0.6361 |
+| 8 | retract | 93 | 10 | 0.548 | 3.38 | 5.86 | 4.69 | 0.7133 |
+| 9 | return | 264 | 27 | 3.430 | 12.75 | 22.09 | 1098.51 | 0.7528 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.478 |
+| TCP position RMSE (mm, per-axis) | 9.95 |
+| EE position RMS L2 (mm) | 19.11 |
+| TCP rotvec (mrad) | 611.16 |
+| W1 effort mean (A) | 0.7964 |
+| W1 effort per joint (A) | j0=0.2038, j1=1.4254, j2=1.5244, j3=0.7667, j4=0.4220, j5=0.4362 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00147 | -0.00376 | -0.00082 | 0.00412 | 0.029 |
+| 1 | 0.00183 | -0.00403 | -0.00090 | 0.00452 | 0.029 |
+| 2 | 0.00181 | -0.00403 | -0.00095 | 0.00452 | 0.035 |
+| 3 | 0.00065 | -0.00316 | -0.00053 | 0.00327 | 0.145 |
+| 4 | 0.00047 | -0.00274 | -0.00068 | 0.00286 | 0.150 |
+| 5 | -0.00028 | -0.00287 | -0.00068 | 0.00296 | 0.284 |
+| 6 | 0.00070 | -0.00250 | -0.00123 | 0.00287 | 0.257 |
+| 7 | 0.00216 | -0.00336 | -0.00043 | 0.00402 | 0.046 |
+| 8 | 0.00181 | -0.00340 | -0.00049 | 0.00388 | 0.049 |
+| 9 | -0.00013 | -0.00014 | -0.00027 | 0.00033 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1c44aec2-9110-46cb-9a69-807b3d0d5b8b.md b/gap_reports/gap_1c44aec2-9110-46cb-9a69-807b3d0d5b8b.md
new file mode 100644
index 0000000000000000000000000000000000000000..0e2726fcb5d53d11bfd53a141aea5fe0b28793fe
--- /dev/null
+++ b/gap_reports/gap_1c44aec2-9110-46cb-9a69-807b3d0d5b8b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1c44aec2-9110-46cb-9a69-807b3d0d5b8b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1c44aec2-9110-46cb-9a69-807b3d0d5b8b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2547 |
+| Sim rows | 225 |
+| Real episode_id | `1c44aec2-9110-46cb-9a69-807b3d0d5b8b` |
+| Sim episode_id | `1c44aec2-9110-46cb-9a69-807b3d0d5b8b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 207 | 18 | 2.480 | 13.55 | 23.46 | 1967.79 | 0.6326 |
+| 1 | descend | 398 | 35 | 0.728 | 4.97 | 8.61 | 3624.68 | 0.8467 |
+| 2 | settle | 359 | 31 | 0.028 | 0.98 | 1.70 | 3624.56 | 0.7735 |
+| 3 | close | 137 | 13 | 0.959 | 6.58 | 11.39 | 3625.09 | 1.0667 |
+| 4 | lift | 263 | 23 | 2.336 | 13.32 | 23.06 | 2428.54 | 1.1679 |
+| 5 | move_xy | 387 | 34 | 5.455 | 33.22 | 57.54 | 2830.54 | 0.9989 |
+| 6 | lower | 395 | 34 | 0.094 | 1.68 | 2.92 | 3625.06 | 1.1448 |
+| 7 | open | 137 | 12 | 1.034 | 7.12 | 12.33 | 3624.76 | 0.7575 |
+| 8 | retract | 264 | 23 | 2.264 | 13.02 | 22.54 | 2433.72 | 0.7671 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.334 |
+| TCP position RMSE (mm, per-axis) | 13.97 |
+| EE position RMS L2 (mm) | 26.15 |
+| TCP rotvec (mrad) | 3151.75 |
+| W1 effort mean (A) | 0.8987 |
+| W1 effort per joint (A) | j0=0.2662, j1=1.6469, j2=1.7537, j3=0.7637, j4=0.3190, j5=0.6426 |
+
+## Phase-end anchor (sim - 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 | -0.00036 | -0.00067 | 0.00108 | 0.032 |
+| 1 | 0.00077 | -0.00084 | -0.00128 | 0.00171 | 0.058 |
+| 2 | 0.00078 | -0.00087 | -0.00125 | 0.00171 | 0.059 |
+| 3 | 0.00122 | -0.00065 | -0.00108 | 0.00175 | 0.096 |
+| 4 | -0.00001 | -0.00066 | -0.00060 | 0.00090 | 0.117 |
+| 5 | 0.00203 | -0.00136 | -0.00313 | 0.00397 | 0.213 |
+| 6 | 0.00233 | -0.00122 | -0.00233 | 0.00352 | 0.208 |
+| 7 | 0.00057 | -0.00052 | -0.00102 | 0.00128 | 0.063 |
+| 8 | -0.00012 | -0.00022 | -0.00021 | 0.00033 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1c473642-ae10-40ae-9fb6-145cb437190f.md b/gap_reports/gap_1c473642-ae10-40ae-9fb6-145cb437190f.md
new file mode 100644
index 0000000000000000000000000000000000000000..f7914ab2c1eb2f28e4da2659d525eff5528cc879
--- /dev/null
+++ b/gap_reports/gap_1c473642-ae10-40ae-9fb6-145cb437190f.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1c473642-ae10-40ae-9fb6-145cb437190f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1c473642-ae10-40ae-9fb6-145cb437190f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 526 |
+| Sim rows | 68 |
+| Real episode_id | `1c473642-ae10-40ae-9fb6-145cb437190f` |
+| Sim episode_id | `1c473642-ae10-40ae-9fb6-145cb437190f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 316 | 31 | 3.734 | 17.83 | 30.88 | 15.89 | 0.8153 |
+| 1 | descend | 210 | 21 | 0.026 | 5.38 | 9.33 | 2.28 | 0.8462 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.640 |
+| TCP position RMSE (mm, per-axis) | 13.17 |
+| EE position RMS L2 (mm) | 24.65 |
+| TCP rotvec (mrad) | 11.35 |
+| W1 effort mean (A) | 0.8260 |
+| W1 effort per joint (A) | j0=0.1778, j1=1.8247, j2=1.7028, j3=0.9049, j4=0.2209, j5=0.1248 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00894 | -0.00190 | -0.00000 | 0.00914 | 0.049 |
+| 1 | 0.00918 | -0.00190 | -0.00004 | 0.00938 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1c6daa41-f52c-40ea-a681-ffaf078d41ed.md b/gap_reports/gap_1c6daa41-f52c-40ea-a681-ffaf078d41ed.md
new file mode 100644
index 0000000000000000000000000000000000000000..9f8acd021d8303a3546877b004a39f2888f001dc
--- /dev/null
+++ b/gap_reports/gap_1c6daa41-f52c-40ea-a681-ffaf078d41ed.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1c6daa41-f52c-40ea-a681-ffaf078d41ed.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1c6daa41-f52c-40ea-a681-ffaf078d41ed.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2658 |
+| Sim rows | 239 |
+| Real episode_id | `1c6daa41-f52c-40ea-a681-ffaf078d41ed` |
+| Sim episode_id | `1c6daa41-f52c-40ea-a681-ffaf078d41ed` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 210 | 19 | 3.518 | 13.17 | 22.81 | 2017.31 | 0.6018 |
+| 1 | descend | 350 | 31 | 1.292 | 7.39 | 12.80 | 3626.02 | 0.8880 |
+| 2 | settle | 369 | 33 | 0.023 | 0.67 | 1.16 | 3625.98 | 1.0768 |
+| 3 | close | 151 | 14 | 1.096 | 6.46 | 11.19 | 2241.19 | 1.1696 |
+| 4 | lift | 327 | 29 | 3.452 | 14.31 | 24.79 | 1641.47 | 1.2363 |
+| 5 | move_xy | 382 | 34 | 8.225 | 35.42 | 61.35 | 2380.76 | 1.0267 |
+| 6 | lower | 392 | 34 | 0.088 | 1.29 | 2.23 | 1456.03 | 1.3614 |
+| 7 | open | 151 | 14 | 1.088 | 6.23 | 10.80 | 3626.24 | 0.7423 |
+| 8 | retract | 326 | 29 | 3.545 | 14.59 | 25.27 | 2451.35 | 0.8740 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.473 |
+| TCP position RMSE (mm, per-axis) | 14.84 |
+| EE position RMS L2 (mm) | 27.79 |
+| TCP rotvec (mrad) | 2688.03 |
+| W1 effort mean (A) | 1.0159 |
+| W1 effort per joint (A) | j0=0.6203, j1=1.2310, j2=1.8166, j3=1.0416, j4=0.7567, j5=0.6290 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00062 | -0.00010 | -0.00043 | 0.00076 | 0.041 |
+| 1 | 0.00068 | -0.00054 | -0.00074 | 0.00114 | 0.035 |
+| 2 | 0.00068 | -0.00057 | -0.00075 | 0.00116 | 0.040 |
+| 3 | 0.00103 | -0.00032 | -0.00017 | 0.00109 | 0.074 |
+| 4 | 0.00004 | -0.00047 | -0.00062 | 0.00078 | 0.093 |
+| 5 | 0.00147 | -0.00063 | -0.00223 | 0.00275 | 0.198 |
+| 6 | 0.00168 | -0.00069 | -0.00109 | 0.00212 | 0.128 |
+| 7 | 0.00043 | -0.00022 | -0.00051 | 0.00070 | 0.040 |
+| 8 | -0.00010 | -0.00015 | -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.
diff --git a/gap_reports/gap_1c6e58cc-19b1-4262-b0cd-62f7a74ba03b.md b/gap_reports/gap_1c6e58cc-19b1-4262-b0cd-62f7a74ba03b.md
new file mode 100644
index 0000000000000000000000000000000000000000..d36cfa43c3575eac93be86ad55c28851271b67e1
--- /dev/null
+++ b/gap_reports/gap_1c6e58cc-19b1-4262-b0cd-62f7a74ba03b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1c6e58cc-19b1-4262-b0cd-62f7a74ba03b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1c6e58cc-19b1-4262-b0cd-62f7a74ba03b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2875 |
+| Sim rows | 254 |
+| Real episode_id | `1c6e58cc-19b1-4262-b0cd-62f7a74ba03b` |
+| Sim episode_id | `1c6e58cc-19b1-4262-b0cd-62f7a74ba03b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 276 | 24 | 3.386 | 14.69 | 25.44 | 2000.02 | 0.5944 |
+| 1 | descend | 308 | 27 | 0.822 | 5.52 | 9.56 | 3625.29 | 0.6803 |
+| 2 | settle | 386 | 34 | 0.025 | 0.83 | 1.44 | 3625.27 | 0.6588 |
+| 3 | close | 140 | 13 | 0.729 | 4.78 | 8.28 | 2965.29 | 1.0105 |
+| 4 | lift | 378 | 33 | 3.228 | 14.88 | 25.78 | 2343.98 | 1.1498 |
+| 5 | move_xy | 472 | 41 | 8.187 | 40.11 | 69.47 | 2717.87 | 0.8930 |
+| 6 | lower | 396 | 34 | 0.088 | 1.48 | 2.57 | 3552.04 | 0.9436 |
+| 7 | open | 140 | 13 | 0.717 | 4.65 | 8.05 | 3625.49 | 0.6556 |
+| 8 | retract | 379 | 33 | 3.403 | 15.80 | 27.36 | 2310.87 | 0.7387 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.370 |
+| TCP position RMSE (mm, per-axis) | 16.24 |
+| EE position RMS L2 (mm) | 32.53 |
+| TCP rotvec (mrad) | 3037.92 |
+| W1 effort mean (A) | 0.7960 |
+| W1 effort per joint (A) | j0=0.2371, j1=1.3863, j2=1.4912, j3=0.6845, j4=0.3734, j5=0.6034 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00086 | -0.00033 | -0.00068 | 0.00114 | 0.026 |
+| 1 | 0.00088 | -0.00057 | -0.00100 | 0.00145 | 0.050 |
+| 2 | 0.00088 | -0.00061 | -0.00096 | 0.00144 | 0.048 |
+| 3 | 0.00144 | -0.00031 | -0.00122 | 0.00191 | 0.086 |
+| 4 | 0.00055 | 0.00000 | -0.00019 | 0.00058 | 0.149 |
+| 5 | 0.00158 | -0.00079 | -0.00219 | 0.00282 | 0.187 |
+| 6 | 0.00165 | -0.00074 | -0.00194 | 0.00266 | 0.144 |
+| 7 | 0.00068 | -0.00030 | -0.00076 | 0.00106 | 0.040 |
+| 8 | -0.00009 | -0.00014 | -0.00016 | 0.00023 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1c7b1d69-5193-471c-ae5c-37a3abcc09fb.md b/gap_reports/gap_1c7b1d69-5193-471c-ae5c-37a3abcc09fb.md
new file mode 100644
index 0000000000000000000000000000000000000000..1f27ca170e85412dbc534c79e0b43850e11143a7
--- /dev/null
+++ b/gap_reports/gap_1c7b1d69-5193-471c-ae5c-37a3abcc09fb.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1c7b1d69-5193-471c-ae5c-37a3abcc09fb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1c7b1d69-5193-471c-ae5c-37a3abcc09fb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2912 |
+| Sim rows | 289 |
+| Real episode_id | `1c7b1d69-5193-471c-ae5c-37a3abcc09fb` |
+| Sim episode_id | `1c7b1d69-5193-471c-ae5c-37a3abcc09fb` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 216 | 22 | 3.942 | 19.14 | 33.15 | 1973.14 | 0.6322 |
+| 1 | descend | 691 | 67 | 0.340 | 2.32 | 4.02 | 3624.75 | 0.7778 |
+| 2 | settle | 331 | 33 | 0.026 | 1.01 | 1.75 | 3624.59 | 0.7272 |
+| 3 | close | 113 | 12 | 0.878 | 6.26 | 10.84 | 3625.19 | 1.0348 |
+| 4 | lift | 361 | 35 | 3.607 | 19.06 | 33.02 | 2473.23 | 1.1222 |
+| 5 | move_xy | 368 | 36 | 7.370 | 39.83 | 68.99 | 2815.23 | 0.9441 |
+| 6 | lower | 355 | 35 | 0.085 | 1.67 | 2.89 | 3625.13 | 1.0646 |
+| 7 | open | 116 | 12 | 0.858 | 6.00 | 10.39 | 3624.76 | 0.7436 |
+| 8 | retract | 361 | 35 | 3.386 | 17.77 | 30.79 | 2494.85 | 0.7553 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.265 |
+| TCP position RMSE (mm, per-axis) | 17.37 |
+| EE position RMS L2 (mm) | 30.82 |
+| TCP rotvec (mrad) | 3159.80 |
+| W1 effort mean (A) | 0.8412 |
+| W1 effort per joint (A) | j0=0.2517, j1=1.5821, j2=1.6151, j3=0.7346, j4=0.2647, j5=0.5990 |
+
+## Phase-end anchor (sim - 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 | -0.00019 | -0.00073 | 0.00130 | 0.028 |
+| 1 | 0.00119 | -0.00063 | -0.00125 | 0.00184 | 0.062 |
+| 2 | 0.00112 | -0.00065 | -0.00117 | 0.00174 | 0.056 |
+| 3 | 0.00171 | -0.00037 | -0.00151 | 0.00231 | 0.153 |
+| 4 | 0.00039 | -0.00035 | -0.00051 | 0.00073 | 0.126 |
+| 5 | 0.00289 | -0.00091 | -0.00293 | 0.00421 | 0.230 |
+| 6 | 0.00247 | -0.00081 | -0.00119 | 0.00286 | 0.192 |
+| 7 | 0.00082 | -0.00026 | -0.00096 | 0.00129 | 0.063 |
+| 8 | -0.00010 | -0.00014 | -0.00018 | 0.00025 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1c8504b7-91a8-4dd7-8fba-225da89b5b0a.md b/gap_reports/gap_1c8504b7-91a8-4dd7-8fba-225da89b5b0a.md
new file mode 100644
index 0000000000000000000000000000000000000000..3b7af1437706b201fb242a366b4114cb1eee89ad
--- /dev/null
+++ b/gap_reports/gap_1c8504b7-91a8-4dd7-8fba-225da89b5b0a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1c8504b7-91a8-4dd7-8fba-225da89b5b0a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1c8504b7-91a8-4dd7-8fba-225da89b5b0a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2885 |
+| Sim rows | 255 |
+| Real episode_id | `1c8504b7-91a8-4dd7-8fba-225da89b5b0a` |
+| Sim episode_id | `1c8504b7-91a8-4dd7-8fba-225da89b5b0a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 278 | 24 | 4.039 | 19.22 | 33.28 | 2039.44 | 0.6312 |
+| 1 | descend | 365 | 32 | 1.289 | 8.91 | 15.44 | 3624.78 | 0.7674 |
+| 2 | settle | 363 | 32 | 0.026 | 1.00 | 1.74 | 3624.55 | 0.7157 |
+| 3 | close | 169 | 15 | 0.926 | 6.44 | 11.16 | 3625.06 | 1.0038 |
+| 4 | lift | 330 | 29 | 3.111 | 16.26 | 28.17 | 2484.66 | 1.1265 |
+| 5 | move_xy | 509 | 44 | 8.433 | 46.52 | 80.57 | 2779.30 | 0.9346 |
+| 6 | lower | 379 | 33 | 0.091 | 1.75 | 3.04 | 3625.12 | 1.0440 |
+| 7 | open | 163 | 15 | 1.128 | 7.72 | 13.36 | 3624.76 | 0.7445 |
+| 8 | retract | 329 | 29 | 3.111 | 16.46 | 28.51 | 2496.21 | 0.7729 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.505 |
+| TCP position RMSE (mm, per-axis) | 19.01 |
+| EE position RMS L2 (mm) | 38.53 |
+| TCP rotvec (mrad) | 3162.04 |
+| W1 effort mean (A) | 0.8454 |
+| W1 effort per joint (A) | j0=0.2364, j1=1.5671, j2=1.5739, j3=0.8076, j4=0.2936, j5=0.5936 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00106 | -0.00018 | -0.00074 | 0.00130 | 0.025 |
+| 1 | 0.00108 | -0.00064 | -0.00116 | 0.00171 | 0.055 |
+| 2 | 0.00113 | -0.00064 | -0.00118 | 0.00175 | 0.054 |
+| 3 | 0.00188 | -0.00021 | -0.00047 | 0.00195 | 0.129 |
+| 4 | 0.00049 | -0.00038 | -0.00070 | 0.00093 | 0.148 |
+| 5 | 0.00266 | -0.00099 | -0.00153 | 0.00323 | 0.199 |
+| 6 | 0.00311 | -0.00108 | -0.00279 | 0.00431 | 0.259 |
+| 7 | 0.00090 | -0.00020 | -0.00099 | 0.00135 | 0.062 |
+| 8 | -0.00014 | -0.00024 | -0.00024 | 0.00037 | 0.043 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1cbad78a-850f-4ff5-8b9b-d4e951798018.md b/gap_reports/gap_1cbad78a-850f-4ff5-8b9b-d4e951798018.md
new file mode 100644
index 0000000000000000000000000000000000000000..e961e0b9ef094f11e8bf2fad810f8d6fec351c78
--- /dev/null
+++ b/gap_reports/gap_1cbad78a-850f-4ff5-8b9b-d4e951798018.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1cbad78a-850f-4ff5-8b9b-d4e951798018.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1cbad78a-850f-4ff5-8b9b-d4e951798018.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1383 |
+| Sim rows | 140 |
+| Real episode_id | `1cbad78a-850f-4ff5-8b9b-d4e951798018` |
+| Sim episode_id | `1cbad78a-850f-4ff5-8b9b-d4e951798018` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.333 | 16.47 | 28.52 | 1306.85 | 0.7251 |
+| 1 | descend | 66 | 7 | 0.655 | 4.09 | 7.08 | 5.04 | 0.6225 |
+| 2 | settle | 15 | 2 | 0.028 | 2.98 | 5.16 | 5.22 | 0.6391 |
+| 3 | close | 310 | 31 | 0.106 | 3.56 | 6.17 | 2223.58 | 1.0425 |
+| 4 | lift | 66 | 7 | 0.639 | 3.84 | 6.66 | 1895.16 | 1.2090 |
+| 5 | move_xy | 188 | 19 | 7.831 | 39.73 | 68.81 | 171.52 | 1.1543 |
+| 6 | lower | 66 | 7 | 5.980 | 3.64 | 6.30 | 235.50 | 1.3384 |
+| 7 | open | 278 | 27 | 5.940 | 2.40 | 4.15 | 233.93 | 0.7646 |
+| 8 | retract | 66 | 7 | 5.975 | 3.43 | 5.93 | 233.79 | 0.8733 |
+| 9 | return | 189 | 19 | 4.531 | 21.03 | 36.42 | 448.77 | 0.7940 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.478 |
+| TCP position RMSE (mm, per-axis) | 15.41 |
+| EE position RMS L2 (mm) | 30.45 |
+| TCP rotvec (mrad) | 1031.48 |
+| W1 effort mean (A) | 0.9073 |
+| W1 effort per joint (A) | j0=0.2255, j1=1.7576, j2=1.5926, j3=0.7736, j4=0.3496, j5=0.7447 |
+
+## Phase-end anchor (sim - 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 | -0.00456 | -0.00084 | 0.00488 | 0.036 |
+| 1 | 0.00169 | -0.00482 | -0.00070 | 0.00515 | 0.052 |
+| 2 | 0.00168 | -0.00483 | -0.00079 | 0.00517 | 0.019 |
+| 3 | 0.00247 | -0.00525 | -0.00200 | 0.00614 | 0.165 |
+| 4 | 0.00192 | -0.00488 | -0.00188 | 0.00557 | 0.173 |
+| 5 | 0.00301 | -0.00285 | -0.00379 | 0.00562 | 14.632 |
+| 6 | 0.00335 | -0.00192 | -0.00291 | 0.00484 | 14.553 |
+| 7 | 0.00272 | -0.00311 | -0.00052 | 0.00416 | 14.551 |
+| 8 | 0.00264 | -0.00335 | -0.00066 | 0.00432 | 14.617 |
+| 9 | -0.00005 | -0.00030 | -0.00037 | 0.00048 | 0.050 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1ce6068a-764f-4bfc-acf1-96e1a52dd891.md b/gap_reports/gap_1ce6068a-764f-4bfc-acf1-96e1a52dd891.md
new file mode 100644
index 0000000000000000000000000000000000000000..f36d7f1e0660587a1c8a0ef6f2a3d0c5fd440ab3
--- /dev/null
+++ b/gap_reports/gap_1ce6068a-764f-4bfc-acf1-96e1a52dd891.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1ce6068a-764f-4bfc-acf1-96e1a52dd891.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1ce6068a-764f-4bfc-acf1-96e1a52dd891.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2779 |
+| Sim rows | 246 |
+| Real episode_id | `1ce6068a-764f-4bfc-acf1-96e1a52dd891` |
+| Sim episode_id | `1ce6068a-764f-4bfc-acf1-96e1a52dd891` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 274 | 24 | 3.545 | 13.10 | 22.69 | 1946.96 | 0.5695 |
+| 1 | descend | 310 | 27 | 0.923 | 5.52 | 9.56 | 3626.01 | 0.6235 |
+| 2 | settle | 387 | 34 | 0.021 | 0.62 | 1.07 | 3626.02 | 0.7121 |
+| 3 | close | 123 | 11 | 0.626 | 3.97 | 6.87 | 931.70 | 0.9208 |
+| 4 | lift | 347 | 31 | 4.140 | 17.04 | 29.51 | 2103.08 | 1.1009 |
+| 5 | move_xy | 455 | 39 | 8.594 | 36.64 | 63.47 | 2091.82 | 0.8430 |
+| 6 | lower | 411 | 36 | 0.078 | 1.10 | 1.91 | 1545.36 | 0.9555 |
+| 7 | open | 122 | 11 | 0.635 | 3.65 | 6.33 | 3626.10 | 0.6321 |
+| 8 | retract | 350 | 31 | 4.007 | 16.55 | 28.66 | 2365.65 | 0.7067 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.671 |
+| TCP position RMSE (mm, per-axis) | 15.42 |
+| EE position RMS L2 (mm) | 30.62 |
+| TCP rotvec (mrad) | 2600.99 |
+| W1 effort mean (A) | 0.7757 |
+| W1 effort per joint (A) | j0=0.2328, j1=1.1602, j2=1.5550, j3=0.7724, j4=0.3457, j5=0.5881 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00067 | -0.00021 | -0.00056 | 0.00090 | 0.036 |
+| 1 | 0.00063 | -0.00046 | -0.00069 | 0.00104 | 0.031 |
+| 2 | 0.00065 | -0.00046 | -0.00071 | 0.00107 | 0.036 |
+| 3 | 0.00089 | -0.00037 | -0.00023 | 0.00099 | 0.112 |
+| 4 | 0.00033 | 0.00010 | -0.00020 | 0.00040 | 0.081 |
+| 5 | 0.00180 | -0.00057 | -0.00110 | 0.00218 | 0.171 |
+| 6 | 0.00180 | -0.00078 | -0.00070 | 0.00208 | 0.231 |
+| 7 | 0.00048 | -0.00021 | -0.00057 | 0.00078 | 0.042 |
+| 8 | -0.00010 | -0.00012 | -0.00017 | 0.00023 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1cee058e-0cae-4988-ad3a-0c7c697ea62e.md b/gap_reports/gap_1cee058e-0cae-4988-ad3a-0c7c697ea62e.md
new file mode 100644
index 0000000000000000000000000000000000000000..074b76276fda87d6acaab237eebe88da1fd8ae50
--- /dev/null
+++ b/gap_reports/gap_1cee058e-0cae-4988-ad3a-0c7c697ea62e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1cee058e-0cae-4988-ad3a-0c7c697ea62e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1cee058e-0cae-4988-ad3a-0c7c697ea62e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2506 |
+| Sim rows | 226 |
+| Real episode_id | `1cee058e-0cae-4988-ad3a-0c7c697ea62e` |
+| Sim episode_id | `1cee058e-0cae-4988-ad3a-0c7c697ea62e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 185 | 17 | 2.874 | 15.16 | 26.25 | 2165.30 | 0.5795 |
+| 1 | descend | 224 | 20 | 0.861 | 5.58 | 9.66 | 3625.34 | 0.7624 |
+| 2 | settle | 382 | 34 | 0.024 | 0.75 | 1.30 | 3625.18 | 0.6380 |
+| 3 | close | 126 | 12 | 0.647 | 4.25 | 7.36 | 3625.92 | 0.9638 |
+| 4 | lift | 390 | 34 | 2.543 | 13.05 | 22.60 | 2263.50 | 1.1046 |
+| 5 | move_xy | 294 | 26 | 4.584 | 25.65 | 44.43 | 2836.89 | 0.8828 |
+| 6 | lower | 384 | 34 | 0.083 | 1.29 | 2.23 | 3625.81 | 1.0497 |
+| 7 | open | 127 | 12 | 0.654 | 4.26 | 7.39 | 3625.30 | 0.6993 |
+| 8 | retract | 394 | 35 | 2.458 | 12.65 | 21.91 | 2273.84 | 0.7060 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.195 |
+| TCP position RMSE (mm, per-axis) | 11.96 |
+| EE position RMS L2 (mm) | 21.26 |
+| TCP rotvec (mrad) | 3140.27 |
+| W1 effort mean (A) | 0.8201 |
+| W1 effort per joint (A) | j0=0.2347, j1=1.4067, j2=1.6006, j3=0.7544, j4=0.3075, j5=0.6164 |
+
+## Phase-end anchor (sim - 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 | -0.00051 | -0.00082 | 0.00105 | 0.037 |
+| 1 | 0.00041 | -0.00074 | -0.00096 | 0.00128 | 0.047 |
+| 2 | 0.00043 | -0.00073 | -0.00096 | 0.00128 | 0.043 |
+| 3 | 0.00122 | -0.00036 | -0.00064 | 0.00142 | 0.127 |
+| 4 | 0.00018 | -0.00024 | -0.00049 | 0.00057 | 0.082 |
+| 5 | 0.00162 | -0.00095 | -0.00039 | 0.00192 | 0.160 |
+| 6 | 0.00100 | -0.00119 | -0.00224 | 0.00273 | 0.183 |
+| 7 | 0.00025 | -0.00048 | -0.00082 | 0.00099 | 0.042 |
+| 8 | -0.00008 | -0.00010 | -0.00014 | 0.00020 | 0.021 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1d0201ce-e3d1-47b1-b404-75016cbfb4a3.md b/gap_reports/gap_1d0201ce-e3d1-47b1-b404-75016cbfb4a3.md
new file mode 100644
index 0000000000000000000000000000000000000000..0efbe7881a394fbf888c874ec9a80e71d5d2ea09
--- /dev/null
+++ b/gap_reports/gap_1d0201ce-e3d1-47b1-b404-75016cbfb4a3.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1d0201ce-e3d1-47b1-b404-75016cbfb4a3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1d0201ce-e3d1-47b1-b404-75016cbfb4a3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 583 |
+| Sim rows | 74 |
+| Real episode_id | `1d0201ce-e3d1-47b1-b404-75016cbfb4a3` |
+| Sim episode_id | `1d0201ce-e3d1-47b1-b404-75016cbfb4a3` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 377 | 37 | 3.658 | 18.49 | 32.03 | 10.08 | 0.8000 |
+| 1 | descend | 206 | 21 | 0.024 | 2.77 | 4.80 | 2.07 | 0.7628 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.587 |
+| TCP position RMSE (mm, per-axis) | 13.22 |
+| EE position RMS L2 (mm) | 25.91 |
+| TCP rotvec (mrad) | 7.28 |
+| W1 effort mean (A) | 0.7867 |
+| W1 effort per joint (A) | j0=0.2312, j1=1.7232, j2=1.7033, j3=0.7813, j4=0.1207, j5=0.1608 |
+
+## Phase-end anchor (sim - 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 | -0.00471 | 0.00060 | 0.00476 | 0.033 |
+| 1 | 0.00052 | -0.00478 | 0.00043 | 0.00483 | 0.050 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1d22ef4c-8d4f-4152-934f-4b7b46c493d4.md b/gap_reports/gap_1d22ef4c-8d4f-4152-934f-4b7b46c493d4.md
new file mode 100644
index 0000000000000000000000000000000000000000..706c00d86b6b2e64c8612bd4b846efd71230651f
--- /dev/null
+++ b/gap_reports/gap_1d22ef4c-8d4f-4152-934f-4b7b46c493d4.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1d22ef4c-8d4f-4152-934f-4b7b46c493d4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1d22ef4c-8d4f-4152-934f-4b7b46c493d4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1436 |
+| Sim rows | 147 |
+| Real episode_id | `1d22ef4c-8d4f-4152-934f-4b7b46c493d4` |
+| Sim episode_id | `1d22ef4c-8d4f-4152-934f-4b7b46c493d4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 189 | 19 | 5.301 | 22.47 | 38.92 | 1004.89 | 0.7145 |
+| 1 | descend | 78 | 9 | 4.734 | 4.06 | 7.03 | 182.10 | 0.8788 |
+| 2 | settle | 35 | 4 | 4.587 | 2.41 | 4.18 | 181.86 | 0.8073 |
+| 3 | close | 402 | 39 | 4.584 | 2.48 | 4.30 | 181.54 | 1.1320 |
+| 4 | lift | 84 | 9 | 4.835 | 5.04 | 8.74 | 181.73 | 1.2068 |
+| 5 | move_xy | 199 | 20 | 8.055 | 44.06 | 76.31 | 278.15 | 1.2045 |
+| 6 | lower | 82 | 9 | 0.731 | 4.07 | 7.04 | 3.74 | 0.9260 |
+| 7 | open | 97 | 10 | 0.017 | 2.85 | 4.94 | 4.73 | 0.6057 |
+| 8 | retract | 83 | 9 | 0.833 | 4.18 | 7.24 | 4.08 | 0.6490 |
+| 9 | return | 187 | 19 | 2.644 | 11.07 | 19.17 | 919.24 | 0.7021 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.348 |
+| TCP position RMSE (mm, per-axis) | 16.32 |
+| EE position RMS L2 (mm) | 32.78 |
+| TCP rotvec (mrad) | 454.36 |
+| W1 effort mean (A) | 0.9164 |
+| W1 effort per joint (A) | j0=0.1664, j1=1.7371, j2=1.7099, j3=0.9235, j4=0.1323, j5=0.8291 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00342 | -0.00303 | -0.00203 | 0.00500 | 11.366 |
+| 1 | 0.00314 | -0.00266 | -0.00058 | 0.00416 | 11.233 |
+| 2 | 0.00312 | -0.00268 | -0.00068 | 0.00417 | 11.232 |
+| 3 | 0.00309 | -0.00281 | -0.00109 | 0.00432 | 11.229 |
+| 4 | 0.00339 | -0.00308 | -0.00124 | 0.00475 | 11.358 |
+| 5 | 0.00148 | -0.00435 | -0.00062 | 0.00464 | 0.067 |
+| 6 | 0.00193 | -0.00446 | -0.00057 | 0.00489 | 0.059 |
+| 7 | 0.00203 | -0.00447 | -0.00050 | 0.00494 | 0.033 |
+| 8 | 0.00150 | -0.00420 | -0.00067 | 0.00451 | 0.056 |
+| 9 | -0.00014 | -0.00014 | -0.00024 | 0.00031 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1d236da5-4d83-424e-bf84-e4e8ccd852f6.md b/gap_reports/gap_1d236da5-4d83-424e-bf84-e4e8ccd852f6.md
new file mode 100644
index 0000000000000000000000000000000000000000..377e15ba34c964f4dcc0fbe8a76d80fc51840a00
--- /dev/null
+++ b/gap_reports/gap_1d236da5-4d83-424e-bf84-e4e8ccd852f6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1d236da5-4d83-424e-bf84-e4e8ccd852f6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1d236da5-4d83-424e-bf84-e4e8ccd852f6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2865 |
+| Sim rows | 254 |
+| Real episode_id | `1d236da5-4d83-424e-bf84-e4e8ccd852f6` |
+| Sim episode_id | `1d236da5-4d83-424e-bf84-e4e8ccd852f6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 261 | 23 | 3.696 | 15.90 | 27.53 | 2019.62 | 0.5865 |
+| 1 | descend | 280 | 25 | 1.290 | 8.58 | 14.87 | 3625.29 | 0.6574 |
+| 2 | settle | 366 | 32 | 0.025 | 0.83 | 1.43 | 3625.26 | 0.6464 |
+| 3 | close | 132 | 12 | 0.584 | 4.23 | 7.32 | 2965.87 | 1.0006 |
+| 4 | lift | 436 | 38 | 3.630 | 16.88 | 29.23 | 2342.59 | 1.0950 |
+| 5 | move_xy | 423 | 37 | 7.870 | 38.31 | 66.35 | 2652.00 | 0.8852 |
+| 6 | lower | 398 | 35 | 0.085 | 1.43 | 2.48 | 3481.21 | 0.8833 |
+| 7 | open | 131 | 12 | 0.640 | 4.15 | 7.18 | 3625.49 | 0.6342 |
+| 8 | retract | 438 | 38 | 3.781 | 17.37 | 30.09 | 2336.82 | 0.7240 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.424 |
+| TCP position RMSE (mm, per-axis) | 16.39 |
+| EE position RMS L2 (mm) | 31.86 |
+| TCP rotvec (mrad) | 3025.91 |
+| W1 effort mean (A) | 0.7828 |
+| W1 effort per joint (A) | j0=0.2387, j1=1.3202, j2=1.4827, j3=0.7153, j4=0.3269, j5=0.6130 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00086 | -0.00034 | -0.00066 | 0.00114 | 0.027 |
+| 1 | 0.00086 | -0.00057 | -0.00098 | 0.00143 | 0.050 |
+| 2 | 0.00086 | -0.00057 | -0.00098 | 0.00142 | 0.048 |
+| 3 | 0.00150 | -0.00033 | -0.00230 | 0.00276 | 0.220 |
+| 4 | 0.00003 | -0.00032 | -0.00035 | 0.00047 | 0.074 |
+| 5 | 0.00201 | -0.00085 | -0.00102 | 0.00241 | 0.165 |
+| 6 | 0.00169 | -0.00081 | -0.00133 | 0.00230 | 0.106 |
+| 7 | 0.00068 | -0.00032 | -0.00073 | 0.00105 | 0.034 |
+| 8 | -0.00007 | -0.00009 | -0.00013 | 0.00017 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1d4aa4ef-51f4-4423-a76e-c53e83185316.md b/gap_reports/gap_1d4aa4ef-51f4-4423-a76e-c53e83185316.md
new file mode 100644
index 0000000000000000000000000000000000000000..a04b33321ff109dc41aa61716afcb809f32a5b77
--- /dev/null
+++ b/gap_reports/gap_1d4aa4ef-51f4-4423-a76e-c53e83185316.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1d4aa4ef-51f4-4423-a76e-c53e83185316.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1d4aa4ef-51f4-4423-a76e-c53e83185316.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2898 |
+| Sim rows | 257 |
+| Real episode_id | `1d4aa4ef-51f4-4423-a76e-c53e83185316` |
+| Sim episode_id | `1d4aa4ef-51f4-4423-a76e-c53e83185316` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 257 | 23 | 3.157 | 16.14 | 27.96 | 1945.10 | 0.6188 |
+| 1 | descend | 376 | 33 | 1.205 | 8.49 | 14.71 | 3624.74 | 0.7985 |
+| 2 | settle | 374 | 33 | 0.026 | 0.96 | 1.66 | 3624.58 | 0.7490 |
+| 3 | close | 169 | 15 | 0.738 | 5.34 | 9.24 | 3625.17 | 1.0378 |
+| 4 | lift | 352 | 31 | 2.796 | 15.36 | 26.60 | 2397.63 | 1.1380 |
+| 5 | move_xy | 451 | 39 | 6.088 | 35.44 | 61.38 | 2752.41 | 0.9397 |
+| 6 | lower | 399 | 35 | 0.086 | 1.60 | 2.76 | 3625.22 | 1.0613 |
+| 7 | open | 168 | 15 | 0.772 | 5.40 | 9.36 | 3624.74 | 0.7466 |
+| 8 | retract | 352 | 31 | 2.761 | 15.19 | 26.32 | 2397.68 | 0.7527 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.689 |
+| TCP position RMSE (mm, per-axis) | 15.33 |
+| EE position RMS L2 (mm) | 29.41 |
+| TCP rotvec (mrad) | 3136.80 |
+| W1 effort mean (A) | 0.8588 |
+| W1 effort per joint (A) | j0=0.2244, j1=1.5248, j2=1.7015, j3=0.8001, j4=0.3092, j5=0.5929 |
+
+## Phase-end anchor (sim - 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 | -0.00036 | -0.00073 | 0.00119 | 0.030 |
+| 1 | 0.00090 | -0.00075 | -0.00117 | 0.00166 | 0.053 |
+| 2 | 0.00092 | -0.00077 | -0.00116 | 0.00167 | 0.055 |
+| 3 | 0.00189 | -0.00039 | -0.00190 | 0.00271 | 0.146 |
+| 4 | 0.00014 | -0.00028 | -0.00028 | 0.00042 | 0.069 |
+| 5 | 0.00239 | -0.00105 | -0.00104 | 0.00281 | 0.192 |
+| 6 | 0.00185 | -0.00103 | -0.00131 | 0.00248 | 0.116 |
+| 7 | 0.00075 | -0.00041 | -0.00095 | 0.00128 | 0.046 |
+| 8 | -0.00014 | -0.00021 | -0.00019 | 0.00032 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1d50e0ae-4ced-496f-8f73-86c54cd34e5e.md b/gap_reports/gap_1d50e0ae-4ced-496f-8f73-86c54cd34e5e.md
new file mode 100644
index 0000000000000000000000000000000000000000..56c599722113c15239e981753a7908593f01d59a
--- /dev/null
+++ b/gap_reports/gap_1d50e0ae-4ced-496f-8f73-86c54cd34e5e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1d50e0ae-4ced-496f-8f73-86c54cd34e5e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1d50e0ae-4ced-496f-8f73-86c54cd34e5e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2680 |
+| Sim rows | 236 |
+| Real episode_id | `1d50e0ae-4ced-496f-8f73-86c54cd34e5e` |
+| Sim episode_id | `1d50e0ae-4ced-496f-8f73-86c54cd34e5e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 219 | 19 | 3.655 | 13.77 | 23.84 | 3.33 | 0.5879 |
+| 1 | descend | 285 | 25 | 1.326 | 8.07 | 13.98 | 4.95 | 0.7074 |
+| 2 | settle | 366 | 32 | 0.024 | 0.88 | 1.52 | 5.12 | 0.6525 |
+| 3 | close | 158 | 14 | 1.125 | 6.81 | 11.80 | 7.30 | 0.8986 |
+| 4 | lift | 353 | 31 | 4.019 | 16.52 | 28.61 | 4.92 | 1.1063 |
+| 5 | move_xy | 408 | 35 | 9.117 | 39.68 | 68.74 | 5.62 | 0.8892 |
+| 6 | lower | 381 | 33 | 0.091 | 1.50 | 2.59 | 7.57 | 0.9270 |
+| 7 | open | 154 | 14 | 0.840 | 4.84 | 8.38 | 5.17 | 0.5829 |
+| 8 | retract | 356 | 31 | 3.741 | 15.55 | 26.94 | 3.49 | 0.7092 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.806 |
+| TCP position RMSE (mm, per-axis) | 16.39 |
+| EE position RMS L2 (mm) | 31.69 |
+| TCP rotvec (mrad) | 5.45 |
+| W1 effort mean (A) | 0.7690 |
+| W1 effort per joint (A) | j0=0.2815, j1=1.1534, j2=1.4104, j3=0.6672, j4=0.5158, j5=0.5860 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00094 | -0.00050 | -0.00043 | 0.00115 | 0.031 |
+| 1 | 0.00097 | -0.00084 | -0.00077 | 0.00150 | 0.037 |
+| 2 | 0.00098 | -0.00086 | -0.00076 | 0.00151 | 0.037 |
+| 3 | 0.00159 | -0.00045 | -0.00115 | 0.00201 | 0.104 |
+| 4 | 0.00039 | -0.00004 | -0.00011 | 0.00040 | 0.092 |
+| 5 | 0.00170 | -0.00095 | -0.00151 | 0.00246 | 0.126 |
+| 6 | 0.00176 | -0.00092 | -0.00151 | 0.00250 | 0.110 |
+| 7 | 0.00075 | -0.00054 | -0.00050 | 0.00105 | 0.030 |
+| 8 | -0.00008 | -0.00011 | -0.00012 | 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.
diff --git a/gap_reports/gap_1d552337-5a16-4f57-bb4a-29b9e939a12d.md b/gap_reports/gap_1d552337-5a16-4f57-bb4a-29b9e939a12d.md
new file mode 100644
index 0000000000000000000000000000000000000000..e00cfe5a85a0d315950f78c1c27eff221de91d9d
--- /dev/null
+++ b/gap_reports/gap_1d552337-5a16-4f57-bb4a-29b9e939a12d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1d552337-5a16-4f57-bb4a-29b9e939a12d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1d552337-5a16-4f57-bb4a-29b9e939a12d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 4246 |
+| Sim rows | 1276 |
+| Real episode_id | `1d552337-5a16-4f57-bb4a-29b9e939a12d` |
+| Sim episode_id | `1d552337-5a16-4f57-bb4a-29b9e939a12d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.707 | 11.87 | 20.56 | 1942.67 | 0.5933 |
+| 1 | descend | 896 | 300 | 1.647 | 9.22 | 15.98 | 3625.03 | 0.7820 |
+| 2 | settle | 758 | 287 | 4.999 | 16.58 | 28.72 | 3624.91 | 0.7554 |
+| 3 | close | 319 | 271 | 4.395 | 21.11 | 36.56 | 3528.30 | 1.0524 |
+| 4 | lift | 784 | 285 | 7.527 | 41.10 | 71.19 | 2758.58 | 1.1325 |
+| 5 | move_xy | 400 | 35 | 6.287 | 36.70 | 63.57 | 2702.81 | 0.9433 |
+| 6 | lower | 409 | 36 | 0.086 | 1.62 | 2.80 | 3625.21 | 1.1077 |
+| 7 | open | 183 | 16 | 0.792 | 5.47 | 9.48 | 3624.74 | 0.7828 |
+| 8 | retract | 295 | 26 | 2.975 | 16.43 | 28.46 | 2443.09 | 0.7712 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.217 |
+| TCP position RMSE (mm, per-axis) | 21.82 |
+| EE position RMS L2 (mm) | 41.22 |
+| TCP rotvec (mrad) | 3156.44 |
+| W1 effort mean (A) | 0.8763 |
+| W1 effort per joint (A) | j0=0.2375, j1=1.5819, j2=1.8046, j3=0.7321, j4=0.2882, j5=0.6132 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00067 | -0.00038 | -0.00072 | 0.00105 | 0.035 |
+| 1 | 0.00091 | -0.00075 | -0.00120 | 0.00168 | 0.055 |
+| 2 | 0.00093 | -0.00076 | -0.00119 | 0.00169 | 0.055 |
+| 3 | 0.00153 | -0.00046 | -0.00045 | 0.00166 | 0.088 |
+| 4 | 0.00011 | -0.00041 | -0.00049 | 0.00065 | 0.101 |
+| 5 | 0.00217 | -0.00095 | -0.00091 | 0.00254 | 0.156 |
+| 6 | 0.00253 | -0.00111 | -0.00107 | 0.00296 | 0.191 |
+| 7 | 0.00078 | -0.00039 | -0.00098 | 0.00132 | 0.048 |
+| 8 | -0.00014 | -0.00022 | -0.00021 | 0.00034 | 0.037 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1da8c7bf-4787-4f02-84db-2548de3d7271.md b/gap_reports/gap_1da8c7bf-4787-4f02-84db-2548de3d7271.md
new file mode 100644
index 0000000000000000000000000000000000000000..fb2f6a1ff439d823f6933c68135c3cc130504155
--- /dev/null
+++ b/gap_reports/gap_1da8c7bf-4787-4f02-84db-2548de3d7271.md
@@ -0,0 +1,71 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1da8c7bf-4787-4f02-84db-2548de3d7271.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1da8c7bf-4787-4f02-84db-2548de3d7271.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2001 |
+| Sim rows | 209 |
+| Real episode_id | `1da8c7bf-4787-4f02-84db-2548de3d7271` |
+| Sim episode_id | `1da8c7bf-4787-4f02-84db-2548de3d7271` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 182 | 16 | 2.289 | 11.03 | 19.10 | 1956.39 | 0.5733 |
+| 1 | descend | 257 | 23 | 0.666 | 4.37 | 7.58 | 3625.29 | 0.7220 |
+| 2 | settle | 362 | 31 | 0.023 | 0.74 | 1.28 | 3625.22 | 0.6562 |
+| 3 | close | 110 | 10 | 0.475 | 3.25 | 5.63 | 3625.68 | 1.0308 |
+| 4 | lift | 292 | 55 | 11.315 | 63.51 | 110.00 | 2465.02 | 1.0726 |
+| 6 | lower | 380 | 33 | 0.083 | 1.27 | 2.20 | 3549.52 | 1.0011 |
+| 7 | open | 111 | 10 | 0.436 | 2.85 | 4.93 | 3625.45 | 0.6567 |
+| 8 | retract | 307 | 27 | 2.422 | 12.53 | 21.70 | 2218.80 | 0.7127 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.183 |
+| TCP position RMSE (mm, per-axis) | 23.32 |
+| EE position RMS L2 (mm) | 43.39 |
+| TCP rotvec (mrad) | 3162.28 |
+| W1 effort mean (A) | 0.7909 |
+| W1 effort per joint (A) | j0=0.2045, j1=1.4067, j2=1.5948, j3=0.7311, j4=0.3022, j5=0.5062 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00048 | -0.00045 | -0.00074 | 0.00099 | 0.037 |
+| 1 | 0.00040 | -0.00070 | -0.00103 | 0.00130 | 0.048 |
+| 2 | 0.00044 | -0.00072 | -0.00096 | 0.00128 | 0.043 |
+| 3 | 0.00085 | -0.00069 | -0.00102 | 0.00150 | 0.114 |
+| 4 | 0.00108 | -0.00107 | -0.00137 | 0.00204 | 0.112 |
+| 6 | 0.00121 | -0.00112 | -0.00252 | 0.00301 | 0.187 |
+| 7 | 0.00022 | -0.00052 | -0.00083 | 0.00100 | 0.040 |
+| 8 | -0.00012 | -0.00016 | -0.00019 | 0.00028 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1dad05f4-7a7c-4327-9ce9-cb60de10e99f.md b/gap_reports/gap_1dad05f4-7a7c-4327-9ce9-cb60de10e99f.md
new file mode 100644
index 0000000000000000000000000000000000000000..61c2748ad74d947647366a2613d2ae372c88f671
--- /dev/null
+++ b/gap_reports/gap_1dad05f4-7a7c-4327-9ce9-cb60de10e99f.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1dad05f4-7a7c-4327-9ce9-cb60de10e99f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1dad05f4-7a7c-4327-9ce9-cb60de10e99f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 564 |
+| Sim rows | 72 |
+| Real episode_id | `1dad05f4-7a7c-4327-9ce9-cb60de10e99f` |
+| Sim episode_id | `1dad05f4-7a7c-4327-9ce9-cb60de10e99f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 354 | 35 | 4.337 | 17.26 | 29.90 | 1096.86 | 0.7658 |
+| 1 | descend | 210 | 21 | 0.023 | 0.46 | 0.79 | 2.04 | 0.7107 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.066 |
+| TCP position RMSE (mm, per-axis) | 12.21 |
+| EE position RMS L2 (mm) | 23.69 |
+| TCP rotvec (mrad) | 775.60 |
+| W1 effort mean (A) | 0.7453 |
+| W1 effort per joint (A) | j0=0.1394, j1=1.5533, j2=1.7603, j3=0.8105, j4=0.0896, j5=0.1187 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00031 | -0.00046 | 0.00064 | 0.00085 | 0.043 |
+| 1 | -0.00016 | -0.00046 | 0.00063 | 0.00080 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1db37c64-f8d6-4d18-bb44-8c3cc51b2a2e.md b/gap_reports/gap_1db37c64-f8d6-4d18-bb44-8c3cc51b2a2e.md
new file mode 100644
index 0000000000000000000000000000000000000000..1213d0efe813b167336ed3fbb14199d862219a71
--- /dev/null
+++ b/gap_reports/gap_1db37c64-f8d6-4d18-bb44-8c3cc51b2a2e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1db37c64-f8d6-4d18-bb44-8c3cc51b2a2e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1db37c64-f8d6-4d18-bb44-8c3cc51b2a2e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2709 |
+| Sim rows | 242 |
+| Real episode_id | `1db37c64-f8d6-4d18-bb44-8c3cc51b2a2e` |
+| Sim episode_id | `1db37c64-f8d6-4d18-bb44-8c3cc51b2a2e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 184 | 17 | 2.131 | 9.99 | 17.30 | 1982.13 | 0.5713 |
+| 1 | descend | 338 | 30 | 0.594 | 3.92 | 6.78 | 3625.33 | 0.7117 |
+| 2 | settle | 366 | 32 | 0.022 | 0.74 | 1.28 | 3625.16 | 0.6546 |
+| 3 | close | 151 | 14 | 0.609 | 4.11 | 7.11 | 3625.76 | 0.9954 |
+| 4 | lift | 391 | 34 | 2.464 | 12.65 | 21.91 | 2207.97 | 1.0973 |
+| 5 | move_xy | 350 | 31 | 6.121 | 33.94 | 58.78 | 2887.27 | 0.8903 |
+| 6 | lower | 388 | 34 | 0.085 | 1.31 | 2.27 | 3586.75 | 1.0695 |
+| 7 | open | 149 | 14 | 0.602 | 3.89 | 6.75 | 3625.27 | 0.7462 |
+| 8 | retract | 392 | 34 | 2.559 | 13.19 | 22.85 | 2257.44 | 0.7099 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.488 |
+| TCP position RMSE (mm, per-axis) | 13.48 |
+| EE position RMS L2 (mm) | 24.97 |
+| TCP rotvec (mrad) | 3121.16 |
+| W1 effort mean (A) | 0.8204 |
+| W1 effort per joint (A) | j0=0.2355, j1=1.3730, j2=1.6478, j3=0.7816, j4=0.2972, j5=0.5875 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00047 | -0.00047 | -0.00071 | 0.00097 | 0.031 |
+| 1 | 0.00040 | -0.00073 | -0.00100 | 0.00130 | 0.047 |
+| 2 | 0.00041 | -0.00073 | -0.00095 | 0.00127 | 0.041 |
+| 3 | 0.00153 | -0.00043 | -0.00101 | 0.00188 | 0.159 |
+| 4 | 0.00013 | -0.00041 | -0.00056 | 0.00070 | 0.099 |
+| 5 | 0.00121 | -0.00104 | -0.00090 | 0.00183 | 0.114 |
+| 6 | 0.00179 | -0.00111 | -0.00085 | 0.00227 | 0.214 |
+| 7 | 0.00031 | -0.00049 | -0.00082 | 0.00101 | 0.042 |
+| 8 | -0.00010 | -0.00013 | -0.00017 | 0.00023 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1de1f147-5400-4ab7-bfc3-d54aa3c50c5f.md b/gap_reports/gap_1de1f147-5400-4ab7-bfc3-d54aa3c50c5f.md
new file mode 100644
index 0000000000000000000000000000000000000000..4c6f275a2ea4bcd54cd071ea3980de5f92b4c846
--- /dev/null
+++ b/gap_reports/gap_1de1f147-5400-4ab7-bfc3-d54aa3c50c5f.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1de1f147-5400-4ab7-bfc3-d54aa3c50c5f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1de1f147-5400-4ab7-bfc3-d54aa3c50c5f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1650 |
+| Sim rows | 169 |
+| Real episode_id | `1de1f147-5400-4ab7-bfc3-d54aa3c50c5f` |
+| Sim episode_id | `1de1f147-5400-4ab7-bfc3-d54aa3c50c5f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 174 | 18 | 3.616 | 20.60 | 35.69 | 1672.14 | 0.7807 |
+| 1 | descend | 75 | 8 | 0.658 | 4.43 | 7.67 | 5.83 | 0.6954 |
+| 2 | settle | 13 | 2 | 0.025 | 3.13 | 5.43 | 6.27 | 0.6955 |
+| 3 | close | 389 | 39 | 0.099 | 3.26 | 5.65 | 3107.92 | 1.1428 |
+| 4 | lift | 73 | 8 | 0.620 | 3.84 | 6.65 | 3622.28 | 1.2123 |
+| 5 | move_xy | 176 | 18 | 6.968 | 22.86 | 39.59 | 2639.49 | 1.1233 |
+| 6 | lower | 73 | 8 | 12.446 | 4.13 | 7.15 | 483.92 | 1.0282 |
+| 7 | open | 369 | 36 | 12.417 | 2.66 | 4.61 | 483.53 | 0.6463 |
+| 8 | retract | 73 | 8 | 12.441 | 3.79 | 6.57 | 482.84 | 0.7331 |
+| 9 | return | 235 | 24 | 7.069 | 9.82 | 17.00 | 1174.84 | 0.7661 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 7.591 |
+| TCP position RMSE (mm, per-axis) | 10.66 |
+| EE position RMS L2 (mm) | 19.08 |
+| TCP rotvec (mrad) | 1860.76 |
+| W1 effort mean (A) | 0.8778 |
+| W1 effort per joint (A) | j0=0.1498, j1=1.4345, j2=1.5585, j3=0.7831, j4=0.4985, j5=0.8423 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00164 | -0.00467 | -0.00133 | 0.00513 | 0.056 |
+| 1 | 0.00183 | -0.00493 | -0.00145 | 0.00546 | 0.055 |
+| 2 | 0.00178 | -0.00493 | -0.00149 | 0.00545 | 0.044 |
+| 3 | 0.00228 | -0.00413 | -0.00233 | 0.00527 | 0.134 |
+| 4 | 0.00172 | -0.00378 | -0.00317 | 0.00523 | 0.182 |
+| 5 | 0.00169 | -0.00368 | -0.00140 | 0.00429 | 30.408 |
+| 6 | 0.00315 | -0.00289 | -0.00244 | 0.00492 | 30.421 |
+| 7 | 0.00198 | -0.00416 | -0.00008 | 0.00461 | 30.417 |
+| 8 | 0.00139 | -0.00411 | -0.00017 | 0.00434 | 30.416 |
+| 9 | -0.00008 | -0.00007 | -0.00020 | 0.00022 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_1df1e5d6-b4ca-48e4-b76c-fad3929dda2e.md b/gap_reports/gap_1df1e5d6-b4ca-48e4-b76c-fad3929dda2e.md
new file mode 100644
index 0000000000000000000000000000000000000000..d69afef548e171573b4f93056858c67bb66d3792
--- /dev/null
+++ b/gap_reports/gap_1df1e5d6-b4ca-48e4-b76c-fad3929dda2e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1df1e5d6-b4ca-48e4-b76c-fad3929dda2e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1df1e5d6-b4ca-48e4-b76c-fad3929dda2e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2655 |
+| Sim rows | 234 |
+| Real episode_id | `1df1e5d6-b4ca-48e4-b76c-fad3929dda2e` |
+| Sim episode_id | `1df1e5d6-b4ca-48e4-b76c-fad3929dda2e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 215 | 19 | 3.048 | 15.73 | 27.24 | 1816.68 | 0.6197 |
+| 1 | descend | 358 | 31 | 0.813 | 5.77 | 9.99 | 3624.74 | 0.7456 |
+| 2 | settle | 392 | 34 | 0.025 | 0.95 | 1.65 | 3624.56 | 0.7648 |
+| 3 | close | 168 | 15 | 0.775 | 5.49 | 9.51 | 3625.48 | 1.0245 |
+| 4 | lift | 285 | 25 | 2.712 | 14.86 | 25.73 | 2429.65 | 1.1386 |
+| 5 | move_xy | 389 | 34 | 7.028 | 40.74 | 70.56 | 2768.98 | 0.9533 |
+| 6 | lower | 393 | 34 | 0.093 | 1.71 | 2.95 | 3625.15 | 1.0575 |
+| 7 | open | 168 | 15 | 0.804 | 5.61 | 9.72 | 3624.72 | 0.7522 |
+| 8 | retract | 287 | 25 | 2.807 | 15.47 | 26.79 | 2439.65 | 0.7584 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.903 |
+| TCP position RMSE (mm, per-axis) | 16.55 |
+| EE position RMS L2 (mm) | 31.06 |
+| TCP rotvec (mrad) | 3136.23 |
+| W1 effort mean (A) | 0.8576 |
+| W1 effort per joint (A) | j0=0.2369, j1=1.5369, j2=1.6899, j3=0.7985, j4=0.2944, 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 | 0.00090 | -0.00035 | -0.00069 | 0.00118 | 0.028 |
+| 1 | 0.00093 | -0.00077 | -0.00117 | 0.00168 | 0.054 |
+| 2 | 0.00092 | -0.00076 | -0.00115 | 0.00166 | 0.053 |
+| 3 | 0.00177 | -0.00042 | -0.00111 | 0.00213 | 0.140 |
+| 4 | 0.00015 | -0.00037 | -0.00031 | 0.00051 | 0.104 |
+| 5 | 0.00252 | -0.00108 | -0.00095 | 0.00290 | 0.201 |
+| 6 | 0.00194 | -0.00101 | -0.00106 | 0.00243 | 0.120 |
+| 7 | 0.00077 | -0.00038 | -0.00098 | 0.00130 | 0.046 |
+| 8 | -0.00014 | -0.00024 | -0.00021 | 0.00035 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.