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gap_reports/gap_002c2969-c559-4f02-85a2-f2403051e800.md

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+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/002c2969-c559-4f02-85a2-f2403051e800.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/002c2969-c559-4f02-85a2-f2403051e800.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 500 |
+| Sim rows | 65 |
+| Real episode_id | `002c2969-c559-4f02-85a2-f2403051e800` |
+| Sim episode_id | `002c2969-c559-4f02-85a2-f2403051e800` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 289 | 28 | 2.728 | 13.52 | 23.41 | 10.21 | 0.8232 |
+| 1 | descend | 211 | 21 | 0.027 | 2.77 | 4.80 | 2.21 | 0.8280 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.929 |
+| TCP position RMSE (mm, per-axis) | 9.76 |
+| EE position RMS L2 (mm) | 18.07 |
+| TCP rotvec (mrad) | 7.39 |
+| W1 effort mean (A) | 0.8248 |
+| W1 effort per joint (A) | j0=0.1632, j1=1.8012, j2=1.7906, j3=0.9327, j4=0.1208, j5=0.1404 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00441 | -0.00051 | 0.00074 | 0.00450 | 0.046 |
+| 1 | 0.00483 | -0.00053 | 0.00045 | 0.00488 | 0.048 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_005fafad-b695-4798-95e6-7e14c341d328.md

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+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/005fafad-b695-4798-95e6-7e14c341d328.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/005fafad-b695-4798-95e6-7e14c341d328.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2717 |
+| Sim rows | 241 |
+| Real episode_id | `005fafad-b695-4798-95e6-7e14c341d328` |
+| Sim episode_id | `005fafad-b695-4798-95e6-7e14c341d328` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.428 | 12.19 | 21.11 | 1979.38 | 0.5753 |
+| 1 | descend | 344 | 30 | 0.848 | 5.17 | 8.96 | 3626.07 | 0.6458 |
+| 2 | settle | 400 | 35 | 0.018 | 0.65 | 1.13 | 3625.90 | 0.6563 |
+| 3 | close | 117 | 11 | 0.824 | 4.75 | 8.22 | 1776.20 | 0.9130 |
+| 4 | lift | 368 | 32 | 2.784 | 11.24 | 19.46 | 1529.91 | 1.0795 |
+| 5 | move_xy | 367 | 32 | 8.404 | 36.88 | 63.87 | 2211.00 | 0.8321 |
+| 6 | lower | 434 | 38 | 0.081 | 1.23 | 2.13 | 1658.07 | 0.9172 |
+| 7 | open | 119 | 11 | 0.741 | 4.30 | 7.45 | 3626.06 | 0.6428 |
+| 8 | retract | 370 | 32 | 2.833 | 11.55 | 20.01 | 2269.78 | 0.6921 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.335 |
+| TCP position RMSE (mm, per-axis) | 14.29 |
+| EE position RMS L2 (mm) | 26.57 |
+| TCP rotvec (mrad) | 2617.19 |
+| W1 effort mean (A) | 0.7666 |
+| W1 effort per joint (A) | j0=0.2046, j1=1.2069, j2=1.5535, j3=0.7513, j4=0.2544, j5=0.6292 |
+
+## Phase-end anchor (sim - 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 | -0.00023 | -0.00046 | 0.00085 | 0.042 |
+| 1 | 0.00066 | -0.00058 | -0.00071 | 0.00113 | 0.034 |
+| 2 | 0.00067 | -0.00057 | -0.00073 | 0.00114 | 0.033 |
+| 3 | 0.00125 | -0.00010 | -0.00075 | 0.00146 | 0.118 |
+| 4 | 0.00019 | -0.00023 | -0.00040 | 0.00050 | 0.078 |
+| 5 | 0.00195 | -0.00064 | -0.00246 | 0.00320 | 0.190 |
+| 6 | 0.00139 | -0.00075 | -0.00122 | 0.00200 | 0.108 |
+| 7 | 0.00045 | -0.00023 | -0.00056 | 0.00075 | 0.043 |
+| 8 | -0.00010 | -0.00014 | -0.00016 | 0.00023 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_00641232-01ea-4880-8b29-4331d65fef4a.md

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+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/00641232-01ea-4880-8b29-4331d65fef4a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/00641232-01ea-4880-8b29-4331d65fef4a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2835 |
+| Sim rows | 252 |
+| Real episode_id | `00641232-01ea-4880-8b29-4331d65fef4a` |
+| Sim episode_id | `00641232-01ea-4880-8b29-4331d65fef4a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 189 | 17 | 2.373 | 10.66 | 18.47 | 1937.87 | 0.5653 |
+| 1 | descend | 439 | 38 | 1.172 | 7.41 | 12.83 | 3625.38 | 0.7097 |
+| 2 | settle | 369 | 32 | 0.023 | 0.71 | 1.24 | 3625.26 | 0.6934 |
+| 3 | close | 172 | 16 | 0.948 | 6.12 | 10.59 | 3154.64 | 1.0050 |
+| 4 | lift | 369 | 32 | 2.441 | 11.74 | 20.34 | 2104.94 | 1.0925 |
+| 5 | move_xy | 373 | 33 | 5.229 | 28.21 | 48.87 | 2707.52 | 0.8781 |
+| 6 | lower | 377 | 33 | 0.084 | 1.28 | 2.22 | 3625.78 | 1.0028 |
+| 7 | open | 173 | 16 | 0.972 | 6.15 | 10.65 | 3625.49 | 0.6610 |
+| 8 | retract | 374 | 33 | 2.551 | 12.35 | 21.39 | 2311.28 | 0.7203 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.325 |
+| TCP position RMSE (mm, per-axis) | 12.17 |
+| EE position RMS L2 (mm) | 22.16 |
+| TCP rotvec (mrad) | 3043.88 |
+| W1 effort mean (A) | 0.8012 |
+| W1 effort per joint (A) | j0=0.2488, j1=1.3685, j2=1.5821, j3=0.7214, j4=0.3174, j5=0.5689 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00037 | -0.00035 | -0.00070 | 0.00087 | 0.043 |
+| 1 | 0.00039 | -0.00072 | -0.00096 | 0.00126 | 0.044 |
+| 2 | 0.00040 | -0.00070 | -0.00090 | 0.00121 | 0.040 |
+| 3 | 0.00113 | -0.00032 | -0.00039 | 0.00124 | 0.119 |
+| 4 | 0.00008 | -0.00041 | -0.00064 | 0.00077 | 0.097 |
+| 5 | 0.00126 | -0.00111 | -0.00193 | 0.00255 | 0.134 |
+| 6 | 0.00153 | -0.00109 | -0.00206 | 0.00279 | 0.177 |
+| 7 | 0.00028 | -0.00047 | -0.00075 | 0.00093 | 0.051 |
+| 8 | -0.00010 | -0.00013 | -0.00015 | 0.00022 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_00829035-8dde-4994-9286-f62728d1f625.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/00829035-8dde-4994-9286-f62728d1f625.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/00829035-8dde-4994-9286-f62728d1f625.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2508 |
+| Sim rows | 222 |
+| Real episode_id | `00829035-8dde-4994-9286-f62728d1f625` |
+| Sim episode_id | `00829035-8dde-4994-9286-f62728d1f625` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.007 | 15.23 | 26.38 | 1848.66 | 0.6193 |
+| 1 | descend | 292 | 26 | 1.044 | 7.35 | 12.74 | 3624.69 | 0.7945 |
+| 2 | settle | 365 | 32 | 0.027 | 0.97 | 1.68 | 3624.57 | 0.7027 |
+| 3 | close | 135 | 12 | 0.691 | 4.91 | 8.50 | 3625.03 | 1.0502 |
+| 4 | lift | 286 | 25 | 2.659 | 14.80 | 25.64 | 2348.20 | 1.1602 |
+| 5 | move_xy | 391 | 34 | 6.644 | 38.58 | 66.83 | 2792.29 | 0.9343 |
+| 6 | lower | 393 | 34 | 0.092 | 1.69 | 2.92 | 3625.19 | 1.0716 |
+| 7 | open | 135 | 12 | 0.731 | 5.15 | 8.92 | 3624.72 | 0.7587 |
+| 8 | retract | 288 | 25 | 2.738 | 15.29 | 26.48 | 2349.57 | 0.7552 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.786 |
+| TCP position RMSE (mm, per-axis) | 15.92 |
+| EE position RMS L2 (mm) | 30.70 |
+| TCP rotvec (mrad) | 3125.99 |
+| W1 effort mean (A) | 0.8550 |
+| W1 effort per joint (A) | j0=0.2216, j1=1.5429, j2=1.7010, j3=0.7740, j4=0.3019, j5=0.5885 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00093 | -0.00039 | -0.00082 | 0.00130 | 0.033 |
+| 1 | 0.00090 | -0.00073 | -0.00120 | 0.00167 | 0.053 |
+| 2 | 0.00093 | -0.00075 | -0.00120 | 0.00169 | 0.057 |
+| 3 | 0.00172 | -0.00048 | -0.00096 | 0.00202 | 0.117 |
+| 4 | 0.00036 | -0.00009 | -0.00011 | 0.00039 | 0.092 |
+| 5 | 0.00196 | -0.00111 | -0.00261 | 0.00345 | 0.189 |
+| 6 | 0.00243 | -0.00123 | -0.00266 | 0.00381 | 0.218 |
+| 7 | 0.00075 | -0.00043 | -0.00099 | 0.00131 | 0.043 |
+| 8 | -0.00014 | -0.00021 | -0.00021 | 0.00033 | 0.037 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_00bcb455-97d1-44aa-9e90-3f54449bcb27.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/00bcb455-97d1-44aa-9e90-3f54449bcb27.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/00bcb455-97d1-44aa-9e90-3f54449bcb27.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1699 |
+| Sim rows | 171 |
+| Real episode_id | `00bcb455-97d1-44aa-9e90-3f54449bcb27` |
+| Sim episode_id | `00bcb455-97d1-44aa-9e90-3f54449bcb27` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 204 | 21 | 2.590 | 11.08 | 19.20 | 302.53 | 0.6370 |
+| 1 | descend | 107 | 11 | 1.074 | 4.70 | 8.14 | 3.87 | 0.5922 |
+| 2 | settle | 35 | 4 | 0.017 | 2.01 | 3.48 | 4.62 | 0.5571 |
+| 3 | close | 303 | 30 | 0.165 | 1.71 | 2.97 | 6.71 | 0.9864 |
+| 4 | lift | 107 | 11 | 1.212 | 5.09 | 8.81 | 6.12 | 1.2633 |
+| 5 | move_xy | 283 | 28 | 5.440 | 26.98 | 46.72 | 270.60 | 1.2490 |
+| 6 | lower | 107 | 11 | 3.658 | 5.61 | 9.71 | 141.82 | 1.3211 |
+| 7 | open | 265 | 26 | 3.504 | 3.13 | 5.43 | 140.15 | 0.7338 |
+| 8 | retract | 107 | 11 | 3.644 | 5.11 | 8.85 | 139.76 | 0.7754 |
+| 9 | return | 181 | 18 | 2.812 | 13.96 | 24.17 | 1050.75 | 0.7664 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.929 |
+| TCP position RMSE (mm, per-axis) | 10.81 |
+| EE position RMS L2 (mm) | 22.28 |
+| TCP rotvec (mrad) | 364.45 |
+| W1 effort mean (A) | 0.8976 |
+| W1 effort per joint (A) | j0=0.1791, j1=1.5826, j2=1.5883, j3=0.9584, j4=0.5516, j5=0.5255 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00121 | -0.00311 | 0.00001 | 0.00334 | 0.041 |
+| 1 | 0.00184 | -0.00296 | 0.00015 | 0.00349 | 0.036 |
+| 2 | 0.00184 | -0.00296 | 0.00004 | 0.00348 | 0.033 |
+| 3 | -0.00009 | -0.00309 | -0.00025 | 0.00310 | 0.297 |
+| 4 | -0.00012 | -0.00334 | -0.00080 | 0.00344 | 0.368 |
+| 5 | 0.00279 | -0.00497 | -0.00199 | 0.00604 | 8.666 |
+| 6 | 0.00378 | -0.00494 | -0.00279 | 0.00681 | 8.582 |
+| 7 | 0.00202 | -0.00490 | -0.00119 | 0.00543 | 8.579 |
+| 8 | 0.00143 | -0.00468 | -0.00131 | 0.00507 | 8.662 |
+| 9 | -0.00018 | -0.00014 | -0.00027 | 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.

gap_reports/gap_00df8aa9-ddfe-4d56-ae5b-ca3f218e3481.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/00df8aa9-ddfe-4d56-ae5b-ca3f218e3481.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/00df8aa9-ddfe-4d56-ae5b-ca3f218e3481.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1677 |
+| Sim rows | 169 |
+| Real episode_id | `00df8aa9-ddfe-4d56-ae5b-ca3f218e3481` |
+| Sim episode_id | `00df8aa9-ddfe-4d56-ae5b-ca3f218e3481` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 212 | 21 | 5.009 | 19.44 | 33.68 | 352.01 | 0.6907 |
+| 1 | descend | 90 | 9 | 5.975 | 3.35 | 5.80 | 233.97 | 0.7523 |
+| 2 | settle | 31 | 4 | 5.941 | 2.41 | 4.18 | 233.98 | 0.7447 |
+| 3 | close | 304 | 30 | 5.940 | 2.48 | 4.30 | 233.64 | 1.1474 |
+| 4 | lift | 91 | 10 | 5.987 | 4.04 | 7.00 | 233.43 | 1.3899 |
+| 5 | move_xy | 250 | 25 | 6.727 | 32.47 | 56.24 | 79.15 | 1.3135 |
+| 6 | lower | 88 | 9 | 0.558 | 4.55 | 7.88 | 7.68 | 1.1445 |
+| 7 | open | 284 | 28 | 0.026 | 2.90 | 5.02 | 5.56 | 0.6636 |
+| 8 | retract | 92 | 10 | 0.628 | 3.97 | 6.88 | 5.10 | 0.7217 |
+| 9 | return | 235 | 23 | 2.696 | 15.82 | 27.41 | 1027.37 | 0.7079 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.695 |
+| TCP position RMSE (mm, per-axis) | 13.29 |
+| EE position RMS L2 (mm) | 27.17 |
+| TCP rotvec (mrad) | 374.75 |
+| W1 effort mean (A) | 0.8976 |
+| W1 effort per joint (A) | j0=0.1727, j1=1.8338, j2=1.6268, j3=0.9175, j4=0.1770, j5=0.6579 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00250 | -0.00325 | -0.00020 | 0.00411 | 14.624 |
+| 1 | 0.00274 | -0.00315 | -0.00030 | 0.00418 | 14.554 |
+| 2 | 0.00275 | -0.00312 | -0.00045 | 0.00418 | 14.551 |
+| 3 | 0.00254 | -0.00348 | -0.00039 | 0.00432 | 14.553 |
+| 4 | 0.00239 | -0.00373 | -0.00045 | 0.00445 | 14.614 |
+| 5 | 0.00273 | -0.00520 | -0.00195 | 0.00619 | 0.185 |
+| 6 | 0.00350 | -0.00564 | -0.00203 | 0.00694 | 0.211 |
+| 7 | 0.00227 | -0.00435 | -0.00109 | 0.00503 | 0.051 |
+| 8 | 0.00189 | -0.00414 | -0.00111 | 0.00469 | 0.046 |
+| 9 | -0.00015 | -0.00012 | -0.00029 | 0.00035 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_00e2f0af-cb17-4f7d-ae11-1516f4e917cb.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/00e2f0af-cb17-4f7d-ae11-1516f4e917cb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/00e2f0af-cb17-4f7d-ae11-1516f4e917cb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1295 |
+| Sim rows | 133 |
+| Real episode_id | `00e2f0af-cb17-4f7d-ae11-1516f4e917cb` |
+| Sim episode_id | `00e2f0af-cb17-4f7d-ae11-1516f4e917cb` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 166 | 17 | 16.819 | 11.67 | 20.21 | 670.34 | 0.6446 |
+| 1 | descend | 75 | 8 | 30.715 | 3.58 | 6.20 | 1171.45 | 0.7758 |
+| 2 | settle | 32 | 4 | 30.705 | 2.41 | 4.17 | 1171.97 | 0.7140 |
+| 3 | close | 306 | 30 | 30.706 | 2.17 | 3.75 | 1173.07 | 1.0636 |
+| 4 | lift | 79 | 8 | 30.711 | 3.32 | 5.75 | 1172.34 | 1.4221 |
+| 5 | move_xy | 214 | 22 | 17.161 | 31.19 | 54.03 | 2003.48 | 1.2154 |
+| 6 | lower | 75 | 8 | 0.505 | 3.52 | 6.10 | 2373.25 | 0.9895 |
+| 7 | open | 75 | 8 | 0.023 | 2.99 | 5.18 | 5.67 | 0.6435 |
+| 8 | retract | 75 | 8 | 0.577 | 3.71 | 6.43 | 5.24 | 0.7179 |
+| 9 | return | 198 | 20 | 4.023 | 24.15 | 41.82 | 992.84 | 0.7262 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 20.896 |
+| TCP position RMSE (mm, per-axis) | 13.27 |
+| EE position RMS L2 (mm) | 28.57 |
+| TCP rotvec (mrad) | 1287.54 |
+| W1 effort mean (A) | 0.8956 |
+| W1 effort per joint (A) | j0=0.1526, j1=1.2568, j2=1.4441, j3=0.7724, j4=0.3920, j5=1.3558 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00132 | -0.00391 | 0.00021 | 0.00413 | 75.187 |
+| 1 | 0.00176 | -0.00383 | 0.00032 | 0.00422 | 75.212 |
+| 2 | 0.00176 | -0.00380 | 0.00013 | 0.00419 | 75.213 |
+| 3 | 0.00211 | -0.00292 | -0.00119 | 0.00379 | 75.215 |
+| 4 | 0.00164 | -0.00353 | -0.00109 | 0.00404 | 75.207 |
+| 5 | 0.00185 | -0.00315 | -0.00297 | 0.00470 | 0.173 |
+| 6 | 0.00215 | -0.00369 | -0.00206 | 0.00474 | 0.147 |
+| 7 | 0.00190 | -0.00462 | -0.00143 | 0.00519 | 0.051 |
+| 8 | 0.00162 | -0.00427 | -0.00154 | 0.00482 | 0.057 |
+| 9 | -0.00024 | -0.00009 | -0.00029 | 0.00039 | 0.037 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_00f02419-dc45-4513-98b8-2eddf00de61e.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/00f02419-dc45-4513-98b8-2eddf00de61e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/00f02419-dc45-4513-98b8-2eddf00de61e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3003 |
+| Sim rows | 266 |
+| Real episode_id | `00f02419-dc45-4513-98b8-2eddf00de61e` |
+| Sim episode_id | `00f02419-dc45-4513-98b8-2eddf00de61e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.140 | 11.54 | 19.99 | 1948.13 | 0.5833 |
+| 1 | descend | 571 | 50 | 0.692 | 4.02 | 6.97 | 3626.08 | 0.7129 |
+| 2 | settle | 352 | 31 | 0.021 | 0.60 | 1.03 | 3625.98 | 0.7234 |
+| 3 | close | 169 | 15 | 1.003 | 5.70 | 9.87 | 1591.69 | 0.9258 |
+| 4 | lift | 383 | 34 | 3.358 | 13.61 | 23.58 | 2118.94 | 1.0925 |
+| 5 | move_xy | 375 | 33 | 7.103 | 32.20 | 55.77 | 2321.18 | 0.9367 |
+| 6 | lower | 403 | 35 | 0.078 | 1.08 | 1.87 | 1388.68 | 0.9759 |
+| 7 | open | 173 | 16 | 0.973 | 5.56 | 9.62 | 3626.20 | 0.6140 |
+| 8 | retract | 383 | 33 | 3.396 | 13.84 | 23.98 | 2365.42 | 0.6980 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.083 |
+| TCP position RMSE (mm, per-axis) | 13.45 |
+| EE position RMS L2 (mm) | 24.06 |
+| TCP rotvec (mrad) | 2649.44 |
+| W1 effort mean (A) | 0.7929 |
+| W1 effort per joint (A) | j0=0.2501, j1=1.1998, j2=1.6230, j3=0.7090, j4=0.3766, j5=0.5991 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00036 | -0.00028 | -0.00042 | 0.00062 | 0.035 |
+| 1 | 0.00037 | -0.00055 | -0.00075 | 0.00100 | 0.034 |
+| 2 | 0.00043 | -0.00056 | -0.00075 | 0.00103 | 0.037 |
+| 3 | 0.00117 | -0.00023 | -0.00121 | 0.00170 | 0.164 |
+| 4 | 0.00035 | -0.00006 | -0.00019 | 0.00040 | 0.097 |
+| 5 | 0.00091 | -0.00086 | -0.00055 | 0.00136 | 0.102 |
+| 6 | 0.00114 | -0.00077 | -0.00127 | 0.00187 | 0.121 |
+| 7 | 0.00022 | -0.00034 | -0.00050 | 0.00065 | 0.035 |
+| 8 | -0.00008 | -0.00011 | -0.00014 | 0.00020 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_0108089a-b67d-4aa9-a390-3b3098bdd0dd.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0108089a-b67d-4aa9-a390-3b3098bdd0dd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0108089a-b67d-4aa9-a390-3b3098bdd0dd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2891 |
+| Sim rows | 255 |
+| Real episode_id | `0108089a-b67d-4aa9-a390-3b3098bdd0dd` |
+| Sim episode_id | `0108089a-b67d-4aa9-a390-3b3098bdd0dd` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.284 | 12.50 | 21.64 | 1978.77 | 0.6167 |
+| 1 | descend | 703 | 60 | 0.422 | 2.89 | 5.01 | 3624.71 | 0.7546 |
+| 2 | settle | 354 | 31 | 0.028 | 0.97 | 1.68 | 3624.53 | 0.7848 |
+| 3 | close | 165 | 15 | 1.011 | 6.98 | 12.09 | 3625.05 | 1.1019 |
+| 4 | lift | 274 | 24 | 2.227 | 12.85 | 22.26 | 2348.81 | 1.1224 |
+| 5 | move_xy | 354 | 31 | 5.139 | 31.34 | 54.29 | 2798.65 | 0.9488 |
+| 6 | lower | 401 | 35 | 0.101 | 1.75 | 3.04 | 3624.98 | 1.0822 |
+| 7 | open | 166 | 15 | 0.799 | 5.56 | 9.63 | 3624.75 | 0.7309 |
+| 8 | retract | 276 | 24 | 2.262 | 13.10 | 22.70 | 2419.91 | 0.7586 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.200 |
+| TCP position RMSE (mm, per-axis) | 13.20 |
+| EE position RMS L2 (mm) | 22.59 |
+| TCP rotvec (mrad) | 3141.42 |
+| W1 effort mean (A) | 0.8481 |
+| W1 effort per joint (A) | j0=0.2540, j1=1.6003, j2=1.6881, j3=0.7226, j4=0.2947, j5=0.5290 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00076 | -0.00042 | -0.00071 | 0.00113 | 0.035 |
+| 1 | 0.00073 | -0.00087 | -0.00126 | 0.00169 | 0.061 |
+| 2 | 0.00077 | -0.00088 | -0.00124 | 0.00171 | 0.059 |
+| 3 | 0.00227 | -0.00073 | -0.00242 | 0.00340 | 0.235 |
+| 4 | 0.00010 | -0.00045 | -0.00042 | 0.00062 | 0.087 |
+| 5 | 0.00162 | -0.00128 | -0.00233 | 0.00311 | 0.153 |
+| 6 | 0.00231 | -0.00133 | -0.00209 | 0.00338 | 0.215 |
+| 7 | 0.00061 | -0.00056 | -0.00101 | 0.00130 | 0.059 |
+| 8 | -0.00012 | -0.00022 | -0.00020 | 0.00032 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_010e37a2-ec8c-4fe5-b08c-9651811e0f90.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/010e37a2-ec8c-4fe5-b08c-9651811e0f90.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/010e37a2-ec8c-4fe5-b08c-9651811e0f90.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 411 |
+| Sim rows | 57 |
+| Real episode_id | `010e37a2-ec8c-4fe5-b08c-9651811e0f90` |
+| Sim episode_id | `010e37a2-ec8c-4fe5-b08c-9651811e0f90` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 203 | 20 | 3.192 | 14.50 | 25.11 | 928.56 | 0.8272 |
+| 1 | descend | 208 | 21 | 0.024 | 6.78 | 11.74 | 2.06 | 0.8632 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.257 |
+| TCP position RMSE (mm, per-axis) | 11.31 |
+| EE position RMS L2 (mm) | 19.52 |
+| TCP rotvec (mrad) | 656.59 |
+| W1 effort mean (A) | 0.8454 |
+| W1 effort per joint (A) | j0=0.1251, j1=1.8056, j2=1.6267, j3=1.0534, j4=0.2683, j5=0.1932 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00875 | 0.00782 | -0.00058 | 0.01175 | 0.035 |
+| 1 | -0.00862 | 0.00785 | -0.00060 | 0.01167 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_013ae4f5-4155-4786-a1ef-fdbf13832b4a.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/013ae4f5-4155-4786-a1ef-fdbf13832b4a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/013ae4f5-4155-4786-a1ef-fdbf13832b4a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2804 |
+| Sim rows | 247 |
+| Real episode_id | `013ae4f5-4155-4786-a1ef-fdbf13832b4a` |
+| Sim episode_id | `013ae4f5-4155-4786-a1ef-fdbf13832b4a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 213 | 19 | 2.837 | 14.81 | 25.65 | 1939.85 | 0.6175 |
+| 1 | descend | 477 | 41 | 1.003 | 7.08 | 12.26 | 3624.71 | 0.7389 |
+| 2 | settle | 387 | 33 | 0.027 | 0.98 | 1.70 | 3624.56 | 0.7479 |
+| 3 | close | 124 | 11 | 0.828 | 5.81 | 10.05 | 3624.84 | 1.0419 |
+| 4 | lift | 363 | 32 | 2.818 | 15.55 | 26.94 | 2391.72 | 1.1161 |
+| 5 | move_xy | 354 | 31 | 5.895 | 34.15 | 59.15 | 2731.18 | 0.9684 |
+| 6 | lower | 402 | 35 | 0.083 | 1.57 | 2.72 | 3625.25 | 1.0432 |
+| 7 | open | 120 | 11 | 0.726 | 5.10 | 8.84 | 3624.69 | 0.7325 |
+| 8 | retract | 364 | 32 | 2.888 | 15.95 | 27.63 | 2357.76 | 0.7502 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.610 |
+| TCP position RMSE (mm, per-axis) | 14.89 |
+| EE position RMS L2 (mm) | 26.83 |
+| TCP rotvec (mrad) | 3130.46 |
+| W1 effort mean (A) | 0.8472 |
+| W1 effort per joint (A) | j0=0.2434, j1=1.5245, j2=1.6958, j3=0.7513, j4=0.2942, j5=0.5741 |
+
+## Phase-end anchor (sim - 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 | -0.00066 | 0.00121 | 0.023 |
+| 1 | 0.00092 | -0.00076 | -0.00117 | 0.00167 | 0.050 |
+| 2 | 0.00094 | -0.00076 | -0.00122 | 0.00172 | 0.058 |
+| 3 | 0.00237 | -0.00052 | -0.00179 | 0.00301 | 0.196 |
+| 4 | 0.00013 | -0.00015 | -0.00009 | 0.00022 | 0.067 |
+| 5 | 0.00228 | -0.00106 | -0.00159 | 0.00297 | 0.179 |
+| 6 | 0.00219 | -0.00108 | -0.00215 | 0.00325 | 0.160 |
+| 7 | 0.00071 | -0.00042 | -0.00098 | 0.00127 | 0.042 |
+| 8 | -0.00012 | -0.00019 | -0.00018 | 0.00029 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_015c42c2-08f8-4d7b-ab63-bcdf2a3fcca0.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/015c42c2-08f8-4d7b-ab63-bcdf2a3fcca0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/015c42c2-08f8-4d7b-ab63-bcdf2a3fcca0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2514 |
+| Sim rows | 222 |
+| Real episode_id | `015c42c2-08f8-4d7b-ab63-bcdf2a3fcca0` |
+| Sim episode_id | `015c42c2-08f8-4d7b-ab63-bcdf2a3fcca0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 168 | 15 | 2.220 | 8.35 | 14.46 | 2.54 | 0.5715 |
+| 1 | descend | 343 | 30 | 1.806 | 10.82 | 18.74 | 3.53 | 0.7934 |
+| 2 | settle | 372 | 32 | 0.023 | 0.73 | 1.27 | 3.73 | 0.7054 |
+| 3 | close | 134 | 12 | 0.911 | 5.31 | 9.19 | 5.42 | 0.8749 |
+| 4 | lift | 320 | 28 | 2.613 | 10.61 | 18.38 | 4.19 | 1.0896 |
+| 5 | move_xy | 331 | 29 | 5.678 | 26.52 | 45.94 | 4.82 | 0.9124 |
+| 6 | lower | 393 | 34 | 0.089 | 1.30 | 2.25 | 6.14 | 0.9941 |
+| 7 | open | 134 | 12 | 0.991 | 5.73 | 9.92 | 3.77 | 0.6185 |
+| 8 | retract | 319 | 28 | 2.688 | 11.11 | 19.25 | 2.78 | 0.6916 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.501 |
+| TCP position RMSE (mm, per-axis) | 11.50 |
+| EE position RMS L2 (mm) | 20.99 |
+| TCP rotvec (mrad) | 4.25 |
+| W1 effort mean (A) | 0.7953 |
+| W1 effort per joint (A) | j0=0.3090, j1=1.1427, j2=1.5598, j3=0.6734, j4=0.5147, j5=0.5723 |
+
+## Phase-end anchor (sim - 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 | -0.00063 | -0.00044 | 0.00087 | 0.031 |
+| 1 | 0.00044 | -0.00087 | -0.00078 | 0.00125 | 0.036 |
+| 2 | 0.00048 | -0.00086 | -0.00078 | 0.00126 | 0.036 |
+| 3 | 0.00133 | -0.00072 | -0.00115 | 0.00190 | 0.190 |
+| 4 | 0.00041 | 0.00015 | -0.00013 | 0.00045 | 0.086 |
+| 5 | 0.00110 | -0.00126 | -0.00238 | 0.00291 | 0.190 |
+| 6 | 0.00100 | -0.00119 | -0.00167 | 0.00228 | 0.125 |
+| 7 | 0.00025 | -0.00063 | -0.00057 | 0.00089 | 0.039 |
+| 8 | -0.00007 | -0.00010 | -0.00015 | 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.

gap_reports/gap_015f0ba8-a67b-440f-8dcb-96268a36f4c8.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/015f0ba8-a67b-440f-8dcb-96268a36f4c8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/015f0ba8-a67b-440f-8dcb-96268a36f4c8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 730 |
+| Sim rows | 88 |
+| Real episode_id | `015f0ba8-a67b-440f-8dcb-96268a36f4c8` |
+| Sim episode_id | `015f0ba8-a67b-440f-8dcb-96268a36f4c8` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 518 | 51 | 3.880 | 19.45 | 33.69 | 9.12 | 0.8089 |
+| 1 | descend | 212 | 21 | 0.023 | 6.10 | 10.57 | 2.40 | 0.8727 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.744 |
+| TCP position RMSE (mm, per-axis) | 14.42 |
+| EE position RMS L2 (mm) | 28.95 |
+| TCP rotvec (mrad) | 6.67 |
+| W1 effort mean (A) | 0.8274 |
+| W1 effort per joint (A) | j0=0.2081, j1=1.6945, j2=1.7530, j3=0.9445, j4=0.2006, j5=0.1636 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.01009 | 0.00210 | -0.00015 | 0.01031 | 0.043 |
+| 1 | 0.01039 | 0.00210 | -0.00026 | 0.01060 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_01688ab7-409f-4036-b17d-fb7f64e840ed.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/01688ab7-409f-4036-b17d-fb7f64e840ed.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/01688ab7-409f-4036-b17d-fb7f64e840ed.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 541 |
+| Sim rows | 70 |
+| Real episode_id | `01688ab7-409f-4036-b17d-fb7f64e840ed` |
+| Sim episode_id | `01688ab7-409f-4036-b17d-fb7f64e840ed` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 333 | 33 | 3.612 | 20.83 | 36.09 | 685.55 | 0.7649 |
+| 1 | descend | 208 | 21 | 0.028 | 10.78 | 18.67 | 1.56 | 0.6279 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.554 |
+| TCP position RMSE (mm, per-axis) | 16.59 |
+| EE position RMS L2 (mm) | 30.59 |
+| TCP rotvec (mrad) | 484.76 |
+| W1 effort mean (A) | 0.7122 |
+| W1 effort per joint (A) | j0=0.2081, j1=1.5949, j2=1.6667, j3=0.5561, j4=0.1050, j5=0.1424 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00716 | -0.01693 | -0.00238 | 0.01854 | 0.058 |
+| 1 | -0.00712 | -0.01706 | -0.00270 | 0.01868 | 0.058 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_01696a73-727a-436e-bd10-37776ed23030.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/01696a73-727a-436e-bd10-37776ed23030.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/01696a73-727a-436e-bd10-37776ed23030.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1485 |
+| Sim rows | 153 |
+| Real episode_id | `01696a73-727a-436e-bd10-37776ed23030` |
+| Sim episode_id | `01696a73-727a-436e-bd10-37776ed23030` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 140 | 14 | 2.861 | 13.35 | 23.13 | 1174.14 | 0.7044 |
+| 1 | descend | 71 | 8 | 0.886 | 4.53 | 7.84 | 4.71 | 0.6073 |
+| 2 | settle | 31 | 4 | 0.022 | 2.96 | 5.13 | 5.03 | 0.5998 |
+| 3 | close | 311 | 31 | 0.095 | 3.46 | 6.00 | 1617.73 | 0.9818 |
+| 4 | lift | 72 | 8 | 0.858 | 4.44 | 7.69 | 1110.77 | 1.1176 |
+| 5 | move_xy | 186 | 19 | 5.887 | 35.44 | 61.39 | 240.90 | 1.1441 |
+| 6 | lower | 71 | 8 | 0.690 | 4.02 | 6.96 | 5.97 | 1.1819 |
+| 7 | open | 290 | 29 | 0.031 | 2.22 | 3.84 | 5.67 | 0.7147 |
+| 8 | retract | 71 | 8 | 0.648 | 3.83 | 6.63 | 5.14 | 0.8186 |
+| 9 | return | 242 | 24 | 2.694 | 18.05 | 31.26 | 535.51 | 0.7140 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.292 |
+| TCP position RMSE (mm, per-axis) | 13.63 |
+| EE position RMS L2 (mm) | 26.51 |
+| TCP rotvec (mrad) | 746.62 |
+| W1 effort mean (A) | 0.8242 |
+| W1 effort per joint (A) | j0=0.1789, j1=1.6566, j2=1.5441, j3=0.7655, j4=0.3252, j5=0.4747 |
+
+## Phase-end anchor (sim - 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 | -0.00443 | -0.00069 | 0.00470 | 0.029 |
+| 1 | 0.00161 | -0.00479 | -0.00057 | 0.00509 | 0.058 |
+| 2 | 0.00167 | -0.00481 | -0.00077 | 0.00515 | 0.030 |
+| 3 | 0.00251 | -0.00516 | -0.00194 | 0.00606 | 0.176 |
+| 4 | 0.00166 | -0.00462 | -0.00190 | 0.00526 | 0.168 |
+| 5 | 0.00157 | -0.00318 | -0.00099 | 0.00368 | 0.138 |
+| 6 | 0.00181 | -0.00217 | -0.00268 | 0.00389 | 0.226 |
+| 7 | 0.00244 | -0.00293 | -0.00043 | 0.00384 | 0.067 |
+| 8 | 0.00224 | -0.00318 | -0.00065 | 0.00395 | 0.077 |
+| 9 | -0.00006 | -0.00015 | -0.00035 | 0.00039 | 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.

gap_reports/gap_019208ca-77d5-44f3-8df7-57c93b532ca2.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/019208ca-77d5-44f3-8df7-57c93b532ca2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/019208ca-77d5-44f3-8df7-57c93b532ca2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 661 |
+| Sim rows | 81 |
+| Real episode_id | `019208ca-77d5-44f3-8df7-57c93b532ca2` |
+| Sim episode_id | `019208ca-77d5-44f3-8df7-57c93b532ca2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 451 | 44 | 2.097 | 10.37 | 17.96 | 301.28 | 0.7752 |
+| 1 | descend | 210 | 21 | 0.021 | 6.60 | 11.44 | 2.08 | 0.7630 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.483 |
+| TCP position RMSE (mm, per-axis) | 8.69 |
+| EE position RMS L2 (mm) | 16.17 |
+| TCP rotvec (mrad) | 213.04 |
+| W1 effort mean (A) | 0.7713 |
+| W1 effort per joint (A) | j0=0.1537, j1=1.5952, j2=1.6328, j3=0.9183, j4=0.1742, j5=0.1537 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00876 | 0.00737 | -0.00057 | 0.01146 | 0.034 |
+| 1 | -0.00871 | 0.00735 | -0.00058 | 0.01141 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_01c13645-ab8c-4824-93b0-1972c483850d.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/01c13645-ab8c-4824-93b0-1972c483850d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/01c13645-ab8c-4824-93b0-1972c483850d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2605 |
+| Sim rows | 231 |
+| Real episode_id | `01c13645-ab8c-4824-93b0-1972c483850d` |
+| Sim episode_id | `01c13645-ab8c-4824-93b0-1972c483850d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 228 | 20 | 2.519 | 10.82 | 18.74 | 2009.04 | 0.5581 |
+| 1 | descend | 234 | 21 | 0.667 | 3.97 | 6.88 | 3626.04 | 0.6678 |
+| 2 | settle | 353 | 31 | 0.020 | 0.51 | 0.88 | 3626.04 | 0.7161 |
+| 3 | close | 95 | 9 | 0.427 | 2.76 | 4.78 | 1301.98 | 0.8620 |
+| 4 | lift | 401 | 35 | 2.513 | 10.62 | 18.40 | 1705.34 | 1.0585 |
+| 5 | move_xy | 384 | 33 | 5.010 | 23.60 | 40.87 | 2115.45 | 0.9024 |
+| 6 | lower | 412 | 36 | 0.076 | 0.93 | 1.61 | 1585.96 | 0.9961 |
+| 7 | open | 100 | 9 | 0.361 | 2.16 | 3.74 | 3626.12 | 0.5918 |
+| 8 | retract | 398 | 35 | 2.524 | 10.71 | 18.55 | 2196.01 | 0.6776 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.233 |
+| TCP position RMSE (mm, per-axis) | 10.17 |
+| EE position RMS L2 (mm) | 19.69 |
+| TCP rotvec (mrad) | 2579.78 |
+| W1 effort mean (A) | 0.7954 |
+| W1 effort per joint (A) | j0=0.1995, j1=1.1670, j2=1.6418, j3=0.8338, j4=0.2907, j5=0.6393 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00015 | -0.00043 | -0.00058 | 0.00073 | 0.034 |
+| 1 | 0.00011 | -0.00053 | -0.00070 | 0.00088 | 0.035 |
+| 2 | 0.00012 | -0.00051 | -0.00070 | 0.00087 | 0.035 |
+| 3 | 0.00057 | -0.00066 | -0.00160 | 0.00182 | 0.145 |
+| 4 | 0.00019 | -0.00014 | -0.00024 | 0.00034 | 0.070 |
+| 5 | 0.00068 | -0.00081 | -0.00108 | 0.00151 | 0.108 |
+| 6 | 0.00072 | -0.00070 | -0.00164 | 0.00192 | 0.124 |
+| 7 | 0.00006 | -0.00039 | -0.00061 | 0.00073 | 0.040 |
+| 8 | -0.00004 | -0.00004 | -0.00010 | 0.00011 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_01cf632c-00b0-42f1-ae81-ae5f822c05ab.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/01cf632c-00b0-42f1-ae81-ae5f822c05ab.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/01cf632c-00b0-42f1-ae81-ae5f822c05ab.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3365 |
+| Sim rows | 296 |
+| Real episode_id | `01cf632c-00b0-42f1-ae81-ae5f822c05ab` |
+| Sim episode_id | `01cf632c-00b0-42f1-ae81-ae5f822c05ab` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 249 | 22 | 3.634 | 15.94 | 27.61 | 3.48 | 0.5959 |
+| 1 | descend | 590 | 51 | 0.864 | 5.83 | 10.09 | 5.24 | 0.6996 |
+| 2 | settle | 369 | 32 | 0.025 | 1.00 | 1.73 | 5.35 | 0.6317 |
+| 3 | close | 161 | 15 | 0.868 | 5.63 | 9.75 | 7.13 | 0.9280 |
+| 4 | lift | 499 | 43 | 3.819 | 17.57 | 30.43 | 4.85 | 1.0999 |
+| 5 | move_xy | 433 | 38 | 8.277 | 40.44 | 70.05 | 5.78 | 0.8999 |
+| 6 | lower | 407 | 35 | 0.100 | 1.78 | 3.08 | 8.12 | 0.9331 |
+| 7 | open | 159 | 15 | 0.883 | 5.60 | 9.71 | 5.47 | 0.6121 |
+| 8 | retract | 498 | 43 | 3.670 | 16.95 | 29.36 | 3.65 | 0.7248 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.529 |
+| TCP position RMSE (mm, per-axis) | 16.95 |
+| EE position RMS L2 (mm) | 31.32 |
+| TCP rotvec (mrad) | 5.63 |
+| W1 effort mean (A) | 0.7774 |
+| W1 effort per joint (A) | j0=0.2895, j1=1.2973, j2=1.4354, j3=0.6137, j4=0.4556, j5=0.5731 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00111 | -0.00048 | -0.00065 | 0.00138 | 0.033 |
+| 1 | 0.00113 | -0.00087 | -0.00094 | 0.00171 | 0.048 |
+| 2 | 0.00112 | -0.00089 | -0.00091 | 0.00170 | 0.046 |
+| 3 | 0.00185 | -0.00053 | -0.00064 | 0.00203 | 0.113 |
+| 4 | 0.00017 | -0.00019 | -0.00018 | 0.00031 | 0.116 |
+| 5 | 0.00181 | -0.00102 | -0.00191 | 0.00282 | 0.150 |
+| 6 | 0.00201 | -0.00109 | -0.00131 | 0.00263 | 0.121 |
+| 7 | 0.00099 | -0.00050 | -0.00073 | 0.00133 | 0.037 |
+| 8 | -0.00005 | -0.00007 | -0.00012 | 0.00015 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_0220c9da-8010-484d-a3b5-260ef4efa0f4.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0220c9da-8010-484d-a3b5-260ef4efa0f4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0220c9da-8010-484d-a3b5-260ef4efa0f4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2667 |
+| Sim rows | 236 |
+| Real episode_id | `0220c9da-8010-484d-a3b5-260ef4efa0f4` |
+| Sim episode_id | `0220c9da-8010-484d-a3b5-260ef4efa0f4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 283 | 25 | 3.487 | 14.92 | 25.83 | 2021.63 | 0.5879 |
+| 1 | descend | 272 | 24 | 1.074 | 7.13 | 12.36 | 3625.30 | 0.6421 |
+| 2 | settle | 366 | 32 | 0.023 | 0.81 | 1.41 | 3625.25 | 0.6640 |
+| 3 | close | 106 | 10 | 0.505 | 3.49 | 6.04 | 3192.05 | 0.9888 |
+| 4 | lift | 343 | 30 | 3.949 | 18.74 | 32.46 | 2200.01 | 1.1107 |
+| 5 | move_xy | 464 | 40 | 7.536 | 36.81 | 63.76 | 2499.32 | 0.8853 |
+| 6 | lower | 390 | 34 | 0.082 | 1.42 | 2.46 | 3625.73 | 0.9398 |
+| 7 | open | 105 | 10 | 0.560 | 3.60 | 6.24 | 3625.52 | 0.6258 |
+| 8 | retract | 338 | 29 | 3.573 | 16.63 | 28.80 | 2316.41 | 0.7313 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.317 |
+| TCP position RMSE (mm, per-axis) | 15.93 |
+| EE position RMS L2 (mm) | 32.23 |
+| TCP rotvec (mrad) | 3042.37 |
+| W1 effort mean (A) | 0.7863 |
+| W1 effort per joint (A) | j0=0.2202, j1=1.3134, j2=1.4993, j3=0.7405, j4=0.3392, j5=0.6053 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00083 | -0.00037 | -0.00068 | 0.00114 | 0.029 |
+| 1 | 0.00087 | -0.00057 | -0.00099 | 0.00144 | 0.045 |
+| 2 | 0.00086 | -0.00059 | -0.00096 | 0.00142 | 0.047 |
+| 3 | 0.00174 | -0.00050 | -0.00074 | 0.00196 | 0.135 |
+| 4 | 0.00055 | -0.00010 | -0.00035 | 0.00066 | 0.130 |
+| 5 | 0.00204 | -0.00078 | -0.00083 | 0.00233 | 0.159 |
+| 6 | 0.00163 | -0.00087 | -0.00115 | 0.00218 | 0.106 |
+| 7 | 0.00062 | -0.00032 | -0.00076 | 0.00103 | 0.037 |
+| 8 | -0.00014 | -0.00022 | -0.00022 | 0.00034 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_023268ba-3fa2-4896-bb86-c3ea66526ebc.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/023268ba-3fa2-4896-bb86-c3ea66526ebc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/023268ba-3fa2-4896-bb86-c3ea66526ebc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3246 |
+| Sim rows | 287 |
+| Real episode_id | `023268ba-3fa2-4896-bb86-c3ea66526ebc` |
+| Sim episode_id | `023268ba-3fa2-4896-bb86-c3ea66526ebc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 232 | 21 | 2.357 | 11.10 | 19.22 | 1948.26 | 0.5584 |
+| 1 | descend | 766 | 66 | 0.413 | 2.78 | 4.81 | 3625.38 | 0.7354 |
+| 2 | settle | 374 | 33 | 0.024 | 0.74 | 1.29 | 3625.23 | 0.6469 |
+| 3 | close | 149 | 14 | 1.112 | 6.93 | 12.00 | 3020.72 | 1.0013 |
+| 4 | lift | 364 | 32 | 2.520 | 12.34 | 21.37 | 2053.82 | 1.1103 |
+| 5 | move_xy | 448 | 39 | 5.950 | 32.13 | 55.65 | 2800.42 | 0.9153 |
+| 6 | lower | 402 | 35 | 0.084 | 1.30 | 2.26 | 3554.10 | 0.9968 |
+| 7 | open | 145 | 13 | 0.969 | 6.15 | 10.65 | 3625.49 | 0.6760 |
+| 8 | retract | 366 | 32 | 2.523 | 12.36 | 21.40 | 2281.93 | 0.7151 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.495 |
+| TCP position RMSE (mm, per-axis) | 13.15 |
+| EE position RMS L2 (mm) | 23.97 |
+| TCP rotvec (mrad) | 3023.05 |
+| W1 effort mean (A) | 0.7969 |
+| W1 effort per joint (A) | j0=0.2306, j1=1.3115, j2=1.6120, j3=0.7193, j4=0.3480, j5=0.5601 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00040 | -0.00040 | -0.00072 | 0.00092 | 0.036 |
+| 1 | 0.00040 | -0.00069 | -0.00100 | 0.00128 | 0.045 |
+| 2 | 0.00042 | -0.00074 | -0.00096 | 0.00128 | 0.048 |
+| 3 | 0.00102 | -0.00070 | -0.00143 | 0.00189 | 0.136 |
+| 4 | 0.00007 | -0.00025 | -0.00039 | 0.00047 | 0.060 |
+| 5 | 0.00118 | -0.00101 | -0.00101 | 0.00185 | 0.114 |
+| 6 | 0.00103 | -0.00101 | -0.00205 | 0.00251 | 0.136 |
+| 7 | 0.00029 | -0.00043 | -0.00076 | 0.00092 | 0.039 |
+| 8 | -0.00009 | -0.00012 | -0.00015 | 0.00021 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_02349457-c13c-4016-bb06-02e59b05d874.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/02349457-c13c-4016-bb06-02e59b05d874.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/02349457-c13c-4016-bb06-02e59b05d874.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 485 |
+| Sim rows | 64 |
+| Real episode_id | `02349457-c13c-4016-bb06-02e59b05d874` |
+| Sim episode_id | `02349457-c13c-4016-bb06-02e59b05d874` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 277 | 27 | 2.368 | 10.93 | 18.93 | 11.12 | 0.8195 |
+| 1 | descend | 208 | 21 | 0.025 | 5.70 | 9.88 | 2.09 | 0.8572 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.674 |
+| TCP position RMSE (mm, per-axis) | 8.72 |
+| EE position RMS L2 (mm) | 15.70 |
+| TCP rotvec (mrad) | 8.00 |
+| W1 effort mean (A) | 0.8349 |
+| W1 effort per joint (A) | j0=0.1777, j1=1.8331, j2=1.8283, j3=0.8688, j4=0.1886, j5=0.1125 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00763 | -0.00602 | -0.00009 | 0.00972 | 0.039 |
+| 1 | 0.00789 | -0.00604 | -0.00022 | 0.00994 | 0.052 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_02373338-bb70-4534-8ae9-68eb4c74c6b8.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/02373338-bb70-4534-8ae9-68eb4c74c6b8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/02373338-bb70-4534-8ae9-68eb4c74c6b8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 531 |
+| Sim rows | 69 |
+| Real episode_id | `02373338-bb70-4534-8ae9-68eb4c74c6b8` |
+| Sim episode_id | `02373338-bb70-4534-8ae9-68eb4c74c6b8` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.876 | 13.83 | 23.96 | 12.16 | 0.8022 |
+| 1 | descend | 209 | 21 | 0.021 | 0.67 | 1.16 | 2.25 | 0.8376 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.034 |
+| TCP position RMSE (mm, per-axis) | 9.79 |
+| EE position RMS L2 (mm) | 18.67 |
+| TCP rotvec (mrad) | 8.74 |
+| W1 effort mean (A) | 0.8161 |
+| W1 effort per joint (A) | j0=0.1405, j1=1.8438, j2=1.7751, j3=0.8523, j4=0.1337, j5=0.1514 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00055 | 0.00053 | 0.00079 | 0.00110 | 0.033 |
+| 1 | 0.00080 | 0.00052 | 0.00067 | 0.00117 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_02524a57-6312-4ace-9db8-0e5836549fa0.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/02524a57-6312-4ace-9db8-0e5836549fa0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/02524a57-6312-4ace-9db8-0e5836549fa0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2513 |
+| Sim rows | 251 |
+| Real episode_id | `02524a57-6312-4ace-9db8-0e5836549fa0` |
+| Sim episode_id | `02524a57-6312-4ace-9db8-0e5836549fa0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 199 | 20 | 2.685 | 15.01 | 26.00 | 1905.68 | 0.6110 |
+| 1 | descend | 346 | 34 | 0.876 | 6.08 | 10.53 | 3624.68 | 0.8222 |
+| 2 | settle | 341 | 34 | 0.029 | 0.99 | 1.72 | 3624.51 | 0.6797 |
+| 3 | close | 142 | 14 | 0.647 | 4.74 | 8.21 | 3625.09 | 1.0127 |
+| 4 | lift | 316 | 31 | 2.394 | 13.94 | 24.14 | 2316.19 | 1.1070 |
+| 5 | move_xy | 370 | 36 | 5.425 | 33.21 | 57.52 | 2870.36 | 0.9366 |
+| 6 | lower | 342 | 34 | 0.097 | 1.71 | 2.97 | 3551.20 | 1.0850 |
+| 7 | open | 142 | 15 | 0.812 | 5.58 | 9.66 | 3624.70 | 0.7560 |
+| 8 | retract | 315 | 31 | 2.352 | 13.84 | 23.98 | 2319.70 | 0.7398 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.351 |
+| TCP position RMSE (mm, per-axis) | 14.18 |
+| EE position RMS L2 (mm) | 26.68 |
+| TCP rotvec (mrad) | 3123.08 |
+| W1 effort mean (A) | 0.8501 |
+| W1 effort per joint (A) | j0=0.2223, j1=1.5776, j2=1.6778, j3=0.7698, j4=0.2716, 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 | 0.00083 | -0.00049 | -0.00071 | 0.00120 | 0.026 |
+| 1 | 0.00074 | -0.00087 | -0.00120 | 0.00166 | 0.056 |
+| 2 | 0.00077 | -0.00087 | -0.00122 | 0.00168 | 0.057 |
+| 3 | 0.00132 | -0.00054 | -0.00048 | 0.00151 | 0.078 |
+| 4 | -0.00005 | -0.00061 | -0.00055 | 0.00082 | 0.125 |
+| 5 | 0.00199 | -0.00115 | -0.00157 | 0.00279 | 0.164 |
+| 6 | 0.00147 | -0.00120 | -0.00175 | 0.00258 | 0.109 |
+| 7 | 0.00062 | -0.00055 | -0.00097 | 0.00127 | 0.043 |
+| 8 | -0.00011 | -0.00016 | -0.00016 | 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.

gap_reports/gap_025ed09a-aba4-4c59-b95f-049dd78d925d.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/025ed09a-aba4-4c59-b95f-049dd78d925d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/025ed09a-aba4-4c59-b95f-049dd78d925d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2685 |
+| Sim rows | 239 |
+| Real episode_id | `025ed09a-aba4-4c59-b95f-049dd78d925d` |
+| Sim episode_id | `025ed09a-aba4-4c59-b95f-049dd78d925d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 207 | 19 | 2.508 | 10.39 | 18.00 | 2.56 | 0.5680 |
+| 1 | descend | 302 | 26 | 1.459 | 8.73 | 15.12 | 3.53 | 0.7809 |
+| 2 | settle | 387 | 34 | 0.023 | 0.73 | 1.27 | 3.74 | 0.7151 |
+| 3 | close | 167 | 15 | 0.851 | 5.00 | 8.66 | 5.78 | 0.9374 |
+| 4 | lift | 337 | 30 | 2.859 | 11.85 | 20.52 | 4.17 | 1.0492 |
+| 5 | move_xy | 386 | 34 | 4.975 | 23.44 | 40.59 | 4.68 | 0.8894 |
+| 6 | lower | 393 | 34 | 0.084 | 1.25 | 2.17 | 5.94 | 0.9801 |
+| 7 | open | 167 | 15 | 0.883 | 5.10 | 8.83 | 3.69 | 0.6183 |
+| 8 | retract | 339 | 30 | 2.786 | 11.52 | 19.96 | 2.73 | 0.6851 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.371 |
+| TCP position RMSE (mm, per-axis) | 10.85 |
+| EE position RMS L2 (mm) | 20.03 |
+| TCP rotvec (mrad) | 4.24 |
+| W1 effort mean (A) | 0.7870 |
+| W1 effort per joint (A) | j0=0.2706, j1=1.1421, j2=1.5871, j3=0.6762, j4=0.4629, j5=0.5831 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00043 | -0.00065 | -0.00049 | 0.00092 | 0.028 |
+| 1 | 0.00045 | -0.00085 | -0.00080 | 0.00125 | 0.038 |
+| 2 | 0.00049 | -0.00087 | -0.00076 | 0.00126 | 0.036 |
+| 3 | 0.00119 | -0.00059 | -0.00127 | 0.00183 | 0.135 |
+| 4 | 0.00029 | 0.00006 | -0.00021 | 0.00037 | 0.085 |
+| 5 | 0.00136 | -0.00112 | -0.00143 | 0.00226 | 0.151 |
+| 6 | 0.00140 | -0.00119 | -0.00180 | 0.00258 | 0.147 |
+| 7 | 0.00030 | -0.00065 | -0.00055 | 0.00090 | 0.040 |
+| 8 | -0.00006 | -0.00009 | -0.00013 | 0.00016 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_026cf4cd-0aeb-410b-ac07-b8f205e607dc.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/026cf4cd-0aeb-410b-ac07-b8f205e607dc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/026cf4cd-0aeb-410b-ac07-b8f205e607dc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1025 |
+| Sim rows | 107 |
+| Real episode_id | `026cf4cd-0aeb-410b-ac07-b8f205e607dc` |
+| Sim episode_id | `026cf4cd-0aeb-410b-ac07-b8f205e607dc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 163 | 17 | 3.976 | 12.32 | 21.34 | 1366.43 | 0.7437 |
+| 1 | descend | 78 | 8 | 0.753 | 3.49 | 6.05 | 4.33 | 0.4939 |
+| 2 | settle | 41 | 5 | 0.019 | 2.59 | 4.49 | 4.75 | 0.4948 |
+| 3 | close | 46 | 5 | 0.085 | 3.04 | 5.27 | 6.74 | 0.9743 |
+| 4 | lift | 98 | 10 | 1.214 | 5.23 | 9.05 | 6.69 | 1.0351 |
+| 5 | move_xy | 186 | 19 | 6.727 | 19.54 | 33.84 | 95.02 | 0.9841 |
+| 6 | lower | 73 | 8 | 2.187 | 3.80 | 6.59 | 85.13 | 1.0355 |
+| 7 | open | 88 | 9 | 2.107 | 2.70 | 4.68 | 85.87 | 0.7366 |
+| 8 | retract | 78 | 8 | 2.165 | 3.57 | 6.18 | 85.67 | 0.7481 |
+| 9 | return | 174 | 18 | 2.667 | 11.43 | 19.79 | 616.74 | 0.8258 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.901 |
+| TCP position RMSE (mm, per-axis) | 8.68 |
+| EE position RMS L2 (mm) | 19.16 |
+| TCP rotvec (mrad) | 477.35 |
+| W1 effort mean (A) | 0.8149 |
+| W1 effort per joint (A) | j0=0.2311, j1=1.2743, j2=1.5630, j3=0.7892, j4=0.3742, j5=0.6577 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00175 | -0.00367 | -0.00037 | 0.00408 | 0.041 |
+| 1 | 0.00186 | -0.00408 | -0.00021 | 0.00449 | 0.050 |
+| 2 | 0.00187 | -0.00407 | -0.00039 | 0.00449 | 0.023 |
+| 3 | 0.00257 | -0.00474 | -0.00112 | 0.00551 | 0.150 |
+| 4 | 0.00234 | -0.00428 | -0.00132 | 0.00505 | 0.183 |
+| 5 | 0.00180 | -0.00394 | -0.00113 | 0.00447 | 5.180 |
+| 6 | 0.00213 | -0.00401 | -0.00085 | 0.00462 | 5.164 |
+| 7 | 0.00248 | -0.00394 | -0.00054 | 0.00469 | 5.159 |
+| 8 | 0.00219 | -0.00402 | -0.00061 | 0.00462 | 5.203 |
+| 9 | -0.00011 | -0.00020 | -0.00031 | 0.00039 | 0.043 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_02f6d390-0192-4689-9cd0-0b2d0620ea9b.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/02f6d390-0192-4689-9cd0-0b2d0620ea9b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/02f6d390-0192-4689-9cd0-0b2d0620ea9b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 742 |
+| Sim rows | 89 |
+| Real episode_id | `02f6d390-0192-4689-9cd0-0b2d0620ea9b` |
+| Sim episode_id | `02f6d390-0192-4689-9cd0-0b2d0620ea9b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 533 | 52 | 8.133 | 37.29 | 64.59 | 15.89 | 0.7631 |
+| 1 | descend | 209 | 21 | 0.026 | 6.60 | 11.43 | 1.94 | 0.8003 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.751 |
+| TCP position RMSE (mm, per-axis) | 26.78 |
+| EE position RMS L2 (mm) | 55.08 |
+| TCP rotvec (mrad) | 11.32 |
+| W1 effort mean (A) | 0.7729 |
+| W1 effort per joint (A) | j0=0.1712, j1=1.6460, j2=1.7046, j3=0.7980, j4=0.1544, j5=0.1635 |
+
+## Phase-end anchor (sim - 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 | -0.01140 | -0.00056 | 0.01144 | 0.053 |
+| 1 | 0.00093 | -0.01138 | -0.00056 | 0.01143 | 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.

gap_reports/gap_0316d403-e441-418e-8579-b1aa1ed53dfd.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0316d403-e441-418e-8579-b1aa1ed53dfd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0316d403-e441-418e-8579-b1aa1ed53dfd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2422 |
+| Sim rows | 216 |
+| Real episode_id | `0316d403-e441-418e-8579-b1aa1ed53dfd` |
+| Sim episode_id | `0316d403-e441-418e-8579-b1aa1ed53dfd` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 165 | 15 | 2.332 | 11.84 | 20.51 | 1995.67 | 0.5787 |
+| 1 | descend | 347 | 30 | 0.865 | 5.62 | 9.73 | 3625.28 | 0.7164 |
+| 2 | settle | 371 | 33 | 0.023 | 0.73 | 1.26 | 3625.24 | 0.6253 |
+| 3 | close | 98 | 9 | 0.520 | 3.55 | 6.14 | 3313.65 | 0.9566 |
+| 4 | lift | 332 | 29 | 2.552 | 13.09 | 22.68 | 2060.78 | 1.0720 |
+| 5 | move_xy | 294 | 26 | 4.731 | 26.62 | 46.11 | 2805.13 | 0.8722 |
+| 6 | lower | 387 | 34 | 0.081 | 1.24 | 2.15 | 3435.81 | 1.0109 |
+| 7 | open | 97 | 9 | 0.378 | 2.53 | 4.39 | 3625.40 | 0.6911 |
+| 8 | retract | 331 | 29 | 2.494 | 12.83 | 22.23 | 2200.88 | 0.7042 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.153 |
+| TCP position RMSE (mm, per-axis) | 11.73 |
+| EE position RMS L2 (mm) | 21.01 |
+| TCP rotvec (mrad) | 3039.66 |
+| W1 effort mean (A) | 0.7929 |
+| W1 effort per joint (A) | j0=0.2177, j1=1.3461, j2=1.6194, j3=0.7044, j4=0.3337, j5=0.5363 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00050 | -0.00049 | -0.00066 | 0.00096 | 0.034 |
+| 1 | 0.00041 | -0.00071 | -0.00098 | 0.00128 | 0.044 |
+| 2 | 0.00042 | -0.00070 | -0.00094 | 0.00124 | 0.039 |
+| 3 | 0.00088 | -0.00058 | -0.00058 | 0.00120 | 0.067 |
+| 4 | 0.00042 | -0.00019 | -0.00026 | 0.00053 | 0.161 |
+| 5 | 0.00134 | -0.00090 | -0.00124 | 0.00204 | 0.120 |
+| 6 | 0.00129 | -0.00088 | -0.00045 | 0.00162 | 0.112 |
+| 7 | 0.00020 | -0.00055 | -0.00085 | 0.00103 | 0.047 |
+| 8 | -0.00011 | -0.00015 | -0.00015 | 0.00024 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_0325a77a-79e4-4fbd-9976-bb05eb017819.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0325a77a-79e4-4fbd-9976-bb05eb017819.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0325a77a-79e4-4fbd-9976-bb05eb017819.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2624 |
+| Sim rows | 234 |
+| Real episode_id | `0325a77a-79e4-4fbd-9976-bb05eb017819` |
+| Sim episode_id | `0325a77a-79e4-4fbd-9976-bb05eb017819` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.658 | 12.51 | 21.67 | 2.81 | 0.5701 |
+| 1 | descend | 473 | 41 | 0.562 | 3.82 | 6.62 | 3.87 | 0.7314 |
+| 2 | settle | 363 | 32 | 0.025 | 0.92 | 1.59 | 3.96 | 0.6657 |
+| 3 | close | 137 | 13 | 0.605 | 4.15 | 7.19 | 5.87 | 1.0151 |
+| 4 | lift | 264 | 23 | 2.539 | 12.62 | 21.87 | 4.30 | 1.1057 |
+| 5 | move_xy | 368 | 32 | 4.868 | 26.93 | 46.65 | 4.62 | 0.9032 |
+| 6 | lower | 411 | 36 | 0.088 | 1.52 | 2.64 | 6.25 | 1.0012 |
+| 7 | open | 137 | 13 | 0.642 | 4.21 | 7.29 | 3.87 | 0.6589 |
+| 8 | retract | 263 | 23 | 2.266 | 11.48 | 19.88 | 2.89 | 0.7150 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.197 |
+| TCP position RMSE (mm, per-axis) | 11.67 |
+| EE position RMS L2 (mm) | 21.09 |
+| TCP rotvec (mrad) | 4.41 |
+| W1 effort mean (A) | 0.7844 |
+| W1 effort per joint (A) | j0=0.2691, j1=1.3051, j2=1.4507, j3=0.6334, j4=0.4621, j5=0.5862 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00073 | -0.00073 | -0.00069 | 0.00124 | 0.033 |
+| 1 | 0.00071 | -0.00100 | -0.00100 | 0.00158 | 0.045 |
+| 2 | 0.00071 | -0.00102 | -0.00097 | 0.00157 | 0.044 |
+| 3 | 0.00141 | -0.00084 | -0.00137 | 0.00213 | 0.100 |
+| 4 | -0.00007 | -0.00051 | -0.00040 | 0.00064 | 0.086 |
+| 5 | 0.00203 | -0.00129 | -0.00123 | 0.00270 | 0.174 |
+| 6 | 0.00148 | -0.00132 | -0.00173 | 0.00263 | 0.122 |
+| 7 | 0.00057 | -0.00075 | -0.00081 | 0.00124 | 0.046 |
+| 8 | -0.00012 | -0.00018 | -0.00021 | 0.00030 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_0371e70f-2eb9-4796-ba24-eb39e4bafff5.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0371e70f-2eb9-4796-ba24-eb39e4bafff5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0371e70f-2eb9-4796-ba24-eb39e4bafff5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2532 |
+| Sim rows | 225 |
+| Real episode_id | `0371e70f-2eb9-4796-ba24-eb39e4bafff5` |
+| Sim episode_id | `0371e70f-2eb9-4796-ba24-eb39e4bafff5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 212 | 19 | 2.598 | 9.42 | 16.32 | 1880.20 | 0.5775 |
+| 1 | descend | 346 | 30 | 1.065 | 6.44 | 11.15 | 3625.95 | 0.8225 |
+| 2 | settle | 376 | 33 | 0.023 | 0.68 | 1.18 | 3625.99 | 0.6593 |
+| 3 | close | 100 | 9 | 0.492 | 3.02 | 5.24 | 780.97 | 0.9203 |
+| 4 | lift | 329 | 29 | 3.628 | 15.22 | 26.37 | 1728.25 | 1.0490 |
+| 5 | move_xy | 342 | 30 | 6.985 | 30.26 | 52.41 | 2120.37 | 0.8405 |
+| 6 | lower | 391 | 34 | 0.086 | 1.27 | 2.20 | 1312.08 | 0.8814 |
+| 7 | open | 105 | 10 | 0.679 | 4.03 | 6.99 | 3626.15 | 0.5788 |
+| 8 | retract | 331 | 29 | 3.758 | 15.70 | 27.18 | 2228.08 | 0.6964 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.067 |
+| TCP position RMSE (mm, per-axis) | 13.13 |
+| EE position RMS L2 (mm) | 24.52 |
+| TCP rotvec (mrad) | 2533.29 |
+| W1 effort mean (A) | 0.7768 |
+| W1 effort per joint (A) | j0=0.2670, j1=1.1792, j2=1.4785, j3=0.7293, j4=0.4210, j5=0.5857 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00072 | -0.00033 | -0.00049 | 0.00093 | 0.045 |
+| 1 | 0.00082 | -0.00055 | -0.00079 | 0.00127 | 0.045 |
+| 2 | 0.00070 | -0.00055 | -0.00077 | 0.00117 | 0.036 |
+| 3 | 0.00124 | -0.00038 | -0.00062 | 0.00144 | 0.105 |
+| 4 | 0.00002 | -0.00062 | -0.00065 | 0.00090 | 0.113 |
+| 5 | 0.00137 | -0.00076 | -0.00103 | 0.00188 | 0.108 |
+| 6 | 0.00142 | -0.00069 | -0.00136 | 0.00208 | 0.095 |
+| 7 | 0.00046 | -0.00033 | -0.00055 | 0.00078 | 0.030 |
+| 8 | -0.00009 | -0.00013 | -0.00016 | 0.00022 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_037b1f1a-05ea-4b34-9aba-b73a1abb6c44.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/037b1f1a-05ea-4b34-9aba-b73a1abb6c44.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/037b1f1a-05ea-4b34-9aba-b73a1abb6c44.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2752 |
+| Sim rows | 246 |
+| Real episode_id | `037b1f1a-05ea-4b34-9aba-b73a1abb6c44` |
+| Sim episode_id | `037b1f1a-05ea-4b34-9aba-b73a1abb6c44` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 263 | 23 | 3.375 | 15.81 | 27.38 | 1948.80 | 0.5771 |
+| 1 | descend | 362 | 32 | 1.193 | 7.80 | 13.51 | 3625.35 | 0.7555 |
+| 2 | settle | 377 | 33 | 0.024 | 0.77 | 1.34 | 3625.26 | 0.7355 |
+| 3 | close | 134 | 12 | 0.718 | 4.71 | 8.15 | 2881.50 | 1.0206 |
+| 4 | lift | 323 | 29 | 2.533 | 11.79 | 20.42 | 2255.60 | 1.0940 |
+| 5 | move_xy | 443 | 39 | 6.028 | 30.66 | 53.11 | 2570.52 | 0.8796 |
+| 6 | lower | 390 | 34 | 0.092 | 1.44 | 2.49 | 3476.62 | 1.0139 |
+| 7 | open | 136 | 13 | 0.748 | 4.81 | 8.34 | 3625.47 | 0.6501 |
+| 8 | retract | 324 | 29 | 2.449 | 11.44 | 19.81 | 2251.82 | 0.7245 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.638 |
+| TCP position RMSE (mm, per-axis) | 13.20 |
+| EE position RMS L2 (mm) | 25.55 |
+| TCP rotvec (mrad) | 2988.56 |
+| W1 effort mean (A) | 0.8111 |
+| W1 effort per joint (A) | j0=0.2432, j1=1.3128, j2=1.6158, j3=0.7789, j4=0.3563, j5=0.5594 |
+
+## Phase-end anchor (sim - 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 | -0.00033 | -0.00077 | 0.00106 | 0.043 |
+| 1 | 0.00065 | -0.00064 | -0.00100 | 0.00135 | 0.045 |
+| 2 | 0.00064 | -0.00064 | -0.00099 | 0.00134 | 0.047 |
+| 3 | 0.00156 | -0.00032 | -0.00054 | 0.00168 | 0.136 |
+| 4 | 0.00012 | -0.00045 | -0.00059 | 0.00075 | 0.107 |
+| 5 | 0.00142 | -0.00093 | -0.00063 | 0.00181 | 0.110 |
+| 6 | 0.00131 | -0.00090 | -0.00100 | 0.00188 | 0.119 |
+| 7 | 0.00045 | -0.00033 | -0.00082 | 0.00099 | 0.050 |
+| 8 | -0.00010 | -0.00015 | -0.00019 | 0.00027 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_03891c54-8cf8-4ce1-963d-93bc885b1ddf.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/03891c54-8cf8-4ce1-963d-93bc885b1ddf.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/03891c54-8cf8-4ce1-963d-93bc885b1ddf.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3106 |
+| Sim rows | 272 |
+| Real episode_id | `03891c54-8cf8-4ce1-963d-93bc885b1ddf` |
+| Sim episode_id | `03891c54-8cf8-4ce1-963d-93bc885b1ddf` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.462 | 16.87 | 29.23 | 1901.78 | 0.6261 |
+| 1 | descend | 601 | 52 | 0.400 | 3.10 | 5.36 | 3624.73 | 0.8731 |
+| 2 | settle | 370 | 32 | 0.027 | 1.01 | 1.76 | 3624.58 | 0.6951 |
+| 3 | close | 123 | 11 | 0.657 | 4.71 | 8.15 | 3625.16 | 1.0383 |
+| 4 | lift | 358 | 31 | 3.517 | 18.60 | 32.22 | 2431.22 | 1.1146 |
+| 5 | move_xy | 483 | 42 | 7.909 | 43.48 | 75.31 | 2720.13 | 0.9339 |
+| 6 | lower | 405 | 35 | 0.094 | 1.78 | 3.08 | 3625.09 | 1.0352 |
+| 7 | open | 123 | 11 | 0.651 | 4.65 | 8.05 | 3624.71 | 0.7511 |
+| 8 | retract | 356 | 31 | 3.489 | 18.55 | 32.14 | 2437.66 | 0.7594 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.335 |
+| TCP position RMSE (mm, per-axis) | 18.02 |
+| EE position RMS L2 (mm) | 34.81 |
+| TCP rotvec (mrad) | 3137.00 |
+| W1 effort mean (A) | 0.8474 |
+| W1 effort per joint (A) | j0=0.2314, j1=1.4993, j2=1.6319, j3=0.8442, j4=0.2721, j5=0.6058 |
+
+## Phase-end anchor (sim - 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 | -0.00027 | -0.00080 | 0.00141 | 0.035 |
+| 1 | 0.00115 | -0.00063 | -0.00122 | 0.00179 | 0.059 |
+| 2 | 0.00115 | -0.00067 | -0.00115 | 0.00175 | 0.053 |
+| 3 | 0.00162 | -0.00028 | -0.00252 | 0.00301 | 0.220 |
+| 4 | 0.00032 | 0.00000 | -0.00015 | 0.00035 | 0.078 |
+| 5 | 0.00224 | -0.00090 | -0.00323 | 0.00403 | 0.274 |
+| 6 | 0.00205 | -0.00091 | -0.00088 | 0.00241 | 0.121 |
+| 7 | 0.00093 | -0.00027 | -0.00097 | 0.00137 | 0.046 |
+| 8 | -0.00014 | -0.00020 | -0.00020 | 0.00031 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_039d1d01-2694-4a44-bd68-754989bdbb63.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/039d1d01-2694-4a44-bd68-754989bdbb63.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/039d1d01-2694-4a44-bd68-754989bdbb63.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2648 |
+| Sim rows | 234 |
+| Real episode_id | `039d1d01-2694-4a44-bd68-754989bdbb63` |
+| Sim episode_id | `039d1d01-2694-4a44-bd68-754989bdbb63` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 212 | 19 | 2.923 | 15.00 | 25.97 | 1812.49 | 0.6212 |
+| 1 | descend | 358 | 31 | 0.850 | 5.98 | 10.37 | 3624.73 | 0.8450 |
+| 2 | settle | 393 | 34 | 0.027 | 0.97 | 1.68 | 3624.58 | 0.7539 |
+| 3 | close | 167 | 15 | 0.770 | 5.52 | 9.55 | 3625.18 | 1.0694 |
+| 4 | lift | 284 | 25 | 2.723 | 14.97 | 25.94 | 2452.64 | 1.1282 |
+| 5 | move_xy | 391 | 34 | 6.680 | 39.02 | 67.58 | 2828.07 | 0.9653 |
+| 6 | lower | 392 | 34 | 0.090 | 1.68 | 2.91 | 3625.00 | 1.0566 |
+| 7 | open | 167 | 15 | 0.739 | 5.16 | 8.94 | 3624.73 | 0.7649 |
+| 8 | retract | 284 | 25 | 2.855 | 15.72 | 27.22 | 2443.06 | 0.7569 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.801 |
+| TCP position RMSE (mm, per-axis) | 16.04 |
+| EE position RMS L2 (mm) | 30.12 |
+| TCP rotvec (mrad) | 3144.03 |
+| W1 effort mean (A) | 0.8700 |
+| W1 effort per joint (A) | j0=0.2240, j1=1.5511, j2=1.7054, j3=0.8141, j4=0.3406, 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 | 0.00087 | -0.00031 | -0.00078 | 0.00121 | 0.038 |
+| 1 | 0.00127 | -0.00074 | -0.00120 | 0.00190 | 0.057 |
+| 2 | 0.00091 | -0.00074 | -0.00123 | 0.00170 | 0.059 |
+| 3 | 0.00202 | -0.00038 | -0.00096 | 0.00227 | 0.151 |
+| 4 | 0.00017 | -0.00035 | -0.00031 | 0.00050 | 0.112 |
+| 5 | 0.00237 | -0.00092 | -0.00092 | 0.00270 | 0.182 |
+| 6 | 0.00188 | -0.00102 | -0.00229 | 0.00314 | 0.149 |
+| 7 | 0.00079 | -0.00038 | -0.00096 | 0.00131 | 0.044 |
+| 8 | -0.00014 | -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.

gap_reports/gap_03a2869e-7b18-4a63-a2ca-66e6eb71fea4.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/03a2869e-7b18-4a63-a2ca-66e6eb71fea4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/03a2869e-7b18-4a63-a2ca-66e6eb71fea4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 442 |
+| Sim rows | 60 |
+| Real episode_id | `03a2869e-7b18-4a63-a2ca-66e6eb71fea4` |
+| Sim episode_id | `03a2869e-7b18-4a63-a2ca-66e6eb71fea4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 23 | 2.097 | 8.36 | 14.47 | 12.07 | 0.7839 |
+| 1 | descend | 209 | 21 | 0.029 | 1.70 | 2.95 | 2.24 | 0.8394 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.483 |
+| TCP position RMSE (mm, per-axis) | 6.03 |
+| EE position RMS L2 (mm) | 10.70 |
+| TCP rotvec (mrad) | 8.68 |
+| W1 effort mean (A) | 0.8101 |
+| W1 effort per joint (A) | j0=0.1718, j1=1.8248, j2=1.6000, j3=0.9546, j4=0.1680, j5=0.1413 |
+
+## Phase-end anchor (sim - 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 | 0.00233 | 0.00070 | 0.00287 | 0.036 |
+| 1 | 0.00179 | 0.00231 | 0.00058 | 0.00298 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_03b3b5b3-0939-441b-8e2a-25d888d29285.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/03b3b5b3-0939-441b-8e2a-25d888d29285.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/03b3b5b3-0939-441b-8e2a-25d888d29285.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2299 |
+| Sim rows | 229 |
+| Real episode_id | `03b3b5b3-0939-441b-8e2a-25d888d29285` |
+| Sim episode_id | `03b3b5b3-0939-441b-8e2a-25d888d29285` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 178 | 18 | 2.809 | 10.63 | 18.40 | 1959.86 | 0.5818 |
+| 1 | descend | 317 | 31 | 0.747 | 4.47 | 7.73 | 3626.07 | 0.7167 |
+| 2 | settle | 317 | 31 | 0.022 | 0.60 | 1.04 | 3625.94 | 0.6820 |
+| 3 | close | 129 | 13 | 0.971 | 5.65 | 9.79 | 1067.06 | 0.9084 |
+| 4 | lift | 267 | 26 | 3.142 | 12.68 | 21.96 | 2096.26 | 1.0839 |
+| 5 | move_xy | 354 | 35 | 7.160 | 32.38 | 56.08 | 2121.66 | 0.8922 |
+| 6 | lower | 344 | 34 | 0.080 | 1.11 | 1.92 | 1513.40 | 0.9864 |
+| 7 | open | 128 | 13 | 1.084 | 6.10 | 10.56 | 3626.21 | 0.6192 |
+| 8 | retract | 265 | 26 | 3.122 | 12.61 | 21.84 | 2357.24 | 0.7108 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.009 |
+| TCP position RMSE (mm, per-axis) | 13.21 |
+| EE position RMS L2 (mm) | 25.34 |
+| TCP rotvec (mrad) | 2606.99 |
+| W1 effort mean (A) | 0.7904 |
+| W1 effort per joint (A) | j0=0.2379, j1=1.1834, j2=1.6227, j3=0.7638, j4=0.3230, j5=0.6117 |
+
+## Phase-end anchor (sim - 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 | -0.00046 | 0.00064 | 0.029 |
+| 1 | 0.00039 | -0.00054 | -0.00080 | 0.00104 | 0.038 |
+| 2 | 0.00042 | -0.00057 | -0.00076 | 0.00104 | 0.035 |
+| 3 | 0.00086 | -0.00030 | -0.00032 | 0.00097 | 0.109 |
+| 4 | 0.00009 | -0.00028 | -0.00025 | 0.00039 | 0.082 |
+| 5 | 0.00100 | -0.00087 | -0.00054 | 0.00144 | 0.112 |
+| 6 | 0.00130 | -0.00071 | -0.00088 | 0.00173 | 0.148 |
+| 7 | 0.00025 | -0.00034 | -0.00054 | 0.00068 | 0.040 |
+| 8 | -0.00006 | -0.00013 | -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.

gap_reports/gap_03bdc976-d3ce-4e89-97a0-5bf660ece9ff.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/03bdc976-d3ce-4e89-97a0-5bf660ece9ff.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/03bdc976-d3ce-4e89-97a0-5bf660ece9ff.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2961 |
+| Sim rows | 263 |
+| Real episode_id | `03bdc976-d3ce-4e89-97a0-5bf660ece9ff` |
+| Sim episode_id | `03bdc976-d3ce-4e89-97a0-5bf660ece9ff` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 267 | 24 | 3.523 | 13.49 | 23.37 | 2033.77 | 0.5738 |
+| 1 | descend | 439 | 38 | 0.790 | 4.87 | 8.44 | 3625.96 | 0.8195 |
+| 2 | settle | 380 | 33 | 0.025 | 0.69 | 1.19 | 3529.25 | 0.7105 |
+| 3 | close | 104 | 10 | 0.606 | 3.65 | 6.32 | 1837.69 | 0.9646 |
+| 4 | lift | 408 | 36 | 4.099 | 17.34 | 30.03 | 1867.75 | 1.0790 |
+| 5 | move_xy | 457 | 40 | 7.952 | 34.56 | 59.87 | 2193.44 | 0.8459 |
+| 6 | lower | 400 | 35 | 0.089 | 1.31 | 2.27 | 1647.98 | 0.9291 |
+| 7 | open | 104 | 10 | 0.535 | 3.18 | 5.51 | 3626.17 | 0.5845 |
+| 8 | retract | 402 | 35 | 3.702 | 15.27 | 26.45 | 2301.64 | 0.6947 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.455 |
+| TCP position RMSE (mm, per-axis) | 14.76 |
+| EE position RMS L2 (mm) | 28.91 |
+| TCP rotvec (mrad) | 2636.89 |
+| W1 effort mean (A) | 0.7967 |
+| W1 effort per joint (A) | j0=0.2965, j1=1.1527, j2=1.5139, j3=0.7464, j4=0.4702, j5=0.6003 |
+
+## Phase-end anchor (sim - 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 | -0.00029 | -0.00059 | 0.00096 | 0.037 |
+| 1 | 0.00069 | -0.00056 | -0.00076 | 0.00117 | 0.037 |
+| 2 | 0.00069 | -0.00058 | -0.00073 | 0.00116 | 0.035 |
+| 3 | 0.00110 | -0.00037 | -0.00066 | 0.00134 | 0.111 |
+| 4 | 0.00039 | 0.00006 | -0.00014 | 0.00042 | 0.081 |
+| 5 | 0.00174 | -0.00069 | -0.00061 | 0.00197 | 0.146 |
+| 6 | 0.00174 | -0.00059 | -0.00184 | 0.00260 | 0.165 |
+| 7 | 0.00045 | -0.00032 | -0.00055 | 0.00078 | 0.031 |
+| 8 | -0.00007 | -0.00009 | -0.00012 | 0.00017 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_03c9348c-2dd9-4fd9-96cd-f413612ca0a5.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/03c9348c-2dd9-4fd9-96cd-f413612ca0a5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/03c9348c-2dd9-4fd9-96cd-f413612ca0a5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2585 |
+| Sim rows | 230 |
+| Real episode_id | `03c9348c-2dd9-4fd9-96cd-f413612ca0a5` |
+| Sim episode_id | `03c9348c-2dd9-4fd9-96cd-f413612ca0a5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.284 | 11.89 | 20.59 | 1987.78 | 0.5938 |
+| 1 | descend | 319 | 28 | 1.449 | 8.70 | 15.07 | 3626.01 | 0.6886 |
+| 2 | settle | 365 | 32 | 0.021 | 0.68 | 1.18 | 3625.89 | 0.7087 |
+| 3 | close | 148 | 14 | 0.891 | 5.48 | 9.49 | 2107.33 | 0.9243 |
+| 4 | lift | 336 | 30 | 4.041 | 16.59 | 28.73 | 2115.61 | 1.0722 |
+| 5 | move_xy | 333 | 29 | 7.726 | 33.50 | 58.02 | 2485.82 | 0.8519 |
+| 6 | lower | 404 | 35 | 0.089 | 1.30 | 2.26 | 1828.20 | 0.9765 |
+| 7 | open | 145 | 13 | 0.918 | 5.59 | 9.68 | 3626.05 | 0.6660 |
+| 8 | retract | 342 | 30 | 3.933 | 16.24 | 28.13 | 2328.08 | 0.7033 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.432 |
+| TCP position RMSE (mm, per-axis) | 14.69 |
+| EE position RMS L2 (mm) | 26.77 |
+| TCP rotvec (mrad) | 2733.59 |
+| W1 effort mean (A) | 0.7937 |
+| W1 effort per joint (A) | j0=0.2369, j1=1.2555, j2=1.6198, j3=0.7943, j4=0.2934, j5=0.5624 |
+
+## Phase-end anchor (sim - 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 | -0.00022 | -0.00039 | 0.00082 | 0.039 |
+| 1 | 0.00067 | -0.00058 | -0.00073 | 0.00115 | 0.034 |
+| 2 | 0.00070 | -0.00057 | -0.00079 | 0.00120 | 0.040 |
+| 3 | 0.00109 | -0.00018 | -0.00160 | 0.00195 | 0.145 |
+| 4 | 0.00017 | -0.00038 | -0.00064 | 0.00076 | 0.106 |
+| 5 | 0.00186 | -0.00071 | -0.00094 | 0.00220 | 0.169 |
+| 6 | 0.00173 | -0.00078 | -0.00092 | 0.00211 | 0.138 |
+| 7 | 0.00054 | -0.00023 | -0.00056 | 0.00081 | 0.044 |
+| 8 | -0.00007 | -0.00011 | -0.00014 | 0.00019 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_03d95d20-00b1-468f-a7e4-d24ec493f99b.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/03d95d20-00b1-468f-a7e4-d24ec493f99b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/03d95d20-00b1-468f-a7e4-d24ec493f99b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1084 |
+| Sim rows | 115 |
+| Real episode_id | `03d95d20-00b1-468f-a7e4-d24ec493f99b` |
+| Sim episode_id | `03d95d20-00b1-468f-a7e4-d24ec493f99b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 156 | 16 | 3.973 | 12.45 | 21.57 | 336.68 | 0.6814 |
+| 1 | descend | 81 | 9 | 6.155 | 4.07 | 7.05 | 240.25 | 0.7428 |
+| 2 | settle | 12 | 2 | 6.103 | 2.60 | 4.51 | 240.41 | 0.7686 |
+| 3 | close | 43 | 5 | 6.104 | 2.95 | 5.10 | 241.84 | 1.1867 |
+| 4 | lift | 84 | 9 | 6.156 | 4.22 | 7.32 | 241.50 | 1.2513 |
+| 5 | move_xy | 206 | 21 | 9.285 | 31.70 | 54.91 | 1618.29 | 1.1990 |
+| 6 | lower | 78 | 9 | 0.913 | 4.00 | 6.93 | 1039.65 | 0.8758 |
+| 7 | open | 72 | 8 | 0.029 | 2.81 | 4.87 | 4.88 | 0.5197 |
+| 8 | retract | 82 | 9 | 0.973 | 4.20 | 7.27 | 4.35 | 0.6023 |
+| 9 | return | 270 | 27 | 4.127 | 18.50 | 32.04 | 1186.27 | 0.5550 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.207 |
+| TCP position RMSE (mm, per-axis) | 12.62 |
+| EE position RMS L2 (mm) | 30.23 |
+| TCP rotvec (mrad) | 738.42 |
+| W1 effort mean (A) | 0.7659 |
+| W1 effort per joint (A) | j0=0.1991, j1=1.1504, j2=1.6215, j3=0.7932, j4=0.3140, j5=0.5175 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00234 | -0.00363 | -0.00012 | 0.00433 | 15.024 |
+| 1 | 0.00274 | -0.00356 | -0.00031 | 0.00451 | 14.952 |
+| 2 | 0.00273 | -0.00359 | -0.00039 | 0.00453 | 14.948 |
+| 3 | 0.00340 | -0.00278 | -0.00247 | 0.00504 | 14.948 |
+| 4 | 0.00315 | -0.00333 | -0.00259 | 0.00526 | 15.024 |
+| 5 | 0.00181 | -0.00384 | -0.00123 | 0.00442 | 0.137 |
+| 6 | 0.00204 | -0.00445 | -0.00074 | 0.00495 | 0.098 |
+| 7 | 0.00169 | -0.00453 | -0.00047 | 0.00486 | 0.024 |
+| 8 | 0.00158 | -0.00390 | -0.00065 | 0.00426 | 0.064 |
+| 9 | -0.00017 | -0.00006 | -0.00028 | 0.00033 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_03ea651d-6e78-4021-8a8d-7240cc156c7a.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/03ea651d-6e78-4021-8a8d-7240cc156c7a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/03ea651d-6e78-4021-8a8d-7240cc156c7a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3189 |
+| Sim rows | 282 |
+| Real episode_id | `03ea651d-6e78-4021-8a8d-7240cc156c7a` |
+| Sim episode_id | `03ea651d-6e78-4021-8a8d-7240cc156c7a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.582 | 17.35 | 30.06 | 2020.34 | 0.6537 |
+| 1 | descend | 731 | 63 | 0.480 | 3.24 | 5.61 | 3624.77 | 1.1060 |
+| 2 | settle | 358 | 31 | 0.027 | 1.02 | 1.76 | 3624.56 | 1.1362 |
+| 3 | close | 151 | 14 | 1.083 | 7.42 | 12.86 | 3625.31 | 1.2559 |
+| 4 | lift | 367 | 32 | 3.529 | 18.72 | 32.43 | 2482.00 | 1.2882 |
+| 5 | move_xy | 428 | 38 | 8.817 | 48.14 | 83.39 | 2830.74 | 1.1160 |
+| 6 | lower | 401 | 35 | 0.090 | 1.72 | 2.98 | 3625.15 | 1.5281 |
+| 7 | open | 151 | 14 | 1.161 | 7.85 | 13.59 | 3624.77 | 0.9633 |
+| 8 | retract | 367 | 32 | 3.527 | 18.73 | 32.44 | 2496.00 | 0.9306 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.624 |
+| TCP position RMSE (mm, per-axis) | 19.58 |
+| EE position RMS L2 (mm) | 35.60 |
+| TCP rotvec (mrad) | 3165.53 |
+| W1 effort mean (A) | 1.1201 |
+| W1 effort per joint (A) | j0=0.7302, j1=1.6834, j2=1.9762, j3=1.0856, j4=0.6508, j5=0.5945 |
+
+## Phase-end anchor (sim - 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 | -0.00077 | 0.00132 | 0.030 |
+| 1 | 0.00116 | -0.00064 | -0.00116 | 0.00176 | 0.049 |
+| 2 | 0.00113 | -0.00067 | -0.00115 | 0.00174 | 0.055 |
+| 3 | 0.00172 | -0.00018 | -0.00164 | 0.00238 | 0.131 |
+| 4 | 0.00026 | -0.00006 | -0.00015 | 0.00030 | 0.072 |
+| 5 | 0.00188 | -0.00088 | -0.00214 | 0.00298 | 0.159 |
+| 6 | 0.00185 | -0.00096 | -0.00141 | 0.00251 | 0.097 |
+| 7 | 0.00088 | -0.00026 | -0.00098 | 0.00134 | 0.064 |
+| 8 | -0.00014 | -0.00022 | -0.00021 | 0.00034 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_03f0e4c7-6160-4b18-88bb-0f701cc94496.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/03f0e4c7-6160-4b18-88bb-0f701cc94496.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/03f0e4c7-6160-4b18-88bb-0f701cc94496.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2359 |
+| Sim rows | 211 |
+| Real episode_id | `03f0e4c7-6160-4b18-88bb-0f701cc94496` |
+| Sim episode_id | `03f0e4c7-6160-4b18-88bb-0f701cc94496` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 1.986 | 11.14 | 19.29 | 1862.37 | 0.6154 |
+| 1 | descend | 295 | 26 | 0.978 | 6.72 | 11.64 | 3624.62 | 0.7233 |
+| 2 | settle | 381 | 33 | 0.028 | 0.97 | 1.69 | 3624.54 | 0.7297 |
+| 3 | close | 124 | 11 | 0.558 | 4.00 | 6.92 | 3625.15 | 1.0056 |
+| 4 | lift | 267 | 24 | 2.030 | 12.31 | 21.32 | 2273.31 | 1.1142 |
+| 5 | move_xy | 326 | 29 | 4.496 | 27.83 | 48.20 | 2723.21 | 0.9390 |
+| 6 | lower | 379 | 33 | 0.100 | 1.78 | 3.09 | 3624.92 | 1.0562 |
+| 7 | open | 123 | 11 | 0.593 | 4.14 | 7.18 | 3624.72 | 0.7246 |
+| 8 | retract | 267 | 24 | 1.994 | 12.08 | 20.93 | 2229.39 | 0.7428 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.940 |
+| TCP position RMSE (mm, per-axis) | 11.92 |
+| EE position RMS L2 (mm) | 21.85 |
+| TCP rotvec (mrad) | 3104.08 |
+| W1 effort mean (A) | 0.8359 |
+| W1 effort per joint (A) | j0=0.2279, j1=1.5482, j2=1.6479, j3=0.7560, j4=0.2754, j5=0.5602 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00083 | -0.00050 | -0.00074 | 0.00122 | 0.041 |
+| 1 | 0.00076 | -0.00087 | -0.00124 | 0.00169 | 0.057 |
+| 2 | 0.00078 | -0.00087 | -0.00123 | 0.00169 | 0.055 |
+| 3 | 0.00152 | -0.00088 | -0.00191 | 0.00259 | 0.138 |
+| 4 | -0.00002 | -0.00047 | -0.00038 | 0.00060 | 0.093 |
+| 5 | 0.00188 | -0.00135 | -0.00220 | 0.00319 | 0.152 |
+| 6 | 0.00204 | -0.00117 | -0.00171 | 0.00291 | 0.175 |
+| 7 | 0.00056 | -0.00061 | -0.00100 | 0.00130 | 0.043 |
+| 8 | -0.00016 | -0.00025 | -0.00024 | 0.00038 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_03f53e5f-7515-414c-b4c6-d035fff69236.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/03f53e5f-7515-414c-b4c6-d035fff69236.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/03f53e5f-7515-414c-b4c6-d035fff69236.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2790 |
+| Sim rows | 247 |
+| Real episode_id | `03f53e5f-7515-414c-b4c6-d035fff69236` |
+| Sim episode_id | `03f53e5f-7515-414c-b4c6-d035fff69236` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 216 | 19 | 3.427 | 16.58 | 28.71 | 1829.19 | 0.6581 |
+| 1 | descend | 291 | 26 | 1.048 | 7.44 | 12.89 | 3624.74 | 0.7809 |
+| 2 | settle | 366 | 32 | 0.027 | 1.01 | 1.74 | 3624.57 | 0.7435 |
+| 3 | close | 131 | 12 | 0.830 | 5.92 | 10.25 | 3625.07 | 1.0374 |
+| 4 | lift | 445 | 39 | 3.555 | 18.43 | 31.92 | 2472.54 | 1.1335 |
+| 5 | move_xy | 383 | 33 | 8.535 | 46.81 | 81.08 | 2753.52 | 0.9832 |
+| 6 | lower | 383 | 33 | 0.090 | 1.72 | 2.98 | 3625.17 | 1.0566 |
+| 7 | open | 131 | 12 | 0.914 | 6.47 | 11.20 | 3624.77 | 0.7998 |
+| 8 | retract | 444 | 39 | 3.511 | 18.36 | 31.81 | 2498.82 | 0.7697 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.530 |
+| TCP position RMSE (mm, per-axis) | 19.09 |
+| EE position RMS L2 (mm) | 36.32 |
+| TCP rotvec (mrad) | 3144.37 |
+| W1 effort mean (A) | 0.8797 |
+| W1 effort per joint (A) | j0=0.2568, j1=1.6705, j2=1.6691, j3=0.7547, j4=0.2722, j5=0.6549 |
+
+## Phase-end anchor (sim - 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 | -0.00020 | -0.00070 | 0.00129 | 0.033 |
+| 1 | 0.00109 | -0.00064 | -0.00120 | 0.00174 | 0.060 |
+| 2 | 0.00112 | -0.00065 | -0.00117 | 0.00174 | 0.056 |
+| 3 | 0.00186 | -0.00030 | -0.00189 | 0.00267 | 0.170 |
+| 4 | 0.00018 | -0.00021 | -0.00023 | 0.00036 | 0.079 |
+| 5 | 0.00217 | -0.00082 | -0.00243 | 0.00336 | 0.168 |
+| 6 | 0.00216 | -0.00088 | -0.00151 | 0.00278 | 0.127 |
+| 7 | 0.00088 | -0.00028 | -0.00093 | 0.00131 | 0.054 |
+| 8 | -0.00009 | -0.00011 | -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.

gap_reports/gap_0404ebc4-40f8-487d-844e-e6ce8b63cf87.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0404ebc4-40f8-487d-844e-e6ce8b63cf87.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0404ebc4-40f8-487d-844e-e6ce8b63cf87.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2668 |
+| Sim rows | 264 |
+| Real episode_id | `0404ebc4-40f8-487d-844e-e6ce8b63cf87` |
+| Sim episode_id | `0404ebc4-40f8-487d-844e-e6ce8b63cf87` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 215 | 21 | 3.125 | 11.97 | 20.73 | 1993.67 | 0.5698 |
+| 1 | descend | 621 | 60 | 0.665 | 3.87 | 6.71 | 3626.09 | 0.6885 |
+| 2 | settle | 314 | 31 | 0.022 | 0.60 | 1.04 | 3625.98 | 0.7052 |
+| 3 | close | 128 | 13 | 1.273 | 7.07 | 12.24 | 1717.50 | 0.9804 |
+| 4 | lift | 264 | 26 | 3.355 | 13.52 | 23.42 | 2093.54 | 1.0507 |
+| 5 | move_xy | 397 | 39 | 6.714 | 30.32 | 52.51 | 1694.88 | 0.8644 |
+| 6 | lower | 340 | 33 | 0.081 | 1.12 | 1.95 | 1169.36 | 0.9306 |
+| 7 | open | 127 | 13 | 1.292 | 7.17 | 12.42 | 3626.25 | 0.6137 |
+| 8 | retract | 262 | 26 | 3.274 | 13.32 | 23.08 | 2423.11 | 0.7128 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.992 |
+| TCP position RMSE (mm, per-axis) | 13.08 |
+| EE position RMS L2 (mm) | 24.02 |
+| TCP rotvec (mrad) | 2600.53 |
+| W1 effort mean (A) | 0.7572 |
+| W1 effort per joint (A) | j0=0.2719, j1=1.1635, j2=1.5458, j3=0.6706, j4=0.3218, j5=0.5698 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00035 | -0.00026 | -0.00043 | 0.00061 | 0.025 |
+| 1 | 0.00040 | -0.00055 | -0.00076 | 0.00102 | 0.035 |
+| 2 | 0.00044 | -0.00057 | -0.00074 | 0.00103 | 0.032 |
+| 3 | 0.00083 | -0.00026 | -0.00076 | 0.00116 | 0.111 |
+| 4 | 0.00009 | -0.00034 | -0.00034 | 0.00049 | 0.069 |
+| 5 | 0.00147 | -0.00068 | -0.00090 | 0.00185 | 0.156 |
+| 6 | 0.00136 | -0.00072 | -0.00069 | 0.00169 | 0.132 |
+| 7 | 0.00023 | -0.00032 | -0.00048 | 0.00062 | 0.032 |
+| 8 | -0.00006 | -0.00011 | -0.00015 | 0.00020 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_04386e95-cdf3-4829-a46d-b614f14313b3.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/04386e95-cdf3-4829-a46d-b614f14313b3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/04386e95-cdf3-4829-a46d-b614f14313b3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2526 |
+| Sim rows | 224 |
+| Real episode_id | `04386e95-cdf3-4829-a46d-b614f14313b3` |
+| Sim episode_id | `04386e95-cdf3-4829-a46d-b614f14313b3` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 179 | 16 | 2.362 | 10.81 | 18.72 | 2009.62 | 0.5697 |
+| 1 | descend | 346 | 30 | 1.430 | 9.17 | 15.88 | 3625.35 | 0.7853 |
+| 2 | settle | 376 | 33 | 0.024 | 0.74 | 1.28 | 3625.24 | 0.6144 |
+| 3 | close | 175 | 16 | 0.865 | 5.52 | 9.56 | 3289.57 | 0.9948 |
+| 4 | lift | 273 | 24 | 2.422 | 11.89 | 20.60 | 1906.19 | 1.1302 |
+| 5 | move_xy | 334 | 29 | 4.904 | 26.78 | 46.39 | 2611.24 | 0.8929 |
+| 6 | lower | 394 | 34 | 0.086 | 1.32 | 2.29 | 3476.47 | 1.0362 |
+| 7 | open | 176 | 16 | 0.820 | 5.22 | 9.04 | 3625.45 | 0.6955 |
+| 8 | retract | 273 | 24 | 2.361 | 11.65 | 20.17 | 2363.25 | 0.7240 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.225 |
+| TCP position RMSE (mm, per-axis) | 11.81 |
+| EE position RMS L2 (mm) | 21.14 |
+| TCP rotvec (mrad) | 3026.04 |
+| W1 effort mean (A) | 0.8142 |
+| W1 effort per joint (A) | j0=0.2246, j1=1.3872, j2=1.5433, j3=0.7856, j4=0.3777, j5=0.5667 |
+
+## Phase-end anchor (sim - 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 | -0.00037 | -0.00071 | 0.00091 | 0.041 |
+| 1 | 0.00043 | -0.00071 | -0.00097 | 0.00127 | 0.042 |
+| 2 | 0.00041 | -0.00071 | -0.00097 | 0.00127 | 0.044 |
+| 3 | 0.00118 | -0.00051 | -0.00106 | 0.00167 | 0.134 |
+| 4 | 0.00014 | -0.00023 | -0.00020 | 0.00034 | 0.082 |
+| 5 | 0.00129 | -0.00105 | -0.00142 | 0.00219 | 0.124 |
+| 6 | 0.00130 | -0.00126 | -0.00271 | 0.00326 | 0.218 |
+| 7 | 0.00033 | -0.00044 | -0.00076 | 0.00094 | 0.035 |
+| 8 | -0.00011 | -0.00018 | -0.00019 | 0.00028 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_0445770a-4172-4299-9021-ac7f41699453.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0445770a-4172-4299-9021-ac7f41699453.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0445770a-4172-4299-9021-ac7f41699453.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2557 |
+| Sim rows | 256 |
+| Real episode_id | `0445770a-4172-4299-9021-ac7f41699453` |
+| Sim episode_id | `0445770a-4172-4299-9021-ac7f41699453` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 207 | 21 | 3.018 | 11.51 | 19.94 | 1984.41 | 0.5712 |
+| 1 | descend | 384 | 38 | 1.637 | 9.70 | 16.80 | 3626.09 | 0.6784 |
+| 2 | settle | 317 | 31 | 0.021 | 0.60 | 1.04 | 3625.97 | 0.6783 |
+| 3 | close | 114 | 12 | 0.983 | 5.66 | 9.81 | 1776.34 | 0.9862 |
+| 4 | lift | 351 | 35 | 3.266 | 13.17 | 22.81 | 1771.29 | 1.0582 |
+| 5 | move_xy | 378 | 37 | 6.885 | 31.02 | 53.73 | 1931.88 | 0.8757 |
+| 6 | lower | 343 | 34 | 0.079 | 1.07 | 1.86 | 1206.85 | 0.9110 |
+| 7 | open | 113 | 12 | 1.021 | 5.83 | 10.10 | 3626.25 | 0.6099 |
+| 8 | retract | 350 | 34 | 3.208 | 12.95 | 22.44 | 2341.84 | 0.7027 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.021 |
+| TCP position RMSE (mm, per-axis) | 13.32 |
+| EE position RMS L2 (mm) | 25.52 |
+| TCP rotvec (mrad) | 2589.50 |
+| W1 effort mean (A) | 0.7667 |
+| W1 effort per joint (A) | j0=0.2507, j1=1.1748, j2=1.5494, j3=0.6672, j4=0.3551, j5=0.6027 |
+
+## Phase-end anchor (sim - 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 | -0.00029 | -0.00044 | 0.00064 | 0.025 |
+| 1 | 0.00045 | -0.00056 | -0.00079 | 0.00107 | 0.038 |
+| 2 | 0.00042 | -0.00057 | -0.00074 | 0.00102 | 0.034 |
+| 3 | 0.00052 | -0.00047 | -0.00019 | 0.00073 | 0.087 |
+| 4 | 0.00017 | -0.00013 | -0.00012 | 0.00024 | 0.088 |
+| 5 | 0.00134 | -0.00081 | -0.00124 | 0.00200 | 0.127 |
+| 6 | 0.00124 | -0.00083 | -0.00195 | 0.00246 | 0.153 |
+| 7 | 0.00015 | -0.00034 | -0.00053 | 0.00064 | 0.039 |
+| 8 | -0.00004 | -0.00005 | -0.00012 | 0.00014 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_0450320f-0d26-43f5-b7d2-749e7cf1ac8b.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0450320f-0d26-43f5-b7d2-749e7cf1ac8b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0450320f-0d26-43f5-b7d2-749e7cf1ac8b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2713 |
+| Sim rows | 244 |
+| Real episode_id | `0450320f-0d26-43f5-b7d2-749e7cf1ac8b` |
+| Sim episode_id | `0450320f-0d26-43f5-b7d2-749e7cf1ac8b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.241 | 12.70 | 21.99 | 1987.46 | 0.5738 |
+| 1 | descend | 330 | 29 | 1.828 | 10.85 | 18.80 | 3626.03 | 0.6952 |
+| 2 | settle | 351 | 31 | 0.023 | 0.60 | 1.05 | 3626.00 | 0.6988 |
+| 3 | close | 173 | 16 | 0.959 | 5.51 | 9.54 | 1787.84 | 0.9171 |
+| 4 | lift | 325 | 29 | 3.375 | 13.65 | 23.63 | 1670.06 | 1.0746 |
+| 5 | move_xy | 433 | 38 | 7.113 | 32.14 | 55.68 | 2225.41 | 0.9173 |
+| 6 | lower | 381 | 34 | 0.080 | 1.10 | 1.91 | 1592.20 | 0.9589 |
+| 7 | open | 173 | 16 | 1.045 | 5.94 | 10.28 | 3626.20 | 0.6084 |
+| 8 | retract | 324 | 29 | 3.473 | 14.14 | 24.49 | 2340.54 | 0.6988 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.161 |
+| TCP position RMSE (mm, per-axis) | 14.01 |
+| EE position RMS L2 (mm) | 27.00 |
+| TCP rotvec (mrad) | 2631.99 |
+| W1 effort mean (A) | 0.7827 |
+| W1 effort per joint (A) | j0=0.2476, j1=1.1832, j2=1.5353, j3=0.7171, j4=0.3867, j5=0.6265 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00038 | -0.00028 | -0.00044 | 0.00065 | 0.025 |
+| 1 | 0.00043 | -0.00055 | -0.00079 | 0.00106 | 0.038 |
+| 2 | 0.00042 | -0.00057 | -0.00075 | 0.00104 | 0.036 |
+| 3 | 0.00083 | -0.00039 | -0.00085 | 0.00125 | 0.101 |
+| 4 | 0.00027 | -0.00049 | -0.00068 | 0.00088 | 0.120 |
+| 5 | 0.00140 | -0.00080 | -0.00083 | 0.00181 | 0.155 |
+| 6 | 0.00134 | -0.00077 | -0.00103 | 0.00186 | 0.148 |
+| 7 | 0.00023 | -0.00034 | -0.00051 | 0.00066 | 0.036 |
+| 8 | -0.00009 | -0.00011 | -0.00013 | 0.00019 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_0453055e-d67f-46e0-974f-08373addcbcc.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0453055e-d67f-46e0-974f-08373addcbcc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0453055e-d67f-46e0-974f-08373addcbcc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 476 |
+| Sim rows | 63 |
+| Real episode_id | `0453055e-d67f-46e0-974f-08373addcbcc` |
+| Sim episode_id | `0453055e-d67f-46e0-974f-08373addcbcc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 267 | 26 | 2.380 | 9.31 | 16.12 | 310.36 | 0.8156 |
+| 1 | descend | 209 | 21 | 0.021 | 5.47 | 9.48 | 2.39 | 0.8459 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.683 |
+| TCP position RMSE (mm, per-axis) | 7.64 |
+| EE position RMS L2 (mm) | 13.61 |
+| TCP rotvec (mrad) | 219.47 |
+| W1 effort mean (A) | 0.8289 |
+| W1 effort per joint (A) | j0=0.1139, j1=1.7340, j2=1.8315, j3=0.9932, j4=0.1604, j5=0.1403 |
+
+## Phase-end anchor (sim - 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 | 0.00951 | -0.00000 | 0.00957 | 0.037 |
+| 1 | -0.00102 | 0.00942 | -0.00015 | 0.00948 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_04584b11-d31a-475f-9212-a96355125d54.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/04584b11-d31a-475f-9212-a96355125d54.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/04584b11-d31a-475f-9212-a96355125d54.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1593 |
+| Sim rows | 161 |
+| Real episode_id | `04584b11-d31a-475f-9212-a96355125d54` |
+| Sim episode_id | `04584b11-d31a-475f-9212-a96355125d54` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 128 | 13 | 2.341 | 8.65 | 14.98 | 376.90 | 0.6510 |
+| 1 | descend | 80 | 8 | 0.777 | 3.53 | 6.12 | 3.96 | 0.5335 |
+| 2 | settle | 29 | 4 | 0.021 | 2.43 | 4.21 | 4.47 | 0.5463 |
+| 3 | close | 393 | 38 | 0.085 | 2.21 | 3.82 | 3.47 | 0.9843 |
+| 4 | lift | 81 | 9 | 0.802 | 3.45 | 5.98 | 3.04 | 1.0978 |
+| 5 | move_xy | 173 | 18 | 3.745 | 22.15 | 38.36 | 67.98 | 1.2402 |
+| 6 | lower | 80 | 9 | 0.539 | 3.48 | 6.03 | 6.86 | 1.2813 |
+| 7 | open | 373 | 36 | 0.030 | 3.23 | 5.60 | 6.81 | 0.7640 |
+| 8 | retract | 80 | 8 | 0.522 | 3.92 | 6.78 | 6.37 | 0.8315 |
+| 9 | return | 176 | 18 | 2.349 | 18.48 | 32.01 | 964.60 | 0.6619 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.638 |
+| TCP position RMSE (mm, per-axis) | 9.90 |
+| EE position RMS L2 (mm) | 17.61 |
+| TCP rotvec (mrad) | 328.23 |
+| W1 effort mean (A) | 0.8569 |
+| W1 effort per joint (A) | j0=0.1592, j1=1.4735, j2=1.5975, j3=0.8519, j4=0.5498, j5=0.5095 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00160 | -0.00343 | 0.00015 | 0.00379 | 0.048 |
+| 1 | 0.00219 | -0.00360 | 0.00027 | 0.00423 | 0.047 |
+| 2 | 0.00220 | -0.00357 | 0.00003 | 0.00419 | 0.027 |
+| 3 | 0.00119 | -0.00359 | 0.00050 | 0.00381 | 0.229 |
+| 4 | 0.00067 | -0.00354 | 0.00069 | 0.00367 | 0.158 |
+| 5 | 0.00140 | -0.00343 | -0.00095 | 0.00383 | 0.162 |
+| 6 | 0.00153 | -0.00329 | -0.00043 | 0.00365 | 0.201 |
+| 7 | 0.00243 | -0.00483 | -0.00153 | 0.00562 | 0.067 |
+| 8 | 0.00196 | -0.00470 | -0.00156 | 0.00533 | 0.067 |
+| 9 | -0.00014 | -0.00013 | -0.00035 | 0.00039 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_045f52e9-2b19-4d9d-816d-cdfa03bcf52d.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/045f52e9-2b19-4d9d-816d-cdfa03bcf52d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/045f52e9-2b19-4d9d-816d-cdfa03bcf52d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 999 |
+| Sim rows | 106 |
+| Real episode_id | `045f52e9-2b19-4d9d-816d-cdfa03bcf52d` |
+| Sim episode_id | `045f52e9-2b19-4d9d-816d-cdfa03bcf52d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 18 | 10.997 | 9.53 | 16.51 | 470.78 | 0.6137 |
+| 1 | descend | 73 | 8 | 20.711 | 3.36 | 5.81 | 799.13 | 0.6764 |
+| 2 | settle | 15 | 2 | 20.705 | 2.62 | 4.54 | 799.69 | 0.7121 |
+| 3 | close | 53 | 6 | 20.704 | 2.67 | 4.62 | 800.02 | 1.0795 |
+| 4 | lift | 73 | 8 | 20.713 | 3.34 | 5.79 | 799.65 | 1.1166 |
+| 5 | move_xy | 176 | 18 | 11.146 | 16.92 | 29.30 | 360.42 | 1.1495 |
+| 6 | lower | 72 | 8 | 0.417 | 3.59 | 6.22 | 6.69 | 1.0029 |
+| 7 | open | 92 | 10 | 0.026 | 3.00 | 5.19 | 6.01 | 0.7333 |
+| 8 | retract | 73 | 8 | 0.522 | 3.67 | 6.36 | 5.57 | 0.7709 |
+| 9 | return | 195 | 20 | 2.374 | 15.85 | 27.44 | 1034.20 | 0.7306 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 14.023 |
+| TCP position RMSE (mm, per-axis) | 8.37 |
+| EE position RMS L2 (mm) | 19.01 |
+| TCP rotvec (mrad) | 630.78 |
+| W1 effort mean (A) | 0.8155 |
+| W1 effort per joint (A) | j0=0.1938, j1=1.3048, j2=1.5940, j3=0.7218, j4=0.2906, j5=0.7878 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00135 | -0.00407 | 0.00019 | 0.00429 | 50.691 |
+| 1 | 0.00180 | -0.00417 | 0.00024 | 0.00455 | 50.713 |
+| 2 | 0.00182 | -0.00416 | 0.00014 | 0.00455 | 50.716 |
+| 3 | 0.00185 | -0.00424 | 0.00003 | 0.00462 | 50.717 |
+| 4 | 0.00148 | -0.00411 | -0.00001 | 0.00437 | 50.705 |
+| 5 | 0.00263 | -0.00455 | -0.00224 | 0.00571 | 0.175 |
+| 6 | 0.00268 | -0.00455 | -0.00104 | 0.00539 | 0.077 |
+| 7 | 0.00237 | -0.00452 | -0.00107 | 0.00521 | 0.055 |
+| 8 | 0.00201 | -0.00436 | -0.00122 | 0.00495 | 0.066 |
+| 9 | -0.00018 | -0.00013 | -0.00028 | 0.00036 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_047bc2ec-d562-4548-9668-3466cb125925.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/047bc2ec-d562-4548-9668-3466cb125925.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/047bc2ec-d562-4548-9668-3466cb125925.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2825 |
+| Sim rows | 252 |
+| Real episode_id | `047bc2ec-d562-4548-9668-3466cb125925` |
+| Sim episode_id | `047bc2ec-d562-4548-9668-3466cb125925` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 188 | 17 | 2.242 | 8.72 | 15.11 | 1978.96 | 0.5618 |
+| 1 | descend | 578 | 50 | 0.672 | 4.08 | 7.07 | 3626.03 | 0.6866 |
+| 2 | settle | 368 | 32 | 0.019 | 0.57 | 0.99 | 3625.88 | 0.6307 |
+| 3 | close | 166 | 15 | 0.761 | 4.50 | 7.80 | 1263.50 | 0.9565 |
+| 4 | lift | 324 | 29 | 2.674 | 11.09 | 19.22 | 1988.26 | 1.1237 |
+| 5 | move_xy | 336 | 30 | 4.542 | 21.40 | 37.06 | 2164.24 | 0.8845 |
+| 6 | lower | 374 | 33 | 0.080 | 1.05 | 1.83 | 1815.08 | 1.0122 |
+| 7 | open | 167 | 15 | 0.728 | 4.25 | 7.36 | 3626.00 | 0.6573 |
+| 8 | retract | 324 | 29 | 2.627 | 10.97 | 19.00 | 2215.79 | 0.6910 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.142 |
+| TCP position RMSE (mm, per-axis) | 9.63 |
+| EE position RMS L2 (mm) | 16.73 |
+| TCP rotvec (mrad) | 2620.37 |
+| W1 effort mean (A) | 0.7795 |
+| W1 effort per joint (A) | j0=0.2345, j1=1.1524, j2=1.6532, j3=0.7821, j4=0.3436, j5=0.5114 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00015 | -0.00038 | -0.00053 | 0.00067 | 0.031 |
+| 1 | 0.00016 | -0.00061 | -0.00079 | 0.00101 | 0.038 |
+| 2 | 0.00018 | -0.00059 | -0.00075 | 0.00097 | 0.030 |
+| 3 | 0.00101 | -0.00041 | -0.00111 | 0.00155 | 0.158 |
+| 4 | 0.00033 | -0.00002 | -0.00018 | 0.00038 | 0.079 |
+| 5 | 0.00093 | -0.00081 | -0.00076 | 0.00145 | 0.113 |
+| 6 | 0.00065 | -0.00085 | -0.00160 | 0.00192 | 0.106 |
+| 7 | 0.00004 | -0.00037 | -0.00058 | 0.00069 | 0.040 |
+| 8 | -0.00007 | -0.00010 | -0.00013 | 0.00018 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_04a08157-69ab-46b8-b0aa-f45e65051cb0.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/04a08157-69ab-46b8-b0aa-f45e65051cb0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/04a08157-69ab-46b8-b0aa-f45e65051cb0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2238 |
+| Sim rows | 227 |
+| Real episode_id | `04a08157-69ab-46b8-b0aa-f45e65051cb0` |
+| Sim episode_id | `04a08157-69ab-46b8-b0aa-f45e65051cb0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 167 | 17 | 2.628 | 12.85 | 22.26 | 1923.08 | 0.6276 |
+| 1 | descend | 242 | 24 | 0.959 | 6.76 | 11.72 | 3624.72 | 0.8499 |
+| 2 | settle | 334 | 33 | 0.026 | 0.96 | 1.66 | 3624.55 | 0.6731 |
+| 3 | close | 145 | 15 | 0.818 | 5.66 | 9.80 | 3625.14 | 1.0524 |
+| 4 | lift | 278 | 28 | 3.015 | 16.62 | 28.78 | 2381.98 | 1.1219 |
+| 5 | move_xy | 293 | 29 | 6.126 | 35.69 | 61.82 | 2769.15 | 0.9285 |
+| 6 | lower | 360 | 36 | 0.090 | 1.65 | 2.87 | 3625.09 | 1.0476 |
+| 7 | open | 146 | 15 | 0.793 | 5.44 | 9.42 | 3624.69 | 0.7511 |
+| 8 | retract | 273 | 28 | 2.710 | 14.82 | 25.68 | 2352.66 | 0.7525 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.648 |
+| TCP position RMSE (mm, per-axis) | 15.08 |
+| EE position RMS L2 (mm) | 27.37 |
+| TCP rotvec (mrad) | 3131.78 |
+| W1 effort mean (A) | 0.8552 |
+| W1 effort per joint (A) | j0=0.2343, j1=1.5304, j2=1.6665, j3=0.8099, j4=0.2995, j5=0.5908 |
+
+## Phase-end anchor (sim - 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 | -0.00065 | 0.00118 | 0.027 |
+| 1 | 0.00095 | -0.00075 | -0.00122 | 0.00172 | 0.057 |
+| 2 | 0.00092 | -0.00074 | -0.00117 | 0.00167 | 0.051 |
+| 3 | 0.00139 | -0.00054 | -0.00088 | 0.00173 | 0.093 |
+| 4 | 0.00026 | -0.00000 | -0.00012 | 0.00028 | 0.063 |
+| 5 | 0.00197 | -0.00103 | -0.00196 | 0.00296 | 0.130 |
+| 6 | 0.00203 | -0.00093 | -0.00064 | 0.00232 | 0.126 |
+| 7 | 0.00079 | -0.00040 | -0.00098 | 0.00132 | 0.043 |
+| 8 | -0.00013 | -0.00021 | -0.00021 | 0.00033 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.