Add files using upload-large-folder tool

gap_reports/gap_1dfee4c2-a4fd-42aa-9c8b-1706c1026f85.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1dfee4c2-a4fd-42aa-9c8b-1706c1026f85.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1dfee4c2-a4fd-42aa-9c8b-1706c1026f85.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2785 |
+| Sim rows | 249 |
+| Real episode_id | `1dfee4c2-a4fd-42aa-9c8b-1706c1026f85` |
+| Sim episode_id | `1dfee4c2-a4fd-42aa-9c8b-1706c1026f85` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 270 | 24 | 3.896 | 19.26 | 33.37 | 2033.82 | 0.6358 |
+| 1 | descend | 338 | 30 | 1.223 | 8.73 | 15.13 | 3624.72 | 0.8523 |
+| 2 | settle | 379 | 33 | 0.027 | 1.02 | 1.76 | 3624.59 | 0.7466 |
+| 3 | close | 131 | 12 | 0.866 | 6.21 | 10.75 | 3625.35 | 1.0237 |
+| 4 | lift | 327 | 29 | 3.448 | 18.07 | 31.30 | 2504.03 | 1.1358 |
+| 5 | move_xy | 478 | 42 | 8.172 | 44.82 | 77.63 | 2774.30 | 0.9080 |
+| 6 | lower | 406 | 36 | 0.085 | 1.64 | 2.84 | 3625.33 | 1.0276 |
+| 7 | open | 131 | 12 | 0.874 | 6.08 | 10.53 | 3624.75 | 0.7551 |
+| 8 | retract | 325 | 29 | 3.068 | 16.31 | 28.25 | 2437.94 | 0.7624 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.436 |
+| TCP position RMSE (mm, per-axis) | 18.64 |
+| EE position RMS L2 (mm) | 37.29 |
+| TCP rotvec (mrad) | 3157.85 |
+| W1 effort mean (A) | 0.8544 |
+| W1 effort per joint (A) | j0=0.2404, j1=1.5765, j2=1.5991, j3=0.8199, j4=0.2697, j5=0.6207 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00109 | -0.00021 | -0.00076 | 0.00135 | 0.032 |
+| 1 | 0.00111 | -0.00063 | -0.00122 | 0.00177 | 0.058 |
+| 2 | 0.00114 | -0.00066 | -0.00114 | 0.00175 | 0.053 |
+| 3 | 0.00199 | -0.00029 | -0.00093 | 0.00222 | 0.146 |
+| 4 | 0.00019 | -0.00016 | -0.00011 | 0.00027 | 0.088 |
+| 5 | 0.00193 | -0.00095 | -0.00070 | 0.00226 | 0.121 |
+| 6 | 0.00264 | -0.00079 | -0.00125 | 0.00303 | 0.189 |
+| 7 | 0.00087 | -0.00028 | -0.00095 | 0.00132 | 0.059 |
+| 8 | -0.00016 | -0.00025 | -0.00023 | 0.00038 | 0.043 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1e035704-d2fb-4edb-af12-080b5cfacd50.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1e035704-d2fb-4edb-af12-080b5cfacd50.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1e035704-d2fb-4edb-af12-080b5cfacd50.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2821 |
+| Sim rows | 253 |
+| Real episode_id | `1e035704-d2fb-4edb-af12-080b5cfacd50` |
+| Sim episode_id | `1e035704-d2fb-4edb-af12-080b5cfacd50` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 173 | 16 | 2.461 | 8.98 | 15.55 | 1909.99 | 0.5842 |
+| 1 | descend | 646 | 56 | 0.648 | 4.00 | 6.93 | 3626.08 | 0.6746 |
+| 2 | settle | 374 | 33 | 0.022 | 0.62 | 1.08 | 3625.89 | 0.6425 |
+| 3 | close | 136 | 13 | 1.044 | 5.92 | 10.26 | 2097.47 | 0.9587 |
+| 4 | lift | 319 | 28 | 3.332 | 13.60 | 23.56 | 2036.26 | 1.0871 |
+| 5 | move_xy | 326 | 29 | 6.945 | 31.01 | 53.70 | 2007.04 | 0.8907 |
+| 6 | lower | 394 | 35 | 0.081 | 1.13 | 1.95 | 1133.25 | 0.9256 |
+| 7 | open | 136 | 13 | 0.943 | 5.64 | 9.77 | 3626.05 | 0.6582 |
+| 8 | retract | 317 | 28 | 3.103 | 12.65 | 21.91 | 2339.74 | 0.7024 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.933 |
+| TCP position RMSE (mm, per-axis) | 12.79 |
+| EE position RMS L2 (mm) | 22.05 |
+| TCP rotvec (mrad) | 2633.64 |
+| W1 effort mean (A) | 0.7690 |
+| W1 effort per joint (A) | j0=0.2734, j1=1.1393, j2=1.6208, j3=0.7687, j4=0.2883, j5=0.5238 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00038 | -0.00025 | -0.00042 | 0.00062 | 0.037 |
+| 1 | 0.00041 | -0.00059 | -0.00081 | 0.00108 | 0.041 |
+| 2 | 0.00045 | -0.00058 | -0.00080 | 0.00109 | 0.038 |
+| 3 | 0.00065 | -0.00042 | -0.00055 | 0.00095 | 0.115 |
+| 4 | 0.00036 | 0.00018 | 0.00006 | 0.00040 | 0.063 |
+| 5 | 0.00113 | -0.00089 | -0.00094 | 0.00172 | 0.109 |
+| 6 | 0.00122 | -0.00072 | -0.00089 | 0.00167 | 0.116 |
+| 7 | 0.00021 | -0.00030 | -0.00056 | 0.00067 | 0.035 |
+| 8 | -0.00007 | -0.00010 | -0.00014 | 0.00019 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1e1972f7-e732-413f-a0bf-38d909f14682.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1e1972f7-e732-413f-a0bf-38d909f14682.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1e1972f7-e732-413f-a0bf-38d909f14682.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2846 |
+| Sim rows | 251 |
+| Real episode_id | `1e1972f7-e732-413f-a0bf-38d909f14682` |
+| Sim episode_id | `1e1972f7-e732-413f-a0bf-38d909f14682` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 238 | 21 | 3.238 | 16.87 | 29.22 | 1951.76 | 0.6188 |
+| 1 | descend | 309 | 27 | 0.610 | 4.27 | 7.40 | 3624.71 | 0.7424 |
+| 2 | settle | 379 | 33 | 0.026 | 0.97 | 1.69 | 3624.58 | 0.7837 |
+| 3 | close | 169 | 15 | 0.662 | 4.68 | 8.11 | 3625.07 | 1.0620 |
+| 4 | lift | 380 | 33 | 2.996 | 16.41 | 28.42 | 2366.93 | 1.1294 |
+| 5 | move_xy | 432 | 38 | 6.177 | 36.14 | 62.60 | 2833.70 | 0.9298 |
+| 6 | lower | 387 | 34 | 0.093 | 1.71 | 2.96 | 3625.13 | 1.0692 |
+| 7 | open | 170 | 15 | 0.698 | 4.87 | 8.44 | 3624.73 | 0.7421 |
+| 8 | retract | 382 | 33 | 3.015 | 16.62 | 28.79 | 2389.54 | 0.7471 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.749 |
+| TCP position RMSE (mm, per-axis) | 15.65 |
+| EE position RMS L2 (mm) | 30.02 |
+| TCP rotvec (mrad) | 3141.99 |
+| W1 effort mean (A) | 0.8606 |
+| W1 effort per joint (A) | j0=0.2430, j1=1.5230, j2=1.6940, j3=0.7926, j4=0.3120, 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 | 0.00091 | -0.00040 | -0.00075 | 0.00125 | 0.025 |
+| 1 | 0.00092 | -0.00076 | -0.00123 | 0.00171 | 0.062 |
+| 2 | 0.00094 | -0.00075 | -0.00122 | 0.00171 | 0.058 |
+| 3 | 0.00195 | -0.00027 | -0.00192 | 0.00275 | 0.140 |
+| 4 | 0.00009 | -0.00045 | -0.00050 | 0.00068 | 0.098 |
+| 5 | 0.00223 | -0.00087 | -0.00081 | 0.00252 | 0.172 |
+| 6 | 0.00196 | -0.00108 | -0.00139 | 0.00263 | 0.134 |
+| 7 | 0.00074 | -0.00039 | -0.00097 | 0.00128 | 0.044 |
+| 8 | -0.00013 | -0.00020 | -0.00020 | 0.00031 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1e2c38c8-09b6-4460-a0bb-fd3e75d291ea.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1e2c38c8-09b6-4460-a0bb-fd3e75d291ea.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1e2c38c8-09b6-4460-a0bb-fd3e75d291ea.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 829 |
+| Sim rows | 88 |
+| Real episode_id | `1e2c38c8-09b6-4460-a0bb-fd3e75d291ea` |
+| Sim episode_id | `1e2c38c8-09b6-4460-a0bb-fd3e75d291ea` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 121 | 12 | 2.594 | 8.16 | 14.13 | 626.65 | 0.6797 |
+| 1 | descend | 63 | 7 | 0.307 | 2.56 | 4.43 | 3.85 | 0.5426 |
+| 2 | settle | 26 | 3 | 0.022 | 2.38 | 4.13 | 4.44 | 0.5396 |
+| 3 | close | 50 | 6 | 0.108 | 2.50 | 4.32 | 8.77 | 1.0315 |
+| 4 | lift | 65 | 7 | 0.469 | 2.90 | 5.02 | 8.50 | 1.0644 |
+| 5 | move_xy | 125 | 13 | 2.598 | 11.92 | 20.65 | 71.24 | 1.1868 |
+| 6 | lower | 62 | 7 | 0.174 | 3.57 | 6.19 | 9.52 | 1.2459 |
+| 7 | open | 98 | 10 | 0.028 | 3.11 | 5.38 | 6.40 | 0.7580 |
+| 8 | retract | 64 | 7 | 0.446 | 3.64 | 6.31 | 6.16 | 0.8090 |
+| 9 | return | 155 | 16 | 1.925 | 13.78 | 23.86 | 1186.14 | 0.6615 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.332 |
+| TCP position RMSE (mm, per-axis) | 6.79 |
+| EE position RMS L2 (mm) | 14.64 |
+| TCP rotvec (mrad) | 424.86 |
+| W1 effort mean (A) | 0.8139 |
+| W1 effort per joint (A) | j0=0.1098, j1=1.5041, j2=1.4984, j3=0.7431, j4=0.5758, j5=0.4523 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00170 | -0.00334 | 0.00015 | 0.00375 | 0.042 |
+| 1 | 0.00217 | -0.00352 | 0.00006 | 0.00413 | 0.062 |
+| 2 | 0.00214 | -0.00353 | -0.00007 | 0.00413 | 0.021 |
+| 3 | 0.00237 | -0.00342 | -0.00017 | 0.00417 | 0.364 |
+| 4 | 0.00184 | -0.00343 | -0.00018 | 0.00390 | 0.237 |
+| 5 | 0.00319 | -0.00510 | -0.00133 | 0.00616 | 0.139 |
+| 6 | 0.00320 | -0.00522 | -0.00117 | 0.00623 | 0.171 |
+| 7 | 0.00264 | -0.00453 | -0.00124 | 0.00539 | 0.064 |
+| 8 | 0.00227 | -0.00449 | -0.00142 | 0.00523 | 0.077 |
+| 9 | -0.00023 | -0.00019 | -0.00040 | 0.00050 | 0.059 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, 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_1e37b104-8d6b-4ade-af61-12c1e499b7b8.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1e37b104-8d6b-4ade-af61-12c1e499b7b8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1e37b104-8d6b-4ade-af61-12c1e499b7b8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2389 |
+| Sim rows | 215 |
+| Real episode_id | `1e37b104-8d6b-4ade-af61-12c1e499b7b8` |
+| Sim episode_id | `1e37b104-8d6b-4ade-af61-12c1e499b7b8` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.090 | 10.37 | 17.97 | 1869.66 | 0.5652 |
+| 1 | descend | 278 | 25 | 1.019 | 6.60 | 11.43 | 3625.36 | 0.7197 |
+| 2 | settle | 374 | 33 | 0.023 | 0.74 | 1.28 | 3625.22 | 0.6941 |
+| 3 | close | 132 | 12 | 0.729 | 4.78 | 8.27 | 3274.92 | 0.9991 |
+| 4 | lift | 270 | 24 | 2.298 | 11.40 | 19.75 | 2166.64 | 1.1046 |
+| 5 | move_xy | 338 | 30 | 5.153 | 28.18 | 48.82 | 2781.91 | 0.8918 |
+| 6 | lower | 408 | 36 | 0.087 | 1.32 | 2.28 | 3485.22 | 1.0093 |
+| 7 | open | 132 | 12 | 0.663 | 4.26 | 7.38 | 3625.44 | 0.6633 |
+| 8 | retract | 269 | 24 | 2.314 | 11.63 | 20.15 | 2265.01 | 0.7226 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.200 |
+| TCP position RMSE (mm, per-axis) | 11.80 |
+| EE position RMS L2 (mm) | 21.81 |
+| TCP rotvec (mrad) | 3043.40 |
+| W1 effort mean (A) | 0.8108 |
+| W1 effort per joint (A) | j0=0.2120, j1=1.4076, j2=1.5776, j3=0.7787, j4=0.2914, j5=0.5973 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00041 | -0.00040 | -0.00074 | 0.00094 | 0.041 |
+| 1 | 0.00040 | -0.00070 | -0.00096 | 0.00126 | 0.043 |
+| 2 | 0.00042 | -0.00072 | -0.00097 | 0.00128 | 0.047 |
+| 3 | 0.00078 | -0.00055 | -0.00052 | 0.00109 | 0.099 |
+| 4 | -0.00005 | -0.00062 | -0.00048 | 0.00079 | 0.116 |
+| 5 | 0.00113 | -0.00093 | -0.00064 | 0.00160 | 0.115 |
+| 6 | 0.00114 | -0.00108 | -0.00176 | 0.00236 | 0.123 |
+| 7 | 0.00025 | -0.00045 | -0.00082 | 0.00097 | 0.046 |
+| 8 | -0.00012 | -0.00017 | -0.00020 | 0.00029 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1e3806f9-50fb-4e92-8aa2-73e94249835b.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1e3806f9-50fb-4e92-8aa2-73e94249835b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1e3806f9-50fb-4e92-8aa2-73e94249835b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2642 |
+| Sim rows | 237 |
+| Real episode_id | `1e3806f9-50fb-4e92-8aa2-73e94249835b` |
+| Sim episode_id | `1e3806f9-50fb-4e92-8aa2-73e94249835b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 182 | 17 | 2.923 | 10.85 | 18.80 | 1975.12 | 0.5711 |
+| 1 | descend | 343 | 30 | 0.561 | 3.45 | 5.97 | 3626.09 | 0.6924 |
+| 2 | settle | 416 | 37 | 0.020 | 0.59 | 1.02 | 3625.89 | 0.6357 |
+| 3 | close | 110 | 10 | 0.838 | 4.88 | 8.46 | 1432.25 | 0.8936 |
+| 4 | lift | 360 | 32 | 2.389 | 9.69 | 16.78 | 1783.02 | 1.0517 |
+| 5 | move_xy | 317 | 28 | 6.308 | 28.27 | 48.96 | 2250.12 | 0.9211 |
+| 6 | lower | 442 | 39 | 0.089 | 1.18 | 2.05 | 960.31 | 1.0042 |
+| 7 | open | 111 | 10 | 0.742 | 4.35 | 7.54 | 3626.05 | 0.6499 |
+| 8 | retract | 361 | 32 | 2.557 | 10.34 | 17.91 | 2192.50 | 0.6688 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.628 |
+| TCP position RMSE (mm, per-axis) | 11.42 |
+| EE position RMS L2 (mm) | 20.13 |
+| TCP rotvec (mrad) | 2568.35 |
+| W1 effort mean (A) | 0.7840 |
+| W1 effort per joint (A) | j0=0.2027, j1=1.2219, j2=1.6397, j3=0.7480, j4=0.2483, j5=0.6435 |
+
+## Phase-end anchor (sim - 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 | -0.00030 | -0.00045 | 0.00069 | 0.035 |
+| 1 | 0.00040 | -0.00058 | -0.00071 | 0.00100 | 0.033 |
+| 2 | 0.00039 | -0.00056 | -0.00076 | 0.00102 | 0.036 |
+| 3 | 0.00092 | -0.00037 | -0.00164 | 0.00191 | 0.142 |
+| 4 | 0.00027 | -0.00011 | -0.00013 | 0.00032 | 0.107 |
+| 5 | 0.00110 | -0.00079 | -0.00132 | 0.00189 | 0.098 |
+| 6 | 0.00128 | -0.00066 | -0.00101 | 0.00175 | 0.110 |
+| 7 | 0.00021 | -0.00029 | -0.00060 | 0.00070 | 0.040 |
+| 8 | -0.00008 | -0.00008 | -0.00012 | 0.00017 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1e4d059c-f389-49d8-815d-caad9b7d838c.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1e4d059c-f389-49d8-815d-caad9b7d838c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1e4d059c-f389-49d8-815d-caad9b7d838c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2059 |
+| Sim rows | 210 |
+| Real episode_id | `1e4d059c-f389-49d8-815d-caad9b7d838c` |
+| Sim episode_id | `1e4d059c-f389-49d8-815d-caad9b7d838c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 188 | 19 | 2.518 | 10.20 | 17.67 | 2013.97 | 0.5560 |
+| 1 | descend | 224 | 23 | 0.860 | 5.17 | 8.96 | 3625.93 | 0.8097 |
+| 2 | settle | 321 | 32 | 0.024 | 0.58 | 1.01 | 3625.96 | 0.7443 |
+| 3 | close | 90 | 10 | 0.458 | 2.82 | 4.88 | 2193.61 | 0.9393 |
+| 4 | lift | 230 | 23 | 2.326 | 9.95 | 17.24 | 1736.37 | 1.0342 |
+| 5 | move_xy | 330 | 33 | 5.365 | 25.85 | 44.77 | 2342.94 | 0.8720 |
+| 6 | lower | 358 | 35 | 0.076 | 0.98 | 1.70 | 1013.68 | 1.0122 |
+| 7 | open | 90 | 10 | 0.441 | 2.66 | 4.61 | 3626.18 | 0.6220 |
+| 8 | retract | 228 | 23 | 2.434 | 10.51 | 18.20 | 2147.71 | 0.6702 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.300 |
+| TCP position RMSE (mm, per-axis) | 10.67 |
+| EE position RMS L2 (mm) | 20.76 |
+| TCP rotvec (mrad) | 2634.32 |
+| W1 effort mean (A) | 0.8011 |
+| W1 effort per joint (A) | j0=0.2209, j1=1.1809, j2=1.6286, j3=0.7690, j4=0.3828, j5=0.6242 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00014 | -0.00043 | -0.00055 | 0.00071 | 0.029 |
+| 1 | 0.00015 | -0.00059 | -0.00077 | 0.00098 | 0.037 |
+| 2 | 0.00014 | -0.00057 | -0.00080 | 0.00099 | 0.037 |
+| 3 | 0.00055 | -0.00059 | -0.00097 | 0.00126 | 0.103 |
+| 4 | -0.00003 | -0.00049 | -0.00039 | 0.00063 | 0.089 |
+| 5 | 0.00081 | -0.00090 | -0.00073 | 0.00142 | 0.111 |
+| 6 | 0.00089 | -0.00073 | -0.00047 | 0.00125 | 0.115 |
+| 7 | -0.00005 | -0.00040 | -0.00062 | 0.00074 | 0.034 |
+| 8 | -0.00007 | -0.00011 | -0.00014 | 0.00019 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1e5af34c-3395-4484-a2d3-668df9b8b9bb.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1e5af34c-3395-4484-a2d3-668df9b8b9bb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1e5af34c-3395-4484-a2d3-668df9b8b9bb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1524 |
+| Sim rows | 155 |
+| Real episode_id | `1e5af34c-3395-4484-a2d3-668df9b8b9bb` |
+| Sim episode_id | `1e5af34c-3395-4484-a2d3-668df9b8b9bb` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 137 | 14 | 2.411 | 11.29 | 19.55 | 889.29 | 0.6923 |
+| 1 | descend | 66 | 7 | 0.241 | 2.93 | 5.07 | 4.68 | 0.5842 |
+| 2 | settle | 42 | 5 | 0.026 | 2.88 | 4.99 | 4.85 | 0.6194 |
+| 3 | close | 394 | 39 | 0.131 | 3.36 | 5.82 | 3377.01 | 1.0679 |
+| 4 | lift | 67 | 7 | 0.454 | 3.62 | 6.27 | 2954.18 | 1.1423 |
+| 5 | move_xy | 160 | 16 | 4.041 | 27.78 | 48.12 | 962.88 | 1.1178 |
+| 6 | lower | 72 | 8 | 0.567 | 4.03 | 6.99 | 10.41 | 1.1642 |
+| 7 | open | 371 | 37 | 0.031 | 2.52 | 4.37 | 5.45 | 0.6773 |
+| 8 | retract | 67 | 7 | 0.345 | 3.04 | 5.26 | 4.94 | 0.7806 |
+| 9 | return | 148 | 15 | 2.219 | 13.49 | 23.37 | 347.83 | 0.8275 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.667 |
+| TCP position RMSE (mm, per-axis) | 10.74 |
+| EE position RMS L2 (mm) | 18.73 |
+| TCP rotvec (mrad) | 1482.25 |
+| W1 effort mean (A) | 0.8673 |
+| W1 effort per joint (A) | j0=0.1305, j1=1.5318, j2=1.5800, j3=0.7377, j4=0.6078, j5=0.6162 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00179 | -0.00426 | -0.00051 | 0.00465 | 0.039 |
+| 1 | 0.00205 | -0.00454 | -0.00045 | 0.00500 | 0.052 |
+| 2 | 0.00202 | -0.00452 | -0.00058 | 0.00499 | 0.029 |
+| 3 | 0.00309 | -0.00436 | -0.00229 | 0.00581 | 0.254 |
+| 4 | 0.00230 | -0.00423 | -0.00237 | 0.00537 | 0.239 |
+| 5 | 0.00238 | -0.00295 | -0.00262 | 0.00461 | 0.287 |
+| 6 | 0.00280 | -0.00213 | -0.00336 | 0.00487 | 0.316 |
+| 7 | 0.00265 | -0.00341 | -0.00056 | 0.00436 | 0.060 |
+| 8 | 0.00235 | -0.00359 | -0.00071 | 0.00435 | 0.076 |
+| 9 | -0.00010 | -0.00024 | -0.00037 | 0.00045 | 0.057 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1e93511f-1035-4922-b5e6-c581e287de2a.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1e93511f-1035-4922-b5e6-c581e287de2a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1e93511f-1035-4922-b5e6-c581e287de2a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 845 |
+| Sim rows | 89 |
+| Real episode_id | `1e93511f-1035-4922-b5e6-c581e287de2a` |
+| Sim episode_id | `1e93511f-1035-4922-b5e6-c581e287de2a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 127 | 13 | 2.590 | 8.19 | 14.19 | 483.28 | 0.6767 |
+| 1 | descend | 70 | 8 | 0.760 | 3.71 | 6.43 | 3.94 | 0.5772 |
+| 2 | settle | 42 | 5 | 0.016 | 2.35 | 4.07 | 4.56 | 0.6123 |
+| 3 | close | 42 | 5 | 0.182 | 1.81 | 3.14 | 8.24 | 1.0033 |
+| 4 | lift | 70 | 8 | 0.772 | 3.33 | 5.77 | 7.14 | 1.0093 |
+| 5 | move_xy | 111 | 11 | 1.688 | 10.17 | 17.61 | 37.24 | 1.0599 |
+| 6 | lower | 68 | 7 | 0.531 | 3.21 | 5.56 | 9.98 | 1.1281 |
+| 7 | open | 87 | 9 | 0.025 | 2.81 | 4.87 | 5.89 | 0.7680 |
+| 8 | retract | 66 | 7 | 0.432 | 3.48 | 6.02 | 5.51 | 0.8211 |
+| 9 | return | 162 | 16 | 2.179 | 11.85 | 20.52 | 908.37 | 0.7403 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.264 |
+| TCP position RMSE (mm, per-axis) | 6.12 |
+| EE position RMS L2 (mm) | 12.92 |
+| TCP rotvec (mrad) | 325.64 |
+| W1 effort mean (A) | 0.7902 |
+| W1 effort per joint (A) | j0=0.1195, j1=1.4656, j2=1.6065, j3=0.7092, j4=0.3498, j5=0.4904 |
+
+## Phase-end anchor (sim - 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 | -0.00333 | -0.00003 | 0.00369 | 0.046 |
+| 1 | 0.00217 | -0.00345 | -0.00005 | 0.00407 | 0.048 |
+| 2 | 0.00216 | -0.00344 | -0.00022 | 0.00407 | 0.034 |
+| 3 | 0.00161 | -0.00254 | -0.00099 | 0.00317 | 0.468 |
+| 4 | 0.00091 | -0.00288 | -0.00081 | 0.00312 | 0.151 |
+| 5 | 0.00140 | -0.00274 | -0.00132 | 0.00335 | 0.384 |
+| 6 | 0.00194 | -0.00293 | -0.00154 | 0.00383 | 0.379 |
+| 7 | 0.00248 | -0.00408 | -0.00101 | 0.00488 | 0.056 |
+| 8 | 0.00204 | -0.00403 | -0.00119 | 0.00467 | 0.070 |
+| 9 | -0.00021 | -0.00018 | -0.00034 | 0.00044 | 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_1e96d8ed-d469-4cbc-bd77-6d229e5cbd68.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1e96d8ed-d469-4cbc-bd77-6d229e5cbd68.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1e96d8ed-d469-4cbc-bd77-6d229e5cbd68.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 685 |
+| Sim rows | 83 |
+| Real episode_id | `1e96d8ed-d469-4cbc-bd77-6d229e5cbd68` |
+| Sim episode_id | `1e96d8ed-d469-4cbc-bd77-6d229e5cbd68` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 473 | 46 | 2.535 | 11.09 | 19.21 | 266.77 | 0.7627 |
+| 1 | descend | 212 | 21 | 0.030 | 0.78 | 1.36 | 2.15 | 0.8063 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.793 |
+| TCP position RMSE (mm, per-axis) | 7.86 |
+| EE position RMS L2 (mm) | 15.98 |
+| TCP rotvec (mrad) | 188.64 |
+| W1 effort mean (A) | 0.7762 |
+| W1 effort per joint (A) | j0=0.1954, j1=1.6565, j2=1.7183, j3=0.8271, j4=0.0989, j5=0.1609 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00023 | -0.00117 | 0.00076 | 0.00142 | 0.039 |
+| 1 | -0.00013 | -0.00123 | 0.00063 | 0.00139 | 0.047 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1ea0545c-6751-42b9-8bdd-6c5926b9fde1.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1ea0545c-6751-42b9-8bdd-6c5926b9fde1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1ea0545c-6751-42b9-8bdd-6c5926b9fde1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3227 |
+| Sim rows | 283 |
+| Real episode_id | `1ea0545c-6751-42b9-8bdd-6c5926b9fde1` |
+| Sim episode_id | `1ea0545c-6751-42b9-8bdd-6c5926b9fde1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 205 | 18 | 3.437 | 12.67 | 21.95 | 1861.03 | 0.6009 |
+| 1 | descend | 550 | 47 | 0.651 | 3.98 | 6.90 | 3626.07 | 0.6704 |
+| 2 | settle | 355 | 31 | 0.024 | 0.69 | 1.19 | 3626.02 | 0.6482 |
+| 3 | close | 167 | 15 | 1.023 | 5.99 | 10.37 | 1849.63 | 0.9703 |
+| 4 | lift | 494 | 43 | 3.959 | 16.04 | 27.79 | 2103.31 | 1.1117 |
+| 5 | move_xy | 392 | 34 | 8.430 | 37.02 | 64.12 | 2165.67 | 0.8880 |
+| 6 | lower | 403 | 35 | 0.087 | 1.28 | 2.21 | 1189.24 | 0.8882 |
+| 7 | open | 166 | 15 | 1.008 | 5.73 | 9.92 | 3626.22 | 0.6069 |
+| 8 | retract | 495 | 43 | 4.023 | 16.42 | 28.43 | 2411.71 | 0.7186 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.609 |
+| TCP position RMSE (mm, per-axis) | 15.44 |
+| EE position RMS L2 (mm) | 28.14 |
+| TCP rotvec (mrad) | 2638.92 |
+| W1 effort mean (A) | 0.7738 |
+| W1 effort per joint (A) | j0=0.2779, j1=1.2214, j2=1.5036, j3=0.6357, j4=0.3962, j5=0.6080 |
+
+## Phase-end anchor (sim - 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 | -0.00014 | -0.00044 | 0.00080 | 0.040 |
+| 1 | 0.00070 | -0.00053 | -0.00079 | 0.00118 | 0.038 |
+| 2 | 0.00069 | -0.00058 | -0.00075 | 0.00117 | 0.040 |
+| 3 | 0.00110 | -0.00029 | -0.00048 | 0.00123 | 0.102 |
+| 4 | 0.00013 | -0.00035 | -0.00040 | 0.00055 | 0.114 |
+| 5 | 0.00130 | -0.00070 | -0.00110 | 0.00184 | 0.091 |
+| 6 | 0.00127 | -0.00081 | -0.00095 | 0.00178 | 0.115 |
+| 7 | 0.00051 | -0.00028 | -0.00050 | 0.00076 | 0.040 |
+| 8 | -0.00006 | -0.00008 | -0.00012 | 0.00016 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1eb2db4d-1334-4468-a6fe-4e798075730a.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1eb2db4d-1334-4468-a6fe-4e798075730a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1eb2db4d-1334-4468-a6fe-4e798075730a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2633 |
+| Sim rows | 234 |
+| Real episode_id | `1eb2db4d-1334-4468-a6fe-4e798075730a` |
+| Sim episode_id | `1eb2db4d-1334-4468-a6fe-4e798075730a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 159 | 14 | 1.862 | 6.91 | 11.97 | 2012.94 | 0.5796 |
+| 1 | descend | 407 | 35 | 1.036 | 5.94 | 10.29 | 3626.05 | 0.7020 |
+| 2 | settle | 386 | 34 | 0.021 | 0.56 | 0.97 | 3625.94 | 0.7304 |
+| 3 | close | 132 | 12 | 1.166 | 6.57 | 11.38 | 2178.06 | 0.9387 |
+| 4 | lift | 351 | 31 | 2.612 | 10.57 | 18.30 | 1923.92 | 1.0865 |
+| 5 | move_xy | 326 | 29 | 4.969 | 23.59 | 40.86 | 1774.28 | 0.9182 |
+| 6 | lower | 386 | 34 | 0.079 | 1.03 | 1.78 | 1673.46 | 0.9974 |
+| 7 | open | 132 | 12 | 1.132 | 6.40 | 11.09 | 3626.22 | 0.6063 |
+| 8 | retract | 354 | 31 | 2.635 | 10.70 | 18.54 | 2336.59 | 0.6970 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.252 |
+| TCP position RMSE (mm, per-axis) | 10.28 |
+| EE position RMS L2 (mm) | 18.33 |
+| TCP rotvec (mrad) | 2653.11 |
+| W1 effort mean (A) | 0.7956 |
+| W1 effort per joint (A) | j0=0.2534, j1=1.1819, j2=1.5960, j3=0.7345, j4=0.3992, j5=0.6090 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00013 | -0.00029 | -0.00043 | 0.00053 | 0.030 |
+| 1 | 0.00011 | -0.00058 | -0.00076 | 0.00096 | 0.040 |
+| 2 | 0.00019 | -0.00057 | -0.00076 | 0.00097 | 0.037 |
+| 3 | 0.00044 | -0.00057 | -0.00097 | 0.00121 | 0.105 |
+| 4 | 0.00057 | 0.00004 | -0.00013 | 0.00059 | 0.142 |
+| 5 | 0.00064 | -0.00080 | -0.00074 | 0.00126 | 0.106 |
+| 6 | 0.00117 | -0.00063 | -0.00036 | 0.00137 | 0.135 |
+| 7 | -0.00005 | -0.00041 | -0.00051 | 0.00065 | 0.034 |
+| 8 | -0.00005 | -0.00007 | -0.00011 | 0.00014 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1edb1972-5d06-4471-9ded-8c631e2e012e.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1edb1972-5d06-4471-9ded-8c631e2e012e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1edb1972-5d06-4471-9ded-8c631e2e012e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2510 |
+| Sim rows | 254 |
+| Real episode_id | `1edb1972-5d06-4471-9ded-8c631e2e012e` |
+| Sim episode_id | `1edb1972-5d06-4471-9ded-8c631e2e012e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.586 | 9.87 | 17.10 | 1907.84 | 0.5827 |
+| 1 | descend | 266 | 27 | 0.919 | 5.66 | 9.80 | 3625.95 | 0.6319 |
+| 2 | settle | 341 | 34 | 0.023 | 0.67 | 1.17 | 3625.98 | 0.6315 |
+| 3 | close | 94 | 10 | 0.719 | 4.38 | 7.59 | 2195.09 | 0.9726 |
+| 4 | lift | 447 | 44 | 3.661 | 15.41 | 26.68 | 1996.67 | 1.0550 |
+| 5 | move_xy | 307 | 31 | 7.443 | 32.38 | 56.09 | 2198.76 | 0.8550 |
+| 6 | lower | 342 | 34 | 0.079 | 1.19 | 2.07 | 1506.52 | 0.8919 |
+| 7 | open | 92 | 10 | 0.552 | 3.25 | 5.63 | 3626.20 | 0.5778 |
+| 8 | retract | 444 | 44 | 3.567 | 14.90 | 25.81 | 2289.26 | 0.6911 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.160 |
+| TCP position RMSE (mm, per-axis) | 13.62 |
+| EE position RMS L2 (mm) | 25.77 |
+| TCP rotvec (mrad) | 2671.54 |
+| W1 effort mean (A) | 0.7659 |
+| W1 effort per joint (A) | j0=0.2443, j1=1.1910, j2=1.4725, j3=0.6664, j4=0.4037, j5=0.6174 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00069 | -0.00024 | -0.00038 | 0.00082 | 0.042 |
+| 1 | 0.00069 | -0.00053 | -0.00078 | 0.00117 | 0.036 |
+| 2 | 0.00069 | -0.00055 | -0.00077 | 0.00116 | 0.037 |
+| 3 | 0.00100 | -0.00046 | -0.00031 | 0.00114 | 0.120 |
+| 4 | 0.00007 | -0.00031 | -0.00036 | 0.00048 | 0.072 |
+| 5 | 0.00142 | -0.00079 | -0.00047 | 0.00169 | 0.123 |
+| 6 | 0.00166 | -0.00063 | -0.00152 | 0.00234 | 0.137 |
+| 7 | 0.00044 | -0.00029 | -0.00057 | 0.00077 | 0.034 |
+| 8 | -0.00003 | -0.00004 | -0.00010 | 0.00011 | 0.019 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1eebb2d5-87b5-42fd-81c0-0c072493c9bc.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1eebb2d5-87b5-42fd-81c0-0c072493c9bc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1eebb2d5-87b5-42fd-81c0-0c072493c9bc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1176 |
+| Sim rows | 123 |
+| Real episode_id | `1eebb2d5-87b5-42fd-81c0-0c072493c9bc` |
+| Sim episode_id | `1eebb2d5-87b5-42fd-81c0-0c072493c9bc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 149 | 15 | 4.985 | 21.88 | 37.89 | 1210.96 | 0.8123 |
+| 1 | descend | 71 | 8 | 0.957 | 4.33 | 7.50 | 7.23 | 0.8785 |
+| 2 | settle | 34 | 4 | 0.036 | 3.26 | 5.65 | 7.60 | 0.8203 |
+| 3 | close | 30 | 4 | 0.196 | 1.68 | 2.90 | 11.49 | 1.2693 |
+| 4 | lift | 94 | 10 | 1.291 | 4.70 | 8.15 | 13.63 | 1.2471 |
+| 5 | move_xy | 186 | 19 | 13.268 | 25.28 | 43.79 | 403.56 | 1.0788 |
+| 6 | lower | 71 | 8 | 26.311 | 3.89 | 6.73 | 1008.72 | 1.2859 |
+| 7 | open | 74 | 8 | 26.283 | 2.31 | 4.00 | 1007.41 | 0.8855 |
+| 8 | retract | 73 | 8 | 26.300 | 3.72 | 6.44 | 1007.09 | 0.9299 |
+| 9 | return | 394 | 39 | 14.847 | 21.12 | 36.58 | 1201.70 | 0.8771 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 15.807 |
+| TCP position RMSE (mm, per-axis) | 12.85 |
+| EE position RMS L2 (mm) | 30.82 |
+| TCP rotvec (mrad) | 782.33 |
+| W1 effort mean (A) | 0.9428 |
+| W1 effort per joint (A) | j0=0.2889, j1=1.7771, j2=1.7028, j3=0.7374, j4=0.3204, j5=0.8301 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00240 | -0.00483 | -0.00320 | 0.00627 | 0.203 |
+| 1 | 0.00285 | -0.00461 | -0.00142 | 0.00560 | 0.065 |
+| 2 | 0.00284 | -0.00462 | -0.00159 | 0.00565 | 0.077 |
+| 3 | -0.00010 | -0.00227 | -0.00040 | 0.00231 | 0.457 |
+| 4 | 0.00077 | -0.00344 | -0.00159 | 0.00386 | 0.564 |
+| 5 | 0.00155 | -0.00255 | -0.00043 | 0.00302 | 64.477 |
+| 6 | 0.00215 | -0.00185 | -0.00090 | 0.00298 | 64.382 |
+| 7 | 0.00201 | -0.00344 | -0.00013 | 0.00399 | 64.379 |
+| 8 | 0.00181 | -0.00376 | -0.00028 | 0.00418 | 64.435 |
+| 9 | -0.00003 | -0.00006 | -0.00022 | 0.00023 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1ef1b898-d4c1-4bf0-a9da-b32383253489.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1ef1b898-d4c1-4bf0-a9da-b32383253489.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1ef1b898-d4c1-4bf0-a9da-b32383253489.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1478 |
+| Sim rows | 151 |
+| Real episode_id | `1ef1b898-d4c1-4bf0-a9da-b32383253489` |
+| Sim episode_id | `1ef1b898-d4c1-4bf0-a9da-b32383253489` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 136 | 14 | 7.493 | 12.79 | 22.15 | 537.28 | 0.6845 |
+| 1 | descend | 63 | 7 | 13.772 | 3.38 | 5.85 | 533.84 | 0.7758 |
+| 2 | settle | 40 | 5 | 13.751 | 2.39 | 4.13 | 534.06 | 0.7863 |
+| 3 | close | 312 | 31 | 13.750 | 2.31 | 4.00 | 534.47 | 1.1811 |
+| 4 | lift | 63 | 7 | 13.766 | 3.24 | 5.61 | 534.27 | 1.3768 |
+| 5 | move_xy | 180 | 18 | 9.847 | 28.47 | 49.31 | 226.42 | 1.3603 |
+| 6 | lower | 63 | 7 | 0.249 | 2.70 | 4.68 | 4.34 | 1.1560 |
+| 7 | open | 282 | 28 | 0.024 | 2.69 | 4.65 | 5.03 | 0.6405 |
+| 8 | retract | 64 | 7 | 0.456 | 3.27 | 5.66 | 4.52 | 0.6958 |
+| 9 | return | 275 | 27 | 4.678 | 18.34 | 31.77 | 989.71 | 0.7006 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 9.657 |
+| TCP position RMSE (mm, per-axis) | 11.70 |
+| EE position RMS L2 (mm) | 23.28 |
+| TCP rotvec (mrad) | 496.07 |
+| W1 effort mean (A) | 0.8876 |
+| W1 effort per joint (A) | j0=0.1487, j1=1.6353, j2=1.6315, j3=0.9097, j4=0.1885, j5=0.8119 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00172 | -0.00364 | 0.00003 | 0.00402 | 33.740 |
+| 1 | 0.00226 | -0.00343 | 0.00005 | 0.00411 | 33.685 |
+| 2 | 0.00225 | -0.00347 | -0.00018 | 0.00414 | 33.686 |
+| 3 | 0.00237 | -0.00306 | -0.00094 | 0.00399 | 33.678 |
+| 4 | 0.00211 | -0.00341 | -0.00132 | 0.00423 | 33.729 |
+| 5 | 0.00154 | -0.00361 | -0.00156 | 0.00422 | 0.087 |
+| 6 | 0.00185 | -0.00376 | -0.00149 | 0.00445 | 0.081 |
+| 7 | 0.00180 | -0.00413 | -0.00114 | 0.00465 | 0.045 |
+| 8 | 0.00146 | -0.00378 | -0.00138 | 0.00428 | 0.063 |
+| 9 | -0.00018 | -0.00008 | -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_1ef795b2-8c41-4562-96cf-960c1a417b0e.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1ef795b2-8c41-4562-96cf-960c1a417b0e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1ef795b2-8c41-4562-96cf-960c1a417b0e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2658 |
+| Sim rows | 237 |
+| Real episode_id | `1ef795b2-8c41-4562-96cf-960c1a417b0e` |
+| Sim episode_id | `1ef795b2-8c41-4562-96cf-960c1a417b0e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 221 | 20 | 2.498 | 13.47 | 23.33 | 1919.98 | 0.6131 |
+| 1 | descend | 471 | 41 | 1.136 | 7.77 | 13.45 | 3624.72 | 0.7788 |
+| 2 | settle | 369 | 32 | 0.027 | 0.96 | 1.67 | 3624.53 | 0.7786 |
+| 3 | close | 141 | 13 | 1.077 | 7.20 | 12.48 | 3625.34 | 1.0118 |
+| 4 | lift | 257 | 23 | 2.479 | 14.15 | 24.51 | 2414.69 | 1.1215 |
+| 5 | move_xy | 408 | 36 | 5.599 | 33.69 | 58.35 | 2849.01 | 0.9239 |
+| 6 | lower | 388 | 34 | 0.097 | 1.71 | 2.97 | 3625.03 | 1.0899 |
+| 7 | open | 142 | 13 | 1.041 | 7.13 | 12.35 | 3624.72 | 0.7575 |
+| 8 | retract | 261 | 23 | 2.313 | 13.20 | 22.86 | 2468.17 | 0.7544 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.418 |
+| TCP position RMSE (mm, per-axis) | 14.37 |
+| EE position RMS L2 (mm) | 26.97 |
+| TCP rotvec (mrad) | 3152.14 |
+| W1 effort mean (A) | 0.8479 |
+| W1 effort per joint (A) | j0=0.2598, j1=1.6090, j2=1.6926, j3=0.7134, j4=0.2548, j5=0.5579 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00079 | -0.00041 | -0.00067 | 0.00112 | 0.026 |
+| 1 | 0.00085 | -0.00088 | -0.00122 | 0.00173 | 0.051 |
+| 2 | 0.00076 | -0.00086 | -0.00122 | 0.00168 | 0.057 |
+| 3 | 0.00150 | -0.00052 | -0.00092 | 0.00184 | 0.097 |
+| 4 | 0.00014 | -0.00014 | -0.00022 | 0.00030 | 0.048 |
+| 5 | 0.00158 | -0.00113 | -0.00121 | 0.00229 | 0.110 |
+| 6 | 0.00159 | -0.00132 | -0.00213 | 0.00297 | 0.151 |
+| 7 | 0.00058 | -0.00052 | -0.00097 | 0.00124 | 0.062 |
+| 8 | -0.00011 | -0.00022 | -0.00024 | 0.00034 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1f1a5a06-66c9-4762-9dd4-72a000d94355.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1f1a5a06-66c9-4762-9dd4-72a000d94355.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1f1a5a06-66c9-4762-9dd4-72a000d94355.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 468 |
+| Sim rows | 63 |
+| Real episode_id | `1f1a5a06-66c9-4762-9dd4-72a000d94355` |
+| Sim episode_id | `1f1a5a06-66c9-4762-9dd4-72a000d94355` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 258 | 26 | 3.091 | 11.46 | 19.85 | 5.01 | 0.7425 |
+| 1 | descend | 210 | 21 | 0.027 | 0.64 | 1.11 | 3.44 | 0.6692 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.186 |
+| TCP position RMSE (mm, per-axis) | 8.12 |
+| EE position RMS L2 (mm) | 14.76 |
+| TCP rotvec (mrad) | 4.30 |
+| W1 effort mean (A) | 0.7094 |
+| W1 effort per joint (A) | j0=0.1281, j1=1.5241, j2=1.6274, j3=0.7472, j4=0.1026, j5=0.1272 |
+
+## Phase-end anchor (sim - 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 | 0.00052 | 0.00117 | 0.00133 | 0.060 |
+| 1 | -0.00011 | 0.00033 | 0.00101 | 0.00107 | 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_1f200f5f-ba8e-4933-aadc-e15a22fe656a.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1f200f5f-ba8e-4933-aadc-e15a22fe656a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1f200f5f-ba8e-4933-aadc-e15a22fe656a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2699 |
+| Sim rows | 240 |
+| Real episode_id | `1f200f5f-ba8e-4933-aadc-e15a22fe656a` |
+| Sim episode_id | `1f200f5f-ba8e-4933-aadc-e15a22fe656a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 202 | 18 | 2.418 | 13.09 | 22.67 | 1959.08 | 0.6153 |
+| 1 | descend | 435 | 38 | 1.072 | 7.41 | 12.83 | 3624.71 | 0.7886 |
+| 2 | settle | 370 | 32 | 0.028 | 0.98 | 1.70 | 3624.50 | 0.7525 |
+| 3 | close | 194 | 17 | 0.899 | 6.21 | 10.75 | 3471.80 | 1.0534 |
+| 4 | lift | 270 | 24 | 2.273 | 12.98 | 22.48 | 2436.92 | 1.1433 |
+| 5 | move_xy | 376 | 33 | 5.481 | 33.27 | 57.63 | 2841.16 | 0.9648 |
+| 6 | lower | 385 | 34 | 0.101 | 1.77 | 3.07 | 3625.02 | 1.0874 |
+| 7 | open | 197 | 18 | 1.024 | 7.01 | 12.14 | 3624.71 | 0.7524 |
+| 8 | retract | 270 | 24 | 2.273 | 13.05 | 22.60 | 2436.68 | 0.7595 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.339 |
+| TCP position RMSE (mm, per-axis) | 14.00 |
+| EE position RMS L2 (mm) | 25.50 |
+| TCP rotvec (mrad) | 3133.94 |
+| W1 effort mean (A) | 0.8645 |
+| W1 effort per joint (A) | j0=0.2534, j1=1.6159, j2=1.7290, j3=0.7440, j4=0.2677, j5=0.5767 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00077 | -0.00039 | -0.00063 | 0.00107 | 0.031 |
+| 1 | 0.00073 | -0.00089 | -0.00124 | 0.00169 | 0.060 |
+| 2 | 0.00080 | -0.00088 | -0.00119 | 0.00169 | 0.052 |
+| 3 | 0.00147 | -0.00073 | -0.00191 | 0.00252 | 0.162 |
+| 4 | 0.00004 | -0.00056 | -0.00057 | 0.00080 | 0.110 |
+| 5 | 0.00164 | -0.00125 | -0.00220 | 0.00302 | 0.138 |
+| 6 | 0.00188 | -0.00117 | -0.00133 | 0.00258 | 0.135 |
+| 7 | 0.00070 | -0.00053 | -0.00105 | 0.00136 | 0.062 |
+| 8 | -0.00012 | -0.00021 | -0.00019 | 0.00031 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1f33c2ab-ce1b-4db2-8c81-e895c9cfcde0.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1f33c2ab-ce1b-4db2-8c81-e895c9cfcde0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1f33c2ab-ce1b-4db2-8c81-e895c9cfcde0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 430 |
+| Sim rows | 59 |
+| Real episode_id | `1f33c2ab-ce1b-4db2-8c81-e895c9cfcde0` |
+| Sim episode_id | `1f33c2ab-ce1b-4db2-8c81-e895c9cfcde0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 221 | 22 | 2.069 | 8.66 | 14.99 | 249.18 | 0.8293 |
+| 1 | descend | 209 | 21 | 0.025 | 5.23 | 9.07 | 1.82 | 0.8385 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.463 |
+| TCP position RMSE (mm, per-axis) | 7.15 |
+| EE position RMS L2 (mm) | 12.47 |
+| TCP rotvec (mrad) | 176.20 |
+| W1 effort mean (A) | 0.8327 |
+| W1 effort per joint (A) | j0=0.1797, j1=1.8683, j2=1.7349, j3=1.0103, j4=0.0784, j5=0.1248 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00739 | 0.00531 | -0.00005 | 0.00910 | 0.039 |
+| 1 | -0.00737 | 0.00527 | -0.00016 | 0.00906 | 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_1f374716-0d79-491c-8745-e7e1fccdf0ea.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1f374716-0d79-491c-8745-e7e1fccdf0ea.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1f374716-0d79-491c-8745-e7e1fccdf0ea.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1087 |
+| Sim rows | 115 |
+| Real episode_id | `1f374716-0d79-491c-8745-e7e1fccdf0ea` |
+| Sim episode_id | `1f374716-0d79-491c-8745-e7e1fccdf0ea` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 183 | 19 | 3.693 | 16.27 | 28.18 | 650.93 | 0.7146 |
+| 1 | descend | 66 | 7 | 0.505 | 3.25 | 5.62 | 5.76 | 0.7770 |
+| 2 | settle | 28 | 4 | 0.033 | 2.45 | 4.24 | 6.16 | 0.7739 |
+| 3 | close | 50 | 6 | 0.051 | 2.54 | 4.40 | 6.19 | 1.1454 |
+| 4 | lift | 70 | 8 | 0.425 | 3.10 | 5.37 | 5.68 | 1.1560 |
+| 5 | move_xy | 231 | 23 | 8.439 | 48.42 | 83.86 | 166.65 | 1.1188 |
+| 6 | lower | 68 | 8 | 0.382 | 3.55 | 6.15 | 5.25 | 1.0213 |
+| 7 | open | 84 | 9 | 0.019 | 3.04 | 5.26 | 5.52 | 0.6037 |
+| 8 | retract | 68 | 7 | 0.365 | 3.33 | 5.76 | 5.16 | 0.6691 |
+| 9 | return | 239 | 24 | 3.006 | 19.66 | 34.06 | 1038.35 | 0.6990 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.076 |
+| TCP position RMSE (mm, per-axis) | 17.50 |
+| EE position RMS L2 (mm) | 43.53 |
+| TCP rotvec (mrad) | 391.14 |
+| W1 effort mean (A) | 0.8254 |
+| W1 effort per joint (A) | j0=0.2191, j1=1.6484, j2=1.5905, j3=0.8547, j4=0.1161, j5=0.5235 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00290 | -0.00307 | -0.00131 | 0.00442 | 0.114 |
+| 1 | 0.00309 | -0.00282 | -0.00039 | 0.00420 | 0.052 |
+| 2 | 0.00309 | -0.00285 | -0.00060 | 0.00425 | 0.072 |
+| 3 | 0.00315 | -0.00302 | -0.00061 | 0.00440 | 0.109 |
+| 4 | 0.00327 | -0.00307 | -0.00145 | 0.00471 | 0.161 |
+| 5 | 0.00151 | -0.00499 | -0.00105 | 0.00532 | 0.063 |
+| 6 | 0.00164 | -0.00514 | -0.00090 | 0.00547 | 0.044 |
+| 7 | 0.00170 | -0.00487 | -0.00100 | 0.00525 | 0.037 |
+| 8 | 0.00146 | -0.00457 | -0.00115 | 0.00493 | 0.053 |
+| 9 | -0.00015 | -0.00010 | -0.00025 | 0.00031 | 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_1f3d8656-a6d9-469a-94ed-4eceb00308d1.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1f3d8656-a6d9-469a-94ed-4eceb00308d1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1f3d8656-a6d9-469a-94ed-4eceb00308d1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3081 |
+| Sim rows | 270 |
+| Real episode_id | `1f3d8656-a6d9-469a-94ed-4eceb00308d1` |
+| Sim episode_id | `1f3d8656-a6d9-469a-94ed-4eceb00308d1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 193 | 17 | 2.292 | 10.28 | 17.81 | 2.69 | 0.5853 |
+| 1 | descend | 773 | 66 | 0.468 | 3.17 | 5.49 | 3.78 | 0.7488 |
+| 2 | settle | 382 | 33 | 0.025 | 0.92 | 1.59 | 3.99 | 0.6907 |
+| 3 | close | 180 | 16 | 1.016 | 6.45 | 11.17 | 5.29 | 0.9346 |
+| 4 | lift | 297 | 26 | 2.421 | 11.66 | 20.20 | 4.24 | 1.1181 |
+| 5 | move_xy | 370 | 32 | 5.686 | 30.64 | 53.07 | 4.81 | 0.9207 |
+| 6 | lower | 410 | 36 | 0.090 | 1.53 | 2.66 | 6.19 | 0.9693 |
+| 7 | open | 179 | 16 | 0.896 | 5.67 | 9.83 | 3.93 | 0.6581 |
+| 8 | retract | 297 | 26 | 2.603 | 12.63 | 21.87 | 2.95 | 0.7262 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.410 |
+| TCP position RMSE (mm, per-axis) | 12.59 |
+| EE position RMS L2 (mm) | 21.57 |
+| TCP rotvec (mrad) | 4.33 |
+| W1 effort mean (A) | 0.7873 |
+| W1 effort per joint (A) | j0=0.2962, j1=1.3402, j2=1.5231, j3=0.6284, j4=0.3963, j5=0.5394 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00067 | -0.00063 | -0.00071 | 0.00116 | 0.042 |
+| 1 | 0.00071 | -0.00101 | -0.00101 | 0.00159 | 0.049 |
+| 2 | 0.00071 | -0.00101 | -0.00097 | 0.00157 | 0.043 |
+| 3 | 0.00128 | -0.00090 | -0.00083 | 0.00177 | 0.122 |
+| 4 | -0.00001 | -0.00071 | -0.00076 | 0.00104 | 0.119 |
+| 5 | 0.00146 | -0.00117 | -0.00092 | 0.00208 | 0.093 |
+| 6 | 0.00146 | -0.00121 | -0.00097 | 0.00213 | 0.100 |
+| 7 | 0.00058 | -0.00074 | -0.00078 | 0.00123 | 0.052 |
+| 8 | -0.00011 | -0.00015 | -0.00016 | 0.00024 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1f512cb0-c204-4ef0-9abe-16a0713347e2.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1f512cb0-c204-4ef0-9abe-16a0713347e2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1f512cb0-c204-4ef0-9abe-16a0713347e2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1436 |
+| Sim rows | 146 |
+| Real episode_id | `1f512cb0-c204-4ef0-9abe-16a0713347e2` |
+| Sim episode_id | `1f512cb0-c204-4ef0-9abe-16a0713347e2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 162 | 16 | 2.636 | 9.61 | 16.64 | 573.38 | 0.6618 |
+| 1 | descend | 75 | 8 | 0.860 | 3.76 | 6.51 | 3.74 | 0.5663 |
+| 2 | settle | 41 | 5 | 0.018 | 2.09 | 3.62 | 4.44 | 0.5538 |
+| 3 | close | 301 | 30 | 0.164 | 1.70 | 2.95 | 5.94 | 1.0245 |
+| 4 | lift | 76 | 8 | 0.725 | 3.12 | 5.41 | 5.75 | 1.1725 |
+| 5 | move_xy | 154 | 16 | 3.835 | 24.18 | 41.88 | 145.48 | 1.2816 |
+| 6 | lower | 76 | 8 | 0.671 | 3.99 | 6.90 | 10.66 | 1.3276 |
+| 7 | open | 274 | 27 | 0.028 | 2.94 | 5.09 | 6.13 | 0.6890 |
+| 8 | retract | 75 | 8 | 0.506 | 3.77 | 6.53 | 5.52 | 0.7949 |
+| 9 | return | 202 | 20 | 2.054 | 13.61 | 23.57 | 1184.29 | 0.7424 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.670 |
+| TCP position RMSE (mm, per-axis) | 9.65 |
+| EE position RMS L2 (mm) | 17.70 |
+| TCP rotvec (mrad) | 418.66 |
+| W1 effort mean (A) | 0.8524 |
+| W1 effort per joint (A) | j0=0.1269, j1=1.4971, j2=1.6151, j3=0.8684, j4=0.6481, j5=0.3585 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00123 | -0.00312 | 0.00017 | 0.00336 | 0.037 |
+| 1 | 0.00188 | -0.00308 | 0.00025 | 0.00361 | 0.062 |
+| 2 | 0.00186 | -0.00311 | 0.00013 | 0.00363 | 0.023 |
+| 3 | 0.00038 | -0.00279 | -0.00045 | 0.00285 | 0.431 |
+| 4 | -0.00016 | -0.00302 | -0.00047 | 0.00306 | 0.455 |
+| 5 | 0.00162 | -0.00268 | -0.00179 | 0.00361 | 0.284 |
+| 6 | 0.00205 | -0.00259 | -0.00236 | 0.00406 | 0.231 |
+| 7 | 0.00261 | -0.00424 | -0.00102 | 0.00508 | 0.058 |
+| 8 | 0.00219 | -0.00424 | -0.00122 | 0.00492 | 0.070 |
+| 9 | -0.00012 | -0.00017 | -0.00029 | 0.00036 | 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_1f755406-aa84-415e-b9a3-5ec58a93c2fa.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1f755406-aa84-415e-b9a3-5ec58a93c2fa.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1f755406-aa84-415e-b9a3-5ec58a93c2fa.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2965 |
+| Sim rows | 262 |
+| Real episode_id | `1f755406-aa84-415e-b9a3-5ec58a93c2fa` |
+| Sim episode_id | `1f755406-aa84-415e-b9a3-5ec58a93c2fa` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.657 | 14.04 | 24.31 | 1939.86 | 0.5698 |
+| 1 | descend | 382 | 33 | 1.068 | 6.50 | 11.26 | 3625.97 | 0.7194 |
+| 2 | settle | 359 | 31 | 0.024 | 0.68 | 1.18 | 3539.07 | 0.6762 |
+| 3 | close | 138 | 13 | 0.780 | 4.81 | 8.34 | 1363.43 | 0.9172 |
+| 4 | lift | 395 | 35 | 3.921 | 16.39 | 28.38 | 2129.91 | 1.0945 |
+| 5 | move_xy | 475 | 41 | 7.671 | 33.30 | 57.67 | 2054.96 | 0.8542 |
+| 6 | lower | 402 | 35 | 0.084 | 1.24 | 2.15 | 1792.37 | 0.9240 |
+| 7 | open | 137 | 13 | 0.749 | 4.59 | 7.95 | 3626.20 | 0.5891 |
+| 8 | retract | 394 | 34 | 3.647 | 15.15 | 26.24 | 2288.72 | 0.6920 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.386 |
+| TCP position RMSE (mm, per-axis) | 14.50 |
+| EE position RMS L2 (mm) | 28.48 |
+| TCP rotvec (mrad) | 2617.34 |
+| W1 effort mean (A) | 0.7744 |
+| W1 effort per joint (A) | j0=0.2326, j1=1.1522, j2=1.4781, j3=0.7389, j4=0.3937, j5=0.6507 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00067 | -0.00031 | -0.00057 | 0.00093 | 0.031 |
+| 1 | 0.00067 | -0.00057 | -0.00067 | 0.00111 | 0.027 |
+| 2 | 0.00067 | -0.00056 | -0.00076 | 0.00116 | 0.037 |
+| 3 | 0.00160 | -0.00019 | -0.00191 | 0.00250 | 0.165 |
+| 4 | 0.00030 | 0.00021 | 0.00002 | 0.00037 | 0.073 |
+| 5 | 0.00154 | -0.00079 | -0.00050 | 0.00180 | 0.134 |
+| 6 | 0.00161 | -0.00069 | -0.00178 | 0.00250 | 0.132 |
+| 7 | 0.00052 | -0.00030 | -0.00057 | 0.00083 | 0.038 |
+| 8 | -0.00007 | -0.00010 | -0.00014 | 0.00018 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1f8d00d1-d81a-43c6-b3f9-d60d182b3050.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1f8d00d1-d81a-43c6-b3f9-d60d182b3050.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1f8d00d1-d81a-43c6-b3f9-d60d182b3050.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2652 |
+| Sim rows | 235 |
+| Real episode_id | `1f8d00d1-d81a-43c6-b3f9-d60d182b3050` |
+| Sim episode_id | `1f8d00d1-d81a-43c6-b3f9-d60d182b3050` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 186 | 17 | 2.076 | 10.11 | 17.52 | 1879.68 | 0.5663 |
+| 1 | descend | 549 | 47 | 0.369 | 2.43 | 4.21 | 3625.36 | 0.6911 |
+| 2 | settle | 369 | 32 | 0.023 | 0.73 | 1.27 | 3625.27 | 0.6991 |
+| 3 | close | 119 | 11 | 0.802 | 5.17 | 8.95 | 3377.50 | 0.9415 |
+| 4 | lift | 270 | 24 | 2.286 | 11.21 | 19.41 | 2314.30 | 1.1234 |
+| 5 | move_xy | 355 | 31 | 5.047 | 27.77 | 48.09 | 2676.42 | 0.8880 |
+| 6 | lower | 414 | 36 | 0.078 | 1.22 | 2.11 | 3485.25 | 0.9931 |
+| 7 | open | 120 | 11 | 0.788 | 5.15 | 8.91 | 3625.48 | 0.6456 |
+| 8 | retract | 270 | 24 | 2.323 | 11.48 | 19.88 | 2282.26 | 0.7287 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.155 |
+| TCP position RMSE (mm, per-axis) | 11.51 |
+| EE position RMS L2 (mm) | 20.53 |
+| TCP rotvec (mrad) | 3059.51 |
+| W1 effort mean (A) | 0.7886 |
+| W1 effort per joint (A) | j0=0.2383, j1=1.3684, j2=1.5867, j3=0.6902, j4=0.3003, j5=0.5478 |
+
+## Phase-end anchor (sim - 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 | -0.00039 | -0.00072 | 0.00093 | 0.040 |
+| 1 | 0.00038 | -0.00072 | -0.00099 | 0.00128 | 0.050 |
+| 2 | 0.00041 | -0.00070 | -0.00096 | 0.00126 | 0.039 |
+| 3 | 0.00111 | -0.00053 | -0.00107 | 0.00163 | 0.103 |
+| 4 | 0.00052 | -0.00012 | -0.00026 | 0.00060 | 0.152 |
+| 5 | 0.00150 | -0.00104 | -0.00098 | 0.00207 | 0.156 |
+| 6 | 0.00112 | -0.00100 | -0.00156 | 0.00217 | 0.101 |
+| 7 | 0.00020 | -0.00047 | -0.00076 | 0.00091 | 0.040 |
+| 8 | -0.00012 | -0.00018 | -0.00019 | 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_1fa3834b-7990-44ae-81ac-83d947d4f3aa.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1fa3834b-7990-44ae-81ac-83d947d4f3aa.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1fa3834b-7990-44ae-81ac-83d947d4f3aa.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2567 |
+| Sim rows | 227 |
+| Real episode_id | `1fa3834b-7990-44ae-81ac-83d947d4f3aa` |
+| Sim episode_id | `1fa3834b-7990-44ae-81ac-83d947d4f3aa` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 255 | 22 | 3.230 | 16.65 | 28.83 | 1965.80 | 0.6166 |
+| 1 | descend | 307 | 27 | 0.862 | 6.14 | 10.63 | 3624.70 | 0.7941 |
+| 2 | settle | 361 | 31 | 0.027 | 0.96 | 1.67 | 3624.56 | 0.7228 |
+| 3 | close | 115 | 11 | 0.607 | 4.26 | 7.39 | 3625.41 | 1.0186 |
+| 4 | lift | 294 | 26 | 2.835 | 15.98 | 27.68 | 2382.63 | 1.1469 |
+| 5 | move_xy | 420 | 36 | 5.820 | 33.65 | 58.28 | 2728.74 | 0.9127 |
+| 6 | lower | 407 | 35 | 0.097 | 1.74 | 3.02 | 3625.13 | 1.0386 |
+| 7 | open | 115 | 11 | 0.623 | 4.40 | 7.62 | 3624.69 | 0.7568 |
+| 8 | retract | 293 | 26 | 2.799 | 15.74 | 27.27 | 2377.06 | 0.7521 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.618 |
+| TCP position RMSE (mm, per-axis) | 14.88 |
+| EE position RMS L2 (mm) | 28.83 |
+| TCP rotvec (mrad) | 3132.93 |
+| W1 effort mean (A) | 0.8472 |
+| W1 effort per joint (A) | j0=0.2052, j1=1.4964, j2=1.7272, j3=0.7765, j4=0.2921, j5=0.5859 |
+
+## Phase-end anchor (sim - 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 | -0.00043 | -0.00085 | 0.00134 | 0.029 |
+| 1 | 0.00091 | -0.00074 | -0.00120 | 0.00167 | 0.053 |
+| 2 | 0.00092 | -0.00075 | -0.00120 | 0.00169 | 0.055 |
+| 3 | 0.00192 | -0.00066 | -0.00206 | 0.00289 | 0.168 |
+| 4 | 0.00007 | -0.00037 | -0.00037 | 0.00053 | 0.099 |
+| 5 | 0.00201 | -0.00097 | -0.00108 | 0.00248 | 0.128 |
+| 6 | 0.00213 | -0.00108 | -0.00189 | 0.00304 | 0.151 |
+| 7 | 0.00065 | -0.00044 | -0.00100 | 0.00127 | 0.045 |
+| 8 | -0.00015 | -0.00022 | -0.00020 | 0.00033 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1fa7c4e7-7ef4-48ff-977f-ec6149802613.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1fa7c4e7-7ef4-48ff-977f-ec6149802613.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1fa7c4e7-7ef4-48ff-977f-ec6149802613.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3079 |
+| Sim rows | 272 |
+| Real episode_id | `1fa7c4e7-7ef4-48ff-977f-ec6149802613` |
+| Sim episode_id | `1fa7c4e7-7ef4-48ff-977f-ec6149802613` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 209 | 19 | 2.387 | 9.18 | 15.90 | 2006.51 | 0.5716 |
+| 1 | descend | 582 | 50 | 0.507 | 3.08 | 5.33 | 3626.06 | 0.7711 |
+| 2 | settle | 373 | 33 | 0.023 | 0.58 | 1.01 | 3625.95 | 0.7060 |
+| 3 | close | 141 | 13 | 1.014 | 5.84 | 10.11 | 1806.02 | 0.9707 |
+| 4 | lift | 413 | 36 | 2.611 | 10.64 | 18.43 | 1754.67 | 1.0786 |
+| 5 | move_xy | 414 | 36 | 5.231 | 24.66 | 42.71 | 2317.02 | 0.9415 |
+| 6 | lower | 393 | 34 | 0.079 | 1.02 | 1.77 | 1895.72 | 1.0194 |
+| 7 | open | 142 | 13 | 1.054 | 6.09 | 10.55 | 3626.16 | 0.6249 |
+| 8 | retract | 412 | 36 | 2.620 | 10.72 | 18.56 | 2280.64 | 0.6933 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.337 |
+| TCP position RMSE (mm, per-axis) | 10.55 |
+| EE position RMS L2 (mm) | 19.23 |
+| TCP rotvec (mrad) | 2666.15 |
+| W1 effort mean (A) | 0.8130 |
+| W1 effort per joint (A) | j0=0.2434, j1=1.1754, j2=1.7021, j3=0.7699, j4=0.3629, j5=0.6241 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00013 | -0.00038 | -0.00051 | 0.00065 | 0.031 |
+| 1 | 0.00016 | -0.00059 | -0.00077 | 0.00098 | 0.035 |
+| 2 | 0.00017 | -0.00058 | -0.00079 | 0.00100 | 0.036 |
+| 3 | 0.00047 | -0.00040 | -0.00033 | 0.00070 | 0.107 |
+| 4 | 0.00029 | 0.00012 | -0.00025 | 0.00040 | 0.095 |
+| 5 | 0.00073 | -0.00104 | -0.00174 | 0.00215 | 0.153 |
+| 6 | 0.00081 | -0.00072 | -0.00047 | 0.00118 | 0.113 |
+| 7 | -0.00005 | -0.00037 | -0.00055 | 0.00067 | 0.038 |
+| 8 | -0.00005 | -0.00005 | -0.00010 | 0.00012 | 0.020 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_1fe6424e-34b8-475d-bc72-1ceee8b1652f.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1fe6424e-34b8-475d-bc72-1ceee8b1652f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1fe6424e-34b8-475d-bc72-1ceee8b1652f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1721 |
+| Sim rows | 175 |
+| Real episode_id | `1fe6424e-34b8-475d-bc72-1ceee8b1652f` |
+| Sim episode_id | `1fe6424e-34b8-475d-bc72-1ceee8b1652f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 162 | 16 | 3.396 | 14.67 | 25.41 | 375.54 | 0.7022 |
+| 1 | descend | 69 | 7 | 2.744 | 3.37 | 5.84 | 108.40 | 0.7325 |
+| 2 | settle | 41 | 5 | 2.691 | 2.43 | 4.22 | 108.45 | 0.7486 |
+| 3 | close | 321 | 32 | 2.691 | 2.48 | 4.29 | 108.96 | 1.1739 |
+| 4 | lift | 67 | 8 | 2.739 | 3.34 | 5.79 | 108.87 | 1.3372 |
+| 5 | move_xy | 219 | 22 | 10.476 | 37.85 | 65.56 | 145.53 | 1.4075 |
+| 6 | lower | 71 | 8 | 0.381 | 3.05 | 5.29 | 1757.35 | 1.1965 |
+| 7 | open | 259 | 26 | 0.023 | 2.64 | 4.58 | 5.15 | 0.6124 |
+| 8 | retract | 68 | 7 | 0.492 | 3.11 | 5.39 | 4.64 | 0.7022 |
+| 9 | return | 444 | 44 | 6.513 | 23.54 | 40.76 | 1015.31 | 0.6958 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.400 |
+| TCP position RMSE (mm, per-axis) | 15.04 |
+| EE position RMS L2 (mm) | 32.38 |
+| TCP rotvec (mrad) | 657.92 |
+| W1 effort mean (A) | 0.8652 |
+| W1 effort per joint (A) | j0=0.1729, j1=1.7780, j2=1.6233, j3=0.8563, j4=0.2204, j5=0.5403 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00229 | -0.00340 | -0.00010 | 0.00410 | 6.622 |
+| 1 | 0.00262 | -0.00328 | -0.00023 | 0.00421 | 6.593 |
+| 2 | 0.00260 | -0.00331 | -0.00040 | 0.00423 | 6.592 |
+| 3 | 0.00284 | -0.00292 | -0.00138 | 0.00429 | 6.584 |
+| 4 | 0.00263 | -0.00326 | -0.00155 | 0.00447 | 6.640 |
+| 5 | 0.00141 | -0.00369 | -0.00196 | 0.00441 | 0.119 |
+| 6 | 0.00173 | -0.00401 | -0.00197 | 0.00479 | 0.115 |
+| 7 | 0.00149 | -0.00413 | -0.00125 | 0.00457 | 0.042 |
+| 8 | 0.00123 | -0.00381 | -0.00137 | 0.00423 | 0.051 |
+| 9 | -0.00008 | -0.00004 | -0.00017 | 0.00019 | 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_1fec8119-1d44-48af-8a75-74c9a426aa0c.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/1fec8119-1d44-48af-8a75-74c9a426aa0c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/1fec8119-1d44-48af-8a75-74c9a426aa0c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2698 |
+| Sim rows | 242 |
+| Real episode_id | `1fec8119-1d44-48af-8a75-74c9a426aa0c` |
+| Sim episode_id | `1fec8119-1d44-48af-8a75-74c9a426aa0c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 243 | 22 | 2.779 | 15.48 | 26.81 | 1986.76 | 0.6087 |
+| 1 | descend | 310 | 28 | 1.120 | 7.72 | 13.37 | 3624.69 | 0.7523 |
+| 2 | settle | 358 | 31 | 0.028 | 0.97 | 1.69 | 3624.52 | 0.7609 |
+| 3 | close | 123 | 12 | 0.849 | 5.82 | 10.07 | 3625.09 | 1.0590 |
+| 4 | lift | 346 | 30 | 2.542 | 14.65 | 25.37 | 2394.99 | 1.1011 |
+| 5 | move_xy | 454 | 40 | 5.551 | 33.78 | 58.51 | 2836.60 | 0.9492 |
+| 6 | lower | 395 | 35 | 0.101 | 1.78 | 3.08 | 3624.94 | 1.0900 |
+| 7 | open | 124 | 12 | 0.786 | 5.44 | 9.42 | 3624.71 | 0.7499 |
+| 8 | retract | 345 | 30 | 2.450 | 14.20 | 24.59 | 2398.13 | 0.7453 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.441 |
+| TCP position RMSE (mm, per-axis) | 14.62 |
+| EE position RMS L2 (mm) | 28.84 |
+| TCP rotvec (mrad) | 3147.77 |
+| W1 effort mean (A) | 0.8557 |
+| W1 effort per joint (A) | j0=0.2278, j1=1.5439, j2=1.7014, j3=0.7566, j4=0.2999, j5=0.6043 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00078 | -0.00049 | -0.00073 | 0.00117 | 0.027 |
+| 1 | 0.00077 | -0.00087 | -0.00123 | 0.00169 | 0.054 |
+| 2 | 0.00077 | -0.00086 | -0.00125 | 0.00170 | 0.054 |
+| 3 | 0.00164 | -0.00068 | -0.00168 | 0.00244 | 0.127 |
+| 4 | 0.00000 | -0.00044 | -0.00040 | 0.00060 | 0.084 |
+| 5 | 0.00217 | -0.00127 | -0.00169 | 0.00303 | 0.199 |
+| 6 | 0.00204 | -0.00136 | -0.00225 | 0.00333 | 0.169 |
+| 7 | 0.00056 | -0.00053 | -0.00101 | 0.00128 | 0.053 |
+| 8 | -0.00012 | -0.00019 | -0.00019 | 0.00029 | 0.035 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_20170f52-dabe-4cfc-9e8e-448e8be210b9.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/20170f52-dabe-4cfc-9e8e-448e8be210b9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/20170f52-dabe-4cfc-9e8e-448e8be210b9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1162 |
+| Sim rows | 122 |
+| Real episode_id | `20170f52-dabe-4cfc-9e8e-448e8be210b9` |
+| Sim episode_id | `20170f52-dabe-4cfc-9e8e-448e8be210b9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.122 | 9.92 | 17.19 | 1341.70 | 0.6726 |
+| 1 | descend | 70 | 8 | 4.118 | 3.47 | 6.01 | 161.89 | 0.5929 |
+| 2 | settle | 21 | 3 | 4.080 | 2.84 | 4.91 | 162.31 | 0.5858 |
+| 3 | close | 24 | 3 | 4.081 | 3.21 | 5.55 | 163.51 | 1.0180 |
+| 4 | lift | 89 | 10 | 4.172 | 4.78 | 8.28 | 1700.89 | 1.0201 |
+| 5 | move_xy | 247 | 25 | 14.446 | 53.89 | 93.35 | 616.30 | 1.1074 |
+| 6 | lower | 92 | 10 | 13.528 | 4.06 | 7.03 | 524.50 | 1.3204 |
+| 7 | open | 69 | 7 | 13.452 | 2.58 | 4.47 | 522.65 | 0.8440 |
+| 8 | retract | 92 | 10 | 13.507 | 4.16 | 7.20 | 522.82 | 0.8720 |
+| 9 | return | 295 | 29 | 8.380 | 28.84 | 49.96 | 396.39 | 0.8258 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 9.501 |
+| TCP position RMSE (mm, per-axis) | 19.82 |
+| EE position RMS L2 (mm) | 50.45 |
+| TCP rotvec (mrad) | 783.01 |
+| W1 effort mean (A) | 0.8776 |
+| W1 effort per joint (A) | j0=0.2607, j1=1.6575, j2=1.4682, j3=0.7201, j4=0.2761, j5=0.8831 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00155 | -0.00431 | -0.00040 | 0.00460 | 9.918 |
+| 1 | 0.00182 | -0.00456 | -0.00030 | 0.00492 | 9.992 |
+| 2 | 0.00181 | -0.00456 | -0.00042 | 0.00492 | 9.992 |
+| 3 | 0.00267 | -0.00451 | -0.00151 | 0.00545 | 9.992 |
+| 4 | 0.00239 | -0.00442 | -0.00196 | 0.00539 | 9.994 |
+| 5 | 0.00429 | -0.00265 | -0.00353 | 0.00615 | 33.063 |
+| 6 | 0.00399 | -0.00214 | -0.00361 | 0.00579 | 32.955 |
+| 7 | 0.00332 | -0.00293 | -0.00069 | 0.00448 | 32.949 |
+| 8 | 0.00360 | -0.00303 | -0.00054 | 0.00474 | 33.058 |
+| 9 | -0.00009 | -0.00016 | -0.00035 | 0.00039 | 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_2025dd7d-136e-4b73-811a-9f02ab6ffc79.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2025dd7d-136e-4b73-811a-9f02ab6ffc79.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2025dd7d-136e-4b73-811a-9f02ab6ffc79.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2414 |
+| Sim rows | 215 |
+| Real episode_id | `2025dd7d-136e-4b73-811a-9f02ab6ffc79` |
+| Sim episode_id | `2025dd7d-136e-4b73-811a-9f02ab6ffc79` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 207 | 18 | 3.532 | 15.67 | 27.13 | 2031.54 | 0.6056 |
+| 1 | descend | 243 | 22 | 0.892 | 5.92 | 10.26 | 3625.22 | 0.8394 |
+| 2 | settle | 371 | 33 | 0.027 | 0.84 | 1.45 | 3551.23 | 0.7270 |
+| 3 | close | 100 | 9 | 0.568 | 3.80 | 6.57 | 3625.98 | 0.9869 |
+| 4 | lift | 330 | 29 | 3.581 | 16.79 | 29.09 | 2301.82 | 1.1544 |
+| 5 | move_xy | 341 | 30 | 7.802 | 38.17 | 66.12 | 2682.37 | 0.8796 |
+| 6 | lower | 393 | 34 | 0.086 | 1.45 | 2.51 | 3399.59 | 0.9022 |
+| 7 | open | 99 | 9 | 0.490 | 3.24 | 5.60 | 3625.47 | 0.6355 |
+| 8 | retract | 330 | 29 | 3.546 | 16.68 | 28.90 | 2335.79 | 0.7299 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.335 |
+| TCP position RMSE (mm, per-axis) | 16.07 |
+| EE position RMS L2 (mm) | 30.42 |
+| TCP rotvec (mrad) | 3085.43 |
+| W1 effort mean (A) | 0.8256 |
+| W1 effort per joint (A) | j0=0.2937, j1=1.3492, j2=1.5275, j3=0.7616, j4=0.4138, j5=0.6079 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00085 | -0.00037 | -0.00062 | 0.00112 | 0.030 |
+| 1 | 0.00094 | -0.00056 | -0.00101 | 0.00149 | 0.045 |
+| 2 | 0.00085 | -0.00059 | -0.00095 | 0.00140 | 0.046 |
+| 3 | 0.00136 | -0.00035 | -0.00116 | 0.00182 | 0.108 |
+| 4 | 0.00038 | 0.00012 | 0.00005 | 0.00040 | 0.067 |
+| 5 | 0.00167 | -0.00082 | -0.00064 | 0.00197 | 0.116 |
+| 6 | 0.00197 | -0.00068 | -0.00273 | 0.00343 | 0.214 |
+| 7 | 0.00062 | -0.00033 | -0.00079 | 0.00106 | 0.036 |
+| 8 | -0.00015 | -0.00022 | -0.00023 | 0.00035 | 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_203857d7-c6b8-4019-b178-47d2795e6aa8.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/203857d7-c6b8-4019-b178-47d2795e6aa8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/203857d7-c6b8-4019-b178-47d2795e6aa8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2574 |
+| Sim rows | 257 |
+| Real episode_id | `203857d7-c6b8-4019-b178-47d2795e6aa8` |
+| Sim episode_id | `203857d7-c6b8-4019-b178-47d2795e6aa8` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 166 | 17 | 2.741 | 13.23 | 22.92 | 1908.26 | 0.6288 |
+| 1 | descend | 523 | 51 | 0.637 | 4.62 | 8.00 | 3624.76 | 0.8014 |
+| 2 | settle | 338 | 34 | 0.026 | 0.96 | 1.66 | 3624.54 | 0.7563 |
+| 3 | close | 145 | 15 | 1.076 | 7.39 | 12.80 | 3625.24 | 1.0332 |
+| 4 | lift | 307 | 30 | 2.569 | 13.85 | 23.98 | 2368.11 | 1.1361 |
+| 5 | move_xy | 309 | 30 | 7.253 | 41.72 | 72.25 | 2879.53 | 0.9826 |
+| 6 | lower | 338 | 33 | 0.095 | 1.72 | 2.98 | 3625.08 | 1.0448 |
+| 7 | open | 146 | 15 | 0.819 | 5.74 | 9.93 | 3624.73 | 0.7465 |
+| 8 | retract | 302 | 30 | 2.624 | 14.25 | 24.68 | 2369.17 | 0.7521 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.903 |
+| TCP position RMSE (mm, per-axis) | 16.41 |
+| EE position RMS L2 (mm) | 28.81 |
+| TCP rotvec (mrad) | 3142.05 |
+| W1 effort mean (A) | 0.8555 |
+| W1 effort per joint (A) | j0=0.2581, j1=1.5436, j2=1.7168, j3=0.7732, j4=0.2629, j5=0.5784 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00089 | -0.00024 | -0.00075 | 0.00119 | 0.039 |
+| 1 | 0.00093 | -0.00074 | -0.00118 | 0.00168 | 0.054 |
+| 2 | 0.00091 | -0.00076 | -0.00118 | 0.00167 | 0.054 |
+| 3 | 0.00157 | -0.00037 | -0.00092 | 0.00186 | 0.115 |
+| 4 | 0.00009 | -0.00040 | -0.00044 | 0.00060 | 0.120 |
+| 5 | 0.00233 | -0.00098 | -0.00096 | 0.00271 | 0.186 |
+| 6 | 0.00194 | -0.00101 | -0.00151 | 0.00265 | 0.123 |
+| 7 | 0.00072 | -0.00037 | -0.00103 | 0.00130 | 0.064 |
+| 8 | -0.00013 | -0.00020 | -0.00021 | 0.00032 | 0.035 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_205ac2dc-8f01-4f3e-b170-494bd05ef7a8.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/205ac2dc-8f01-4f3e-b170-494bd05ef7a8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/205ac2dc-8f01-4f3e-b170-494bd05ef7a8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2417 |
+| Sim rows | 217 |
+| Real episode_id | `205ac2dc-8f01-4f3e-b170-494bd05ef7a8` |
+| Sim episode_id | `205ac2dc-8f01-4f3e-b170-494bd05ef7a8` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 181 | 16 | 2.158 | 11.85 | 20.52 | 1961.54 | 0.6133 |
+| 1 | descend | 269 | 24 | 0.887 | 6.17 | 10.69 | 3624.67 | 0.8002 |
+| 2 | settle | 388 | 34 | 0.027 | 0.97 | 1.68 | 3624.49 | 0.7044 |
+| 3 | close | 149 | 14 | 0.451 | 3.41 | 5.90 | 3625.12 | 1.0098 |
+| 4 | lift | 288 | 25 | 2.339 | 14.33 | 24.81 | 2260.87 | 1.0958 |
+| 5 | move_xy | 302 | 27 | 4.300 | 26.79 | 46.39 | 2711.62 | 0.9369 |
+| 6 | lower | 403 | 35 | 0.096 | 1.74 | 3.02 | 3625.00 | 1.1541 |
+| 7 | open | 149 | 14 | 0.650 | 4.45 | 7.71 | 3624.55 | 0.7983 |
+| 8 | retract | 288 | 26 | 2.305 | 14.07 | 24.37 | 2320.18 | 0.7447 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.982 |
+| TCP position RMSE (mm, per-axis) | 12.18 |
+| EE position RMS L2 (mm) | 21.57 |
+| TCP rotvec (mrad) | 3116.08 |
+| W1 effort mean (A) | 0.8622 |
+| W1 effort per joint (A) | j0=0.2285, j1=1.5516, j2=1.7509, j3=0.8065, j4=0.2296, j5=0.6059 |
+
+## Phase-end anchor (sim - 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 | -0.00051 | -0.00068 | 0.00119 | 0.029 |
+| 1 | 0.00082 | -0.00090 | -0.00123 | 0.00173 | 0.056 |
+| 2 | 0.00076 | -0.00088 | -0.00119 | 0.00167 | 0.052 |
+| 3 | 0.00165 | -0.00082 | -0.00162 | 0.00246 | 0.119 |
+| 4 | -0.00002 | -0.00050 | -0.00052 | 0.00072 | 0.086 |
+| 5 | 0.00173 | -0.00123 | -0.00178 | 0.00277 | 0.121 |
+| 6 | 0.00216 | -0.00150 | -0.00278 | 0.00382 | 0.193 |
+| 7 | 0.00063 | -0.00060 | -0.00103 | 0.00135 | 0.043 |
+| 8 | -0.00013 | -0.00020 | -0.00019 | 0.00031 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_205e28b5-33e2-4667-883d-573211b71093.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/205e28b5-33e2-4667-883d-573211b71093.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/205e28b5-33e2-4667-883d-573211b71093.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1687 |
+| Sim rows | 172 |
+| Real episode_id | `205e28b5-33e2-4667-883d-573211b71093` |
+| Sim episode_id | `205e28b5-33e2-4667-883d-573211b71093` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 145 | 15 | 2.903 | 17.40 | 30.13 | 1724.02 | 0.7424 |
+| 1 | descend | 76 | 8 | 0.868 | 4.66 | 8.07 | 4.77 | 0.5970 |
+| 2 | settle | 16 | 2 | 0.058 | 2.96 | 5.13 | 5.36 | 0.5819 |
+| 3 | close | 394 | 39 | 0.134 | 3.58 | 6.20 | 3621.39 | 1.1013 |
+| 4 | lift | 75 | 8 | 0.812 | 4.17 | 7.21 | 3621.31 | 1.1715 |
+| 5 | move_xy | 193 | 20 | 12.723 | 33.91 | 58.73 | 2277.18 | 1.0791 |
+| 6 | lower | 74 | 8 | 19.788 | 4.50 | 7.79 | 763.42 | 1.2344 |
+| 7 | open | 371 | 37 | 19.758 | 2.34 | 4.06 | 762.60 | 0.8140 |
+| 8 | retract | 75 | 8 | 19.782 | 4.18 | 7.24 | 762.30 | 0.8807 |
+| 9 | return | 268 | 27 | 10.487 | 15.20 | 26.33 | 1066.48 | 0.8669 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 12.062 |
+| TCP position RMSE (mm, per-axis) | 13.37 |
+| EE position RMS L2 (mm) | 24.62 |
+| TCP rotvec (mrad) | 1930.52 |
+| W1 effort mean (A) | 0.9245 |
+| W1 effort per joint (A) | j0=0.2139, j1=1.5463, j2=1.5192, j3=0.7991, j4=0.4972, j5=0.9715 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00162 | -0.00437 | -0.00096 | 0.00476 | 0.038 |
+| 1 | 0.00183 | -0.00474 | -0.00085 | 0.00515 | 0.044 |
+| 2 | 0.00185 | -0.00473 | -0.00098 | 0.00517 | 0.030 |
+| 3 | 0.00273 | -0.00459 | -0.00276 | 0.00601 | 0.234 |
+| 4 | 0.00194 | -0.00426 | -0.00331 | 0.00573 | 0.281 |
+| 5 | 0.00205 | -0.00312 | -0.00281 | 0.00467 | 48.448 |
+| 6 | 0.00232 | -0.00190 | -0.00290 | 0.00417 | 48.398 |
+| 7 | 0.00218 | -0.00342 | -0.00017 | 0.00406 | 48.396 |
+| 8 | 0.00191 | -0.00369 | -0.00040 | 0.00418 | 48.460 |
+| 9 | -0.00002 | -0.00013 | -0.00023 | 0.00027 | 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_20786bcb-fa36-4c06-b4d0-e40728b937ee.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/20786bcb-fa36-4c06-b4d0-e40728b937ee.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/20786bcb-fa36-4c06-b4d0-e40728b937ee.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3161 |
+| Sim rows | 279 |
+| Real episode_id | `20786bcb-fa36-4c06-b4d0-e40728b937ee` |
+| Sim episode_id | `20786bcb-fa36-4c06-b4d0-e40728b937ee` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 210 | 19 | 2.639 | 11.98 | 20.74 | 1921.61 | 0.5793 |
+| 1 | descend | 629 | 54 | 0.551 | 3.67 | 6.36 | 3625.43 | 0.6869 |
+| 2 | settle | 422 | 37 | 0.024 | 0.76 | 1.32 | 3625.24 | 0.6947 |
+| 3 | close | 123 | 11 | 0.933 | 6.00 | 10.40 | 3377.57 | 0.9343 |
+| 4 | lift | 430 | 38 | 3.171 | 14.56 | 25.22 | 2249.71 | 1.0970 |
+| 5 | move_xy | 368 | 32 | 5.967 | 30.45 | 52.74 | 2631.25 | 0.8883 |
+| 6 | lower | 422 | 37 | 0.091 | 1.45 | 2.50 | 3589.90 | 1.0378 |
+| 7 | open | 123 | 11 | 0.883 | 5.62 | 9.73 | 3625.40 | 0.6901 |
+| 8 | retract | 434 | 38 | 3.260 | 15.01 | 26.01 | 2373.35 | 0.7040 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.692 |
+| TCP position RMSE (mm, per-axis) | 13.30 |
+| EE position RMS L2 (mm) | 23.43 |
+| TCP rotvec (mrad) | 3073.82 |
+| W1 effort mean (A) | 0.7991 |
+| W1 effort per joint (A) | j0=0.2468, j1=1.3180, j2=1.6460, j3=0.7456, j4=0.2680, j5=0.5704 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00062 | -0.00024 | -0.00067 | 0.00094 | 0.042 |
+| 1 | 0.00061 | -0.00067 | -0.00094 | 0.00131 | 0.041 |
+| 2 | 0.00063 | -0.00066 | -0.00097 | 0.00133 | 0.043 |
+| 3 | 0.00133 | -0.00055 | -0.00133 | 0.00196 | 0.138 |
+| 4 | 0.00035 | 0.00006 | -0.00010 | 0.00037 | 0.075 |
+| 5 | 0.00190 | -0.00093 | -0.00088 | 0.00229 | 0.164 |
+| 6 | 0.00135 | -0.00091 | -0.00204 | 0.00262 | 0.148 |
+| 7 | 0.00039 | -0.00038 | -0.00073 | 0.00091 | 0.043 |
+| 8 | -0.00007 | -0.00009 | -0.00012 | 0.00017 | 0.020 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_20aa91e0-5ffe-455a-bb38-4f4d1f7173e0.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/20aa91e0-5ffe-455a-bb38-4f4d1f7173e0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/20aa91e0-5ffe-455a-bb38-4f4d1f7173e0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1082 |
+| Sim rows | 116 |
+| Real episode_id | `20aa91e0-5ffe-455a-bb38-4f4d1f7173e0` |
+| Sim episode_id | `20aa91e0-5ffe-455a-bb38-4f4d1f7173e0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 161 | 17 | 3.108 | 17.94 | 31.07 | 1425.16 | 0.7622 |
+| 1 | descend | 69 | 8 | 0.548 | 4.05 | 7.02 | 6.00 | 0.6840 |
+| 2 | settle | 38 | 5 | 0.023 | 3.22 | 5.58 | 6.41 | 0.7410 |
+| 3 | close | 31 | 4 | 0.075 | 3.53 | 6.11 | 1805.67 | 1.0774 |
+| 4 | lift | 88 | 10 | 0.945 | 5.89 | 10.20 | 2078.19 | 1.1009 |
+| 5 | move_xy | 242 | 24 | 11.531 | 59.27 | 102.65 | 195.23 | 1.0886 |
+| 6 | lower | 83 | 9 | 4.904 | 3.90 | 6.76 | 191.23 | 1.2229 |
+| 7 | open | 72 | 8 | 4.772 | 2.42 | 4.19 | 189.30 | 0.8354 |
+| 8 | retract | 82 | 9 | 4.987 | 5.32 | 9.21 | 189.46 | 0.8342 |
+| 9 | return | 216 | 22 | 5.008 | 28.17 | 48.79 | 809.58 | 0.8131 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.905 |
+| TCP position RMSE (mm, per-axis) | 21.80 |
+| EE position RMS L2 (mm) | 54.78 |
+| TCP rotvec (mrad) | 1020.41 |
+| W1 effort mean (A) | 0.8983 |
+| W1 effort per joint (A) | j0=0.3093, j1=1.7808, j2=1.5368, j3=0.7690, j4=0.3192, j5=0.6750 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00158 | -0.00491 | -0.00115 | 0.00528 | 0.050 |
+| 1 | 0.00175 | -0.00515 | -0.00119 | 0.00556 | 0.042 |
+| 2 | 0.00175 | -0.00516 | -0.00134 | 0.00561 | 0.049 |
+| 3 | 0.00221 | -0.00530 | -0.00263 | 0.00631 | 0.152 |
+| 4 | 0.00178 | -0.00511 | -0.00231 | 0.00589 | 0.137 |
+| 5 | 0.00415 | -0.00228 | -0.00327 | 0.00576 | 11.829 |
+| 6 | 0.00371 | -0.00180 | -0.00308 | 0.00515 | 11.690 |
+| 7 | 0.00327 | -0.00259 | -0.00051 | 0.00420 | 11.686 |
+| 8 | 0.00351 | -0.00269 | -0.00050 | 0.00445 | 11.810 |
+| 9 | 0.00006 | -0.00020 | -0.00028 | 0.00035 | 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_20ace3cb-a2e3-4c7f-ac02-c63ef717e67e.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/20ace3cb-a2e3-4c7f-ac02-c63ef717e67e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/20ace3cb-a2e3-4c7f-ac02-c63ef717e67e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 463 |
+| Sim rows | 62 |
+| Real episode_id | `20ace3cb-a2e3-4c7f-ac02-c63ef717e67e` |
+| Sim episode_id | `20ace3cb-a2e3-4c7f-ac02-c63ef717e67e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 253 | 25 | 2.804 | 12.09 | 20.93 | 21.07 | 0.8048 |
+| 1 | descend | 210 | 21 | 0.026 | 7.41 | 12.84 | 2.39 | 0.8681 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.983 |
+| TCP position RMSE (mm, per-axis) | 10.02 |
+| EE position RMS L2 (mm) | 17.73 |
+| TCP rotvec (mrad) | 14.99 |
+| W1 effort mean (A) | 0.8334 |
+| W1 effort per joint (A) | j0=0.1032, j1=1.7791, j2=1.7738, j3=1.0128, j4=0.1724, j5=0.1591 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00078 | 0.01280 | -0.00061 | 0.01284 | 0.067 |
+| 1 | 0.00083 | 0.01277 | -0.00074 | 0.01282 | 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_20d133b9-7a01-4d37-9176-8d8767625044.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/20d133b9-7a01-4d37-9176-8d8767625044.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/20d133b9-7a01-4d37-9176-8d8767625044.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2827 |
+| Sim rows | 281 |
+| Real episode_id | `20d133b9-7a01-4d37-9176-8d8767625044` |
+| Sim episode_id | `20d133b9-7a01-4d37-9176-8d8767625044` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 192 | 19 | 2.637 | 10.70 | 18.53 | 2009.95 | 0.5636 |
+| 1 | descend | 706 | 69 | 0.675 | 4.03 | 6.97 | 3626.08 | 0.7097 |
+| 2 | settle | 314 | 31 | 0.022 | 0.57 | 0.99 | 3625.94 | 0.7009 |
+| 3 | close | 137 | 14 | 1.170 | 6.53 | 11.32 | 2251.55 | 0.9581 |
+| 4 | lift | 296 | 29 | 2.734 | 11.03 | 19.11 | 1538.17 | 1.0684 |
+| 5 | move_xy | 395 | 39 | 5.846 | 27.36 | 47.38 | 2093.28 | 0.8833 |
+| 6 | lower | 355 | 35 | 0.076 | 0.98 | 1.69 | 1341.08 | 0.9814 |
+| 7 | open | 136 | 14 | 1.014 | 5.67 | 9.82 | 3626.18 | 0.6138 |
+| 8 | retract | 296 | 29 | 2.752 | 11.12 | 19.26 | 2337.37 | 0.6970 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.561 |
+| TCP position RMSE (mm, per-axis) | 11.55 |
+| EE position RMS L2 (mm) | 20.92 |
+| TCP rotvec (mrad) | 2636.58 |
+| W1 effort mean (A) | 0.7739 |
+| W1 effort per joint (A) | j0=0.2693, j1=1.1400, j2=1.6084, j3=0.7174, j4=0.3322, j5=0.5763 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00012 | -0.00032 | -0.00052 | 0.00062 | 0.035 |
+| 1 | 0.00015 | -0.00058 | -0.00079 | 0.00099 | 0.038 |
+| 2 | 0.00017 | -0.00058 | -0.00076 | 0.00097 | 0.036 |
+| 3 | 0.00059 | -0.00064 | -0.00175 | 0.00195 | 0.196 |
+| 4 | 0.00039 | 0.00010 | -0.00002 | 0.00040 | 0.067 |
+| 5 | 0.00103 | -0.00075 | -0.00100 | 0.00162 | 0.153 |
+| 6 | 0.00116 | -0.00080 | -0.00110 | 0.00179 | 0.134 |
+| 7 | -0.00002 | -0.00042 | -0.00052 | 0.00067 | 0.038 |
+| 8 | -0.00005 | -0.00008 | -0.00014 | 0.00017 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_20d6274a-344c-483c-ab50-98bd0525cb3e.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/20d6274a-344c-483c-ab50-98bd0525cb3e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/20d6274a-344c-483c-ab50-98bd0525cb3e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2914 |
+| Sim rows | 257 |
+| Real episode_id | `20d6274a-344c-483c-ab50-98bd0525cb3e` |
+| Sim episode_id | `20d6274a-344c-483c-ab50-98bd0525cb3e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 210 | 19 | 2.981 | 11.72 | 20.30 | 1970.15 | 0.5766 |
+| 1 | descend | 431 | 38 | 0.751 | 4.62 | 8.00 | 3626.04 | 0.7009 |
+| 2 | settle | 388 | 34 | 0.021 | 0.59 | 1.02 | 3625.95 | 0.6958 |
+| 3 | close | 123 | 11 | 0.834 | 4.87 | 8.43 | 1165.01 | 0.9169 |
+| 4 | lift | 437 | 38 | 3.104 | 12.61 | 21.84 | 1799.21 | 1.1013 |
+| 5 | move_xy | 367 | 32 | 5.931 | 26.69 | 46.22 | 1978.42 | 0.8954 |
+| 6 | lower | 392 | 34 | 0.075 | 1.04 | 1.80 | 1930.33 | 0.9955 |
+| 7 | open | 124 | 11 | 0.751 | 4.36 | 7.55 | 3626.22 | 0.6001 |
+| 8 | retract | 442 | 38 | 3.151 | 12.85 | 22.26 | 2261.84 | 0.6954 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.697 |
+| TCP position RMSE (mm, per-axis) | 11.73 |
+| EE position RMS L2 (mm) | 21.47 |
+| TCP rotvec (mrad) | 2596.52 |
+| W1 effort mean (A) | 0.7894 |
+| W1 effort per joint (A) | j0=0.2415, j1=1.1969, j2=1.6062, j3=0.6887, j4=0.3802, j5=0.6231 |
+
+## Phase-end anchor (sim - 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 | -0.00030 | -0.00050 | 0.00073 | 0.035 |
+| 1 | 0.00041 | -0.00055 | -0.00076 | 0.00102 | 0.035 |
+| 2 | 0.00041 | -0.00055 | -0.00074 | 0.00101 | 0.036 |
+| 3 | 0.00118 | -0.00013 | -0.00147 | 0.00189 | 0.147 |
+| 4 | 0.00031 | -0.00017 | -0.00038 | 0.00052 | 0.096 |
+| 5 | 0.00143 | -0.00089 | -0.00241 | 0.00294 | 0.195 |
+| 6 | 0.00142 | -0.00070 | -0.00131 | 0.00206 | 0.147 |
+| 7 | 0.00010 | -0.00029 | -0.00058 | 0.00065 | 0.039 |
+| 8 | -0.00003 | -0.00004 | -0.00009 | 0.00010 | 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_20ee1c07-c841-4ce7-bbf2-d89050e93cd3.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/20ee1c07-c841-4ce7-bbf2-d89050e93cd3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/20ee1c07-c841-4ce7-bbf2-d89050e93cd3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2562 |
+| Sim rows | 227 |
+| Real episode_id | `20ee1c07-c841-4ce7-bbf2-d89050e93cd3` |
+| Sim episode_id | `20ee1c07-c841-4ce7-bbf2-d89050e93cd3` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.209 | 8.65 | 14.99 | 2048.44 | 0.5606 |
+| 1 | descend | 433 | 38 | 0.775 | 4.69 | 8.12 | 3626.00 | 0.7249 |
+| 2 | settle | 384 | 33 | 0.021 | 0.57 | 0.98 | 3625.94 | 0.6933 |
+| 3 | close | 104 | 10 | 0.487 | 2.93 | 5.08 | 1872.08 | 0.9274 |
+| 4 | lift | 309 | 27 | 2.549 | 10.83 | 18.76 | 1434.37 | 1.0724 |
+| 5 | move_xy | 321 | 28 | 4.980 | 23.55 | 40.79 | 2344.56 | 0.9178 |
+| 6 | lower | 407 | 35 | 0.078 | 1.02 | 1.76 | 1643.30 | 0.9888 |
+| 7 | open | 106 | 10 | 0.521 | 3.10 | 5.37 | 3626.20 | 0.6061 |
+| 8 | retract | 310 | 27 | 2.612 | 11.14 | 19.30 | 2208.36 | 0.6845 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.214 |
+| TCP position RMSE (mm, per-axis) | 10.07 |
+| EE position RMS L2 (mm) | 18.07 |
+| TCP rotvec (mrad) | 2630.53 |
+| W1 effort mean (A) | 0.7884 |
+| W1 effort per joint (A) | j0=0.2334, j1=1.1441, j2=1.6169, j3=0.7613, j4=0.3889, j5=0.5859 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00019 | -0.00040 | -0.00054 | 0.00070 | 0.033 |
+| 1 | 0.00016 | -0.00058 | -0.00079 | 0.00100 | 0.036 |
+| 2 | 0.00019 | -0.00057 | -0.00077 | 0.00098 | 0.036 |
+| 3 | 0.00101 | -0.00037 | -0.00056 | 0.00121 | 0.150 |
+| 4 | -0.00003 | -0.00066 | -0.00062 | 0.00091 | 0.111 |
+| 5 | 0.00086 | -0.00080 | -0.00057 | 0.00131 | 0.117 |
+| 6 | 0.00080 | -0.00081 | -0.00052 | 0.00125 | 0.108 |
+| 7 | -0.00004 | -0.00038 | -0.00064 | 0.00075 | 0.040 |
+| 8 | -0.00008 | -0.00010 | -0.00014 | 0.00019 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_211b871c-1b05-435d-8f7e-f878d37aa01c.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/211b871c-1b05-435d-8f7e-f878d37aa01c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/211b871c-1b05-435d-8f7e-f878d37aa01c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2278 |
+| Sim rows | 229 |
+| Real episode_id | `211b871c-1b05-435d-8f7e-f878d37aa01c` |
+| Sim episode_id | `211b871c-1b05-435d-8f7e-f878d37aa01c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 199 | 20 | 3.219 | 15.35 | 26.59 | 1940.21 | 0.5788 |
+| 1 | descend | 248 | 25 | 1.067 | 7.06 | 12.23 | 3625.28 | 0.6656 |
+| 2 | settle | 311 | 31 | 0.024 | 0.76 | 1.32 | 3625.29 | 0.7422 |
+| 3 | close | 98 | 10 | 0.444 | 3.08 | 5.34 | 3480.75 | 0.9428 |
+| 4 | lift | 321 | 32 | 2.880 | 14.05 | 24.33 | 2235.32 | 1.0817 |
+| 5 | move_xy | 324 | 32 | 5.825 | 30.15 | 52.22 | 2603.86 | 0.8432 |
+| 6 | lower | 357 | 35 | 0.090 | 1.43 | 2.47 | 3499.44 | 1.0213 |
+| 7 | open | 98 | 10 | 0.444 | 2.92 | 5.06 | 3625.51 | 0.6187 |
+| 8 | retract | 322 | 32 | 3.013 | 14.86 | 25.74 | 2222.28 | 0.7162 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.650 |
+| TCP position RMSE (mm, per-axis) | 13.47 |
+| EE position RMS L2 (mm) | 25.42 |
+| TCP rotvec (mrad) | 3059.98 |
+| W1 effort mean (A) | 0.7928 |
+| W1 effort per joint (A) | j0=0.2164, j1=1.3215, j2=1.6022, j3=0.7072, j4=0.3235, j5=0.5858 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00064 | -0.00043 | -0.00075 | 0.00108 | 0.035 |
+| 1 | 0.00062 | -0.00062 | -0.00098 | 0.00132 | 0.043 |
+| 2 | 0.00064 | -0.00064 | -0.00097 | 0.00132 | 0.043 |
+| 3 | 0.00111 | -0.00059 | -0.00053 | 0.00137 | 0.118 |
+| 4 | 0.00036 | 0.00007 | 0.00002 | 0.00037 | 0.065 |
+| 5 | 0.00131 | -0.00089 | -0.00237 | 0.00285 | 0.188 |
+| 6 | 0.00193 | -0.00093 | -0.00141 | 0.00257 | 0.184 |
+| 7 | 0.00042 | -0.00043 | -0.00078 | 0.00098 | 0.036 |
+| 8 | -0.00013 | -0.00016 | -0.00018 | 0.00027 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_21231210-6235-4f75-9c00-d7f231e32a1e.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/21231210-6235-4f75-9c00-d7f231e32a1e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/21231210-6235-4f75-9c00-d7f231e32a1e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 197 |
+| Sim rows | 30 |
+| Real episode_id | `21231210-6235-4f75-9c00-d7f231e32a1e` |
+| Sim episode_id | `21231210-6235-4f75-9c00-d7f231e32a1e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 6 | 2 | 0.014 | 0.09 | 0.15 | 0.33 | 0.3859 |
+| 1 | descend | 7 | 2 | 0.013 | 0.08 | 0.15 | 0.33 | 0.3816 |
+| 2 | settle | 21 | 3 | 0.013 | 0.08 | 0.14 | 0.32 | 0.3744 |
+| 3 | close | 30 | 4 | 0.152 | 0.71 | 1.22 | 6.38 | 0.9084 |
+| 4 | lift | 26 | 3 | 0.101 | 0.63 | 1.09 | 4.26 | 0.8514 |
+| 5 | move_xy | 7 | 2 | 0.135 | 0.70 | 1.21 | 6.11 | 0.9180 |
+| 6 | lower | 7 | 2 | 0.132 | 0.67 | 1.17 | 5.67 | 0.9815 |
+| 7 | open | 78 | 8 | 0.013 | 0.08 | 0.14 | 0.34 | 0.3887 |
+| 8 | retract | 7 | 2 | 0.013 | 0.09 | 0.15 | 0.36 | 0.3865 |
+| 9 | return | 8 | 2 | 0.013 | 0.09 | 0.15 | 0.38 | 0.3872 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 0.084 |
+| TCP position RMSE (mm, per-axis) | 0.43 |
+| EE position RMS L2 (mm) | 0.71 |
+| TCP rotvec (mrad) | 3.59 |
+| W1 effort mean (A) | 0.5664 |
+| W1 effort per joint (A) | j0=0.0078, j1=0.0999, j2=1.5356, j3=0.9270, j4=0.4585, j5=0.3694 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00005 | 0.00001 | -0.00014 | 0.00015 | 0.025 |
+| 1 | 0.00005 | 0.00000 | -0.00014 | 0.00015 | 0.025 |
+| 2 | 0.00005 | 0.00001 | -0.00014 | 0.00015 | 0.027 |
+| 3 | 0.00021 | 0.00033 | -0.00111 | 0.00117 | 0.181 |
+| 4 | 0.00044 | 0.00013 | -0.00099 | 0.00109 | 0.165 |
+| 5 | 0.00023 | 0.00014 | -0.00111 | 0.00114 | 0.167 |
+| 6 | 0.00025 | 0.00026 | -0.00108 | 0.00114 | 0.163 |
+| 7 | 0.00003 | 0.00001 | -0.00014 | 0.00014 | 0.026 |
+| 8 | 0.00004 | 0.00001 | -0.00014 | 0.00015 | 0.027 |
+| 9 | 0.00004 | 0.00001 | -0.00015 | 0.00015 | 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_213545db-dd90-4cb7-9489-b162e0bcbcbc.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/213545db-dd90-4cb7-9489-b162e0bcbcbc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/213545db-dd90-4cb7-9489-b162e0bcbcbc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2562 |
+| Sim rows | 226 |
+| Real episode_id | `213545db-dd90-4cb7-9489-b162e0bcbcbc` |
+| Sim episode_id | `213545db-dd90-4cb7-9489-b162e0bcbcbc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 183 | 16 | 2.244 | 8.89 | 15.40 | 1987.84 | 0.5586 |
+| 1 | descend | 440 | 38 | 0.729 | 4.41 | 7.63 | 3626.00 | 0.7375 |
+| 2 | settle | 382 | 33 | 0.023 | 0.57 | 0.98 | 3625.94 | 0.7048 |
+| 3 | close | 105 | 10 | 0.531 | 3.21 | 5.56 | 982.61 | 0.9335 |
+| 4 | lift | 309 | 27 | 2.606 | 11.16 | 19.33 | 1844.44 | 1.0824 |
+| 5 | move_xy | 323 | 28 | 4.923 | 23.42 | 40.56 | 2134.91 | 0.8915 |
+| 6 | lower | 405 | 35 | 0.085 | 1.09 | 1.90 | 1603.40 | 0.9602 |
+| 7 | open | 106 | 10 | 0.533 | 3.14 | 5.44 | 3626.21 | 0.6039 |
+| 8 | retract | 309 | 27 | 2.582 | 11.05 | 19.15 | 2202.30 | 0.6831 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.207 |
+| TCP position RMSE (mm, per-axis) | 10.08 |
+| EE position RMS L2 (mm) | 18.08 |
+| TCP rotvec (mrad) | 2576.44 |
+| W1 effort mean (A) | 0.7783 |
+| W1 effort per joint (A) | j0=0.2499, j1=1.1364, j2=1.5769, j3=0.6903, j4=0.4388, j5=0.5773 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00017 | -0.00039 | -0.00056 | 0.00070 | 0.033 |
+| 1 | 0.00013 | -0.00058 | -0.00077 | 0.00097 | 0.039 |
+| 2 | 0.00016 | -0.00057 | -0.00078 | 0.00098 | 0.036 |
+| 3 | 0.00058 | -0.00052 | -0.00107 | 0.00133 | 0.084 |
+| 4 | 0.00014 | -0.00016 | -0.00017 | 0.00027 | 0.071 |
+| 5 | 0.00089 | -0.00077 | -0.00084 | 0.00145 | 0.121 |
+| 6 | 0.00100 | -0.00101 | -0.00179 | 0.00228 | 0.144 |
+| 7 | -0.00005 | -0.00038 | -0.00066 | 0.00076 | 0.042 |
+| 8 | -0.00008 | -0.00010 | -0.00014 | 0.00019 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_215c3ea9-94e4-4b9a-9643-32439f26ce67.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/215c3ea9-94e4-4b9a-9643-32439f26ce67.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/215c3ea9-94e4-4b9a-9643-32439f26ce67.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 459 |
+| Sim rows | 62 |
+| Real episode_id | `215c3ea9-94e4-4b9a-9643-32439f26ce67` |
+| Sim episode_id | `215c3ea9-94e4-4b9a-9643-32439f26ce67` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 248 | 25 | 4.760 | 19.88 | 34.43 | 34.33 | 0.8118 |
+| 1 | descend | 211 | 21 | 0.042 | 13.22 | 22.89 | 2.35 | 0.8228 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.366 |
+| TCP position RMSE (mm, per-axis) | 16.88 |
+| EE position RMS L2 (mm) | 29.69 |
+| TCP rotvec (mrad) | 24.33 |
+| W1 effort mean (A) | 0.8168 |
+| W1 effort per joint (A) | j0=0.1597, j1=1.9006, j2=1.6189, j3=0.7362, j4=0.3506, j5=0.1348 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.01846 | -0.01285 | -0.00387 | 0.02282 | 0.057 |
+| 1 | 0.01866 | -0.01290 | -0.00402 | 0.02303 | 0.053 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, 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_2163ca66-bdbf-4545-b270-9b0be8032a9b.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2163ca66-bdbf-4545-b270-9b0be8032a9b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2163ca66-bdbf-4545-b270-9b0be8032a9b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2647 |
+| Sim rows | 234 |
+| Real episode_id | `2163ca66-bdbf-4545-b270-9b0be8032a9b` |
+| Sim episode_id | `2163ca66-bdbf-4545-b270-9b0be8032a9b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 213 | 19 | 3.518 | 17.33 | 30.02 | 1923.84 | 0.6371 |
+| 1 | descend | 297 | 26 | 0.919 | 6.69 | 11.59 | 3624.70 | 0.9375 |
+| 2 | settle | 384 | 33 | 0.029 | 1.01 | 1.76 | 3624.58 | 0.6437 |
+| 3 | close | 108 | 10 | 0.571 | 4.35 | 7.54 | 3625.30 | 0.9944 |
+| 4 | lift | 393 | 34 | 3.540 | 19.21 | 33.27 | 2348.77 | 1.1362 |
+| 5 | move_xy | 360 | 32 | 7.551 | 41.86 | 72.51 | 2781.59 | 0.9456 |
+| 6 | lower | 394 | 34 | 0.097 | 1.81 | 3.14 | 3625.05 | 1.0370 |
+| 7 | open | 106 | 10 | 0.450 | 3.18 | 5.51 | 3624.67 | 0.7505 |
+| 8 | retract | 392 | 34 | 3.408 | 18.31 | 31.71 | 2387.04 | 0.7563 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.247 |
+| TCP position RMSE (mm, per-axis) | 17.75 |
+| EE position RMS L2 (mm) | 33.49 |
+| TCP rotvec (mrad) | 3133.18 |
+| W1 effort mean (A) | 0.8613 |
+| W1 effort per joint (A) | j0=0.2158, j1=1.6045, j2=1.5989, j3=0.8110, j4=0.3271, j5=0.6104 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00112 | -0.00033 | -0.00074 | 0.00139 | 0.035 |
+| 1 | 0.00108 | -0.00065 | -0.00116 | 0.00171 | 0.054 |
+| 2 | 0.00109 | -0.00066 | -0.00116 | 0.00173 | 0.056 |
+| 3 | 0.00185 | -0.00045 | -0.00140 | 0.00237 | 0.102 |
+| 4 | 0.00005 | -0.00038 | -0.00035 | 0.00052 | 0.093 |
+| 5 | 0.00206 | -0.00090 | -0.00159 | 0.00276 | 0.112 |
+| 6 | 0.00293 | -0.00103 | -0.00279 | 0.00417 | 0.237 |
+| 7 | 0.00085 | -0.00037 | -0.00096 | 0.00133 | 0.045 |
+| 8 | -0.00011 | -0.00014 | -0.00016 | 0.00024 | 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_21648684-47a4-4afe-959d-0ec33f259732.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/21648684-47a4-4afe-959d-0ec33f259732.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/21648684-47a4-4afe-959d-0ec33f259732.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 586 |
+| Sim rows | 74 |
+| Real episode_id | `21648684-47a4-4afe-959d-0ec33f259732` |
+| Sim episode_id | `21648684-47a4-4afe-959d-0ec33f259732` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 376 | 37 | 4.618 | 23.99 | 41.55 | 790.98 | 0.7530 |
+| 1 | descend | 210 | 21 | 0.026 | 6.86 | 11.88 | 1.88 | 0.7179 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.265 |
+| TCP position RMSE (mm, per-axis) | 17.64 |
+| EE position RMS L2 (mm) | 34.03 |
+| TCP rotvec (mrad) | 559.31 |
+| W1 effort mean (A) | 0.7404 |
+| W1 effort per joint (A) | j0=0.1636, j1=1.6875, j2=1.6023, j3=0.7251, j4=0.1352, j5=0.1286 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00109 | -0.01175 | -0.00059 | 0.01181 | 0.055 |
+| 1 | -0.00091 | -0.01183 | -0.00073 | 0.01189 | 0.054 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2180366a-d10d-4239-986c-a91ebf8b5cda.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2180366a-d10d-4239-986c-a91ebf8b5cda.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2180366a-d10d-4239-986c-a91ebf8b5cda.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 484 |
+| Sim rows | 64 |
+| Real episode_id | `2180366a-d10d-4239-986c-a91ebf8b5cda` |
+| Sim episode_id | `2180366a-d10d-4239-986c-a91ebf8b5cda` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 275 | 27 | 3.345 | 15.46 | 26.79 | 9.11 | 0.8384 |
+| 1 | descend | 209 | 21 | 0.026 | 6.56 | 11.37 | 2.01 | 0.7356 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.365 |
+| TCP position RMSE (mm, per-axis) | 11.88 |
+| EE position RMS L2 (mm) | 21.53 |
+| TCP rotvec (mrad) | 6.60 |
+| W1 effort mean (A) | 0.7932 |
+| W1 effort per joint (A) | j0=0.1787, j1=1.7063, j2=1.7956, j3=0.7288, j4=0.2258, j5=0.1242 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00410 | -0.01048 | -0.00027 | 0.01126 | 0.048 |
+| 1 | 0.00443 | -0.01049 | -0.00054 | 0.01140 | 0.049 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2183d376-67f4-4e69-be67-b00b605f2c19.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2183d376-67f4-4e69-be67-b00b605f2c19.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2183d376-67f4-4e69-be67-b00b605f2c19.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2504 |
+| Sim rows | 223 |
+| Real episode_id | `2183d376-67f4-4e69-be67-b00b605f2c19` |
+| Sim episode_id | `2183d376-67f4-4e69-be67-b00b605f2c19` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 175 | 16 | 2.197 | 11.79 | 20.42 | 2.96 | 0.6287 |
+| 1 | descend | 275 | 24 | 0.807 | 5.65 | 9.78 | 4.31 | 0.7763 |
+| 2 | settle | 386 | 34 | 0.029 | 1.15 | 2.00 | 4.42 | 0.6782 |
+| 3 | close | 122 | 11 | 0.673 | 4.83 | 8.36 | 6.65 | 1.0668 |
+| 4 | lift | 364 | 32 | 2.312 | 13.92 | 24.11 | 4.32 | 1.0994 |
+| 5 | move_xy | 297 | 26 | 4.416 | 27.40 | 47.47 | 4.73 | 0.9596 |
+| 6 | lower | 401 | 35 | 0.103 | 1.97 | 3.42 | 6.92 | 1.0600 |
+| 7 | open | 120 | 11 | 0.630 | 4.39 | 7.60 | 4.34 | 0.6737 |
+| 8 | retract | 364 | 32 | 2.249 | 13.55 | 23.48 | 3.06 | 0.7306 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.007 |
+| TCP position RMSE (mm, per-axis) | 12.23 |
+| EE position RMS L2 (mm) | 21.91 |
+| TCP rotvec (mrad) | 4.81 |
+| W1 effort mean (A) | 0.8419 |
+| W1 effort per joint (A) | j0=0.2917, j1=1.5009, j2=1.4953, j3=0.6542, j4=0.4993, j5=0.6099 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00108 | -0.00077 | -0.00071 | 0.00150 | 0.034 |
+| 1 | 0.00114 | -0.00115 | -0.00122 | 0.00203 | 0.049 |
+| 2 | 0.00108 | -0.00118 | -0.00117 | 0.00198 | 0.054 |
+| 3 | 0.00244 | -0.00095 | -0.00157 | 0.00305 | 0.222 |
+| 4 | 0.00006 | -0.00034 | -0.00033 | 0.00048 | 0.089 |
+| 5 | 0.00234 | -0.00150 | -0.00138 | 0.00310 | 0.157 |
+| 6 | 0.00231 | -0.00165 | -0.00228 | 0.00364 | 0.180 |
+| 7 | 0.00089 | -0.00089 | -0.00102 | 0.00162 | 0.047 |
+| 8 | -0.00011 | -0.00016 | -0.00017 | 0.00026 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2187abe9-82ee-4762-9be3-cfd82df159fe.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2187abe9-82ee-4762-9be3-cfd82df159fe.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2187abe9-82ee-4762-9be3-cfd82df159fe.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2566 |
+| Sim rows | 227 |
+| Real episode_id | `2187abe9-82ee-4762-9be3-cfd82df159fe` |
+| Sim episode_id | `2187abe9-82ee-4762-9be3-cfd82df159fe` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 177 | 16 | 2.699 | 9.75 | 16.88 | 1946.40 | 0.5848 |
+| 1 | descend | 388 | 34 | 1.645 | 9.61 | 16.65 | 3626.03 | 0.6866 |
+| 2 | settle | 374 | 32 | 0.023 | 0.60 | 1.05 | 3626.00 | 0.6684 |
+| 3 | close | 136 | 12 | 1.066 | 6.40 | 11.08 | 1539.61 | 0.9467 |
+| 4 | lift | 306 | 27 | 2.818 | 11.22 | 19.43 | 2137.81 | 1.0801 |
+| 5 | move_xy | 361 | 31 | 7.122 | 32.21 | 55.79 | 2172.28 | 0.9048 |
+| 6 | lower | 386 | 34 | 0.080 | 1.10 | 1.90 | 1150.69 | 0.9461 |
+| 7 | open | 132 | 12 | 1.169 | 6.68 | 11.56 | 3626.25 | 0.6088 |
+| 8 | retract | 306 | 27 | 2.778 | 11.24 | 19.46 | 2261.20 | 0.7153 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.960 |
+| TCP position RMSE (mm, per-axis) | 13.18 |
+| EE position RMS L2 (mm) | 24.57 |
+| TCP rotvec (mrad) | 2610.46 |
+| W1 effort mean (A) | 0.7723 |
+| W1 effort per joint (A) | j0=0.2853, j1=1.1727, j2=1.4704, j3=0.6654, j4=0.4464, j5=0.5936 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00033 | -0.00023 | -0.00040 | 0.00057 | 0.032 |
+| 1 | 0.00041 | -0.00059 | -0.00068 | 0.00099 | 0.032 |
+| 2 | 0.00042 | -0.00056 | -0.00075 | 0.00103 | 0.032 |
+| 3 | 0.00073 | -0.00034 | -0.00056 | 0.00098 | 0.091 |
+| 4 | 0.00028 | -0.00007 | -0.00027 | 0.00040 | 0.083 |
+| 5 | 0.00113 | -0.00082 | -0.00074 | 0.00159 | 0.108 |
+| 6 | 0.00139 | -0.00085 | -0.00162 | 0.00230 | 0.144 |
+| 7 | 0.00017 | -0.00033 | -0.00050 | 0.00062 | 0.036 |
+| 8 | -0.00008 | -0.00012 | -0.00016 | 0.00022 | 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_2187c60f-c8c6-4289-bd07-78786723955d.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2187c60f-c8c6-4289-bd07-78786723955d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2187c60f-c8c6-4289-bd07-78786723955d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2855 |
+| Sim rows | 255 |
+| Real episode_id | `2187c60f-c8c6-4289-bd07-78786723955d` |
+| Sim episode_id | `2187c60f-c8c6-4289-bd07-78786723955d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 206 | 19 | 2.782 | 14.29 | 24.74 | 1906.80 | 0.6236 |
+| 1 | descend | 337 | 30 | 1.383 | 9.67 | 16.74 | 3624.76 | 0.8157 |
+| 2 | settle | 378 | 33 | 0.026 | 0.96 | 1.66 | 3624.57 | 0.6903 |
+| 3 | close | 178 | 16 | 0.995 | 6.81 | 11.79 | 3625.19 | 1.0283 |
+| 4 | lift | 399 | 35 | 2.719 | 14.66 | 25.39 | 2414.71 | 1.1439 |
+| 5 | move_xy | 387 | 34 | 6.823 | 39.09 | 67.71 | 2860.46 | 0.9628 |
+| 6 | lower | 397 | 35 | 0.097 | 1.75 | 3.03 | 3624.99 | 1.0531 |
+| 7 | open | 173 | 16 | 0.779 | 5.39 | 9.34 | 3624.78 | 0.7498 |
+| 8 | retract | 400 | 35 | 2.829 | 15.26 | 26.43 | 2411.32 | 0.7473 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.852 |
+| TCP position RMSE (mm, per-axis) | 16.17 |
+| EE position RMS L2 (mm) | 30.04 |
+| TCP rotvec (mrad) | 3147.51 |
+| W1 effort mean (A) | 0.8624 |
+| W1 effort per joint (A) | j0=0.2527, j1=1.5360, j2=1.6723, j3=0.7717, j4=0.3209, j5=0.6205 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00089 | -0.00029 | -0.00074 | 0.00120 | 0.034 |
+| 1 | 0.00092 | -0.00074 | -0.00115 | 0.00164 | 0.048 |
+| 2 | 0.00092 | -0.00075 | -0.00117 | 0.00167 | 0.053 |
+| 3 | 0.00159 | -0.00043 | -0.00098 | 0.00191 | 0.094 |
+| 4 | 0.00025 | -0.00020 | -0.00040 | 0.00052 | 0.091 |
+| 5 | 0.00157 | -0.00107 | -0.00230 | 0.00298 | 0.176 |
+| 6 | 0.00197 | -0.00102 | -0.00138 | 0.00261 | 0.127 |
+| 7 | 0.00076 | -0.00040 | -0.00099 | 0.00131 | 0.062 |
+| 8 | -0.00010 | -0.00014 | -0.00017 | 0.00024 | 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_219a78c1-ee43-4df7-9a96-674c710cd544.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/219a78c1-ee43-4df7-9a96-674c710cd544.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/219a78c1-ee43-4df7-9a96-674c710cd544.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2661 |
+| Sim rows | 267 |
+| Real episode_id | `219a78c1-ee43-4df7-9a96-674c710cd544` |
+| Sim episode_id | `219a78c1-ee43-4df7-9a96-674c710cd544` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 218 | 22 | 3.402 | 11.96 | 20.72 | 1949.29 | 0.5777 |
+| 1 | descend | 352 | 35 | 1.392 | 8.41 | 14.57 | 3626.05 | 0.6278 |
+| 2 | settle | 339 | 33 | 0.022 | 0.68 | 1.17 | 3625.97 | 0.6060 |
+| 3 | close | 124 | 13 | 1.000 | 5.83 | 10.11 | 2263.71 | 0.9488 |
+| 4 | lift | 389 | 39 | 3.082 | 12.82 | 22.20 | 1630.29 | 1.0952 |
+| 5 | move_xy | 366 | 36 | 7.220 | 30.77 | 53.29 | 1855.64 | 0.8325 |
+| 6 | lower | 354 | 35 | 0.087 | 1.29 | 2.23 | 1792.88 | 0.8922 |
+| 7 | open | 125 | 13 | 1.042 | 5.98 | 10.35 | 3626.21 | 0.5882 |
+| 8 | retract | 394 | 39 | 2.968 | 12.09 | 20.94 | 2324.99 | 0.7110 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.092 |
+| TCP position RMSE (mm, per-axis) | 13.09 |
+| EE position RMS L2 (mm) | 24.52 |
+| TCP rotvec (mrad) | 2647.65 |
+| W1 effort mean (A) | 0.7460 |
+| W1 effort per joint (A) | j0=0.2593, j1=1.1592, j2=1.4251, j3=0.6474, j4=0.3830, j5=0.6018 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00067 | -0.00017 | -0.00047 | 0.00084 | 0.037 |
+| 1 | 0.00073 | -0.00057 | -0.00076 | 0.00120 | 0.038 |
+| 2 | 0.00068 | -0.00059 | -0.00073 | 0.00116 | 0.038 |
+| 3 | 0.00149 | -0.00001 | -0.00121 | 0.00192 | 0.147 |
+| 4 | 0.00029 | 0.00008 | -0.00028 | 0.00041 | 0.093 |
+| 5 | 0.00132 | -0.00074 | -0.00067 | 0.00166 | 0.109 |
+| 6 | 0.00132 | -0.00064 | -0.00166 | 0.00221 | 0.126 |
+| 7 | 0.00047 | -0.00023 | -0.00054 | 0.00075 | 0.030 |
+| 8 | -0.00005 | -0.00007 | -0.00013 | 0.00016 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.