diff --git a/gap_reports/gap_1dfee4c2-a4fd-42aa-9c8b-1706c1026f85.md b/gap_reports/gap_1dfee4c2-a4fd-42aa-9c8b-1706c1026f85.md
new file mode 100644
index 0000000000000000000000000000000000000000..213b3a9668c19ae64bef14d92ea57a53bf1e7c54
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1e035704-d2fb-4edb-af12-080b5cfacd50.md b/gap_reports/gap_1e035704-d2fb-4edb-af12-080b5cfacd50.md
new file mode 100644
index 0000000000000000000000000000000000000000..1f2f4efc0f8d603d7cb10e226364dd86b69ecff7
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1e1972f7-e732-413f-a0bf-38d909f14682.md b/gap_reports/gap_1e1972f7-e732-413f-a0bf-38d909f14682.md
new file mode 100644
index 0000000000000000000000000000000000000000..0babeca85a12805463451de6c85e6ff35c389155
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1e2c38c8-09b6-4460-a0bb-fd3e75d291ea.md b/gap_reports/gap_1e2c38c8-09b6-4460-a0bb-fd3e75d291ea.md
new file mode 100644
index 0000000000000000000000000000000000000000..65fa5a315e3caf730062d88b618c1f8384ab528f
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1e37b104-8d6b-4ade-af61-12c1e499b7b8.md b/gap_reports/gap_1e37b104-8d6b-4ade-af61-12c1e499b7b8.md
new file mode 100644
index 0000000000000000000000000000000000000000..0a4c9fa52c6cb2372473768c2270706397f22ae9
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1e3806f9-50fb-4e92-8aa2-73e94249835b.md b/gap_reports/gap_1e3806f9-50fb-4e92-8aa2-73e94249835b.md
new file mode 100644
index 0000000000000000000000000000000000000000..5d463d8ba8d13b98a2f24de1e6072fd43c4c02c8
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1e4d059c-f389-49d8-815d-caad9b7d838c.md b/gap_reports/gap_1e4d059c-f389-49d8-815d-caad9b7d838c.md
new file mode 100644
index 0000000000000000000000000000000000000000..ac17ad764602708f18ea3b021186842c58d6615f
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1e5af34c-3395-4484-a2d3-668df9b8b9bb.md b/gap_reports/gap_1e5af34c-3395-4484-a2d3-668df9b8b9bb.md
new file mode 100644
index 0000000000000000000000000000000000000000..4e7ce1d8fae41c2a57d807b847d5621a44d8f98f
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1e93511f-1035-4922-b5e6-c581e287de2a.md b/gap_reports/gap_1e93511f-1035-4922-b5e6-c581e287de2a.md
new file mode 100644
index 0000000000000000000000000000000000000000..4d3bc4f6baed4b6b1c51f897174d0f77f61dc482
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1e96d8ed-d469-4cbc-bd77-6d229e5cbd68.md b/gap_reports/gap_1e96d8ed-d469-4cbc-bd77-6d229e5cbd68.md
new file mode 100644
index 0000000000000000000000000000000000000000..c51cf563113ce8d4e3e2c5fee22b5c9b8bf340ac
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1ea0545c-6751-42b9-8bdd-6c5926b9fde1.md b/gap_reports/gap_1ea0545c-6751-42b9-8bdd-6c5926b9fde1.md
new file mode 100644
index 0000000000000000000000000000000000000000..a0fc5273f953c993ef1097b3d73c4536611e3841
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1eb2db4d-1334-4468-a6fe-4e798075730a.md b/gap_reports/gap_1eb2db4d-1334-4468-a6fe-4e798075730a.md
new file mode 100644
index 0000000000000000000000000000000000000000..a780436b3b50197f9d0b214f80105aadc3f00c08
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1edb1972-5d06-4471-9ded-8c631e2e012e.md b/gap_reports/gap_1edb1972-5d06-4471-9ded-8c631e2e012e.md
new file mode 100644
index 0000000000000000000000000000000000000000..bf8b8dc3de6932f487f1792a251d82a511aa949e
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1eebb2d5-87b5-42fd-81c0-0c072493c9bc.md b/gap_reports/gap_1eebb2d5-87b5-42fd-81c0-0c072493c9bc.md
new file mode 100644
index 0000000000000000000000000000000000000000..a4489f7f5167d31af44b805f2c78287cfbb4f2cb
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1ef1b898-d4c1-4bf0-a9da-b32383253489.md b/gap_reports/gap_1ef1b898-d4c1-4bf0-a9da-b32383253489.md
new file mode 100644
index 0000000000000000000000000000000000000000..e70ff742253efa3abb216c172c81dbabc06e89dc
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1ef795b2-8c41-4562-96cf-960c1a417b0e.md b/gap_reports/gap_1ef795b2-8c41-4562-96cf-960c1a417b0e.md
new file mode 100644
index 0000000000000000000000000000000000000000..cf240aee7d3c00734ad8d1f49b4940b359e003bf
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1f1a5a06-66c9-4762-9dd4-72a000d94355.md b/gap_reports/gap_1f1a5a06-66c9-4762-9dd4-72a000d94355.md
new file mode 100644
index 0000000000000000000000000000000000000000..2c853b02848ab3469388638932c49da1f47af202
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1f200f5f-ba8e-4933-aadc-e15a22fe656a.md b/gap_reports/gap_1f200f5f-ba8e-4933-aadc-e15a22fe656a.md
new file mode 100644
index 0000000000000000000000000000000000000000..039f876e8cecc3579779a110d470d3bf9b452951
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1f33c2ab-ce1b-4db2-8c81-e895c9cfcde0.md b/gap_reports/gap_1f33c2ab-ce1b-4db2-8c81-e895c9cfcde0.md
new file mode 100644
index 0000000000000000000000000000000000000000..7aef8bb3314c14c93d2bf2400cb13ec43cd4e9b0
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1f374716-0d79-491c-8745-e7e1fccdf0ea.md b/gap_reports/gap_1f374716-0d79-491c-8745-e7e1fccdf0ea.md
new file mode 100644
index 0000000000000000000000000000000000000000..77ca8db5204bfefb2633ee960b4113e7e38af520
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1f3d8656-a6d9-469a-94ed-4eceb00308d1.md b/gap_reports/gap_1f3d8656-a6d9-469a-94ed-4eceb00308d1.md
new file mode 100644
index 0000000000000000000000000000000000000000..53cff371446c9d051ffc4878aaf5f8e0485a3945
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1f512cb0-c204-4ef0-9abe-16a0713347e2.md b/gap_reports/gap_1f512cb0-c204-4ef0-9abe-16a0713347e2.md
new file mode 100644
index 0000000000000000000000000000000000000000..efaaac63cc52a87f202d5ccddd835fa8dc6a1cc0
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1f755406-aa84-415e-b9a3-5ec58a93c2fa.md b/gap_reports/gap_1f755406-aa84-415e-b9a3-5ec58a93c2fa.md
new file mode 100644
index 0000000000000000000000000000000000000000..42df5bd81992050c6adc62505d2a0d8f561c0fcd
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1f8d00d1-d81a-43c6-b3f9-d60d182b3050.md b/gap_reports/gap_1f8d00d1-d81a-43c6-b3f9-d60d182b3050.md
new file mode 100644
index 0000000000000000000000000000000000000000..558699cf0bb20777ef29853cf12a61e86017ebce
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1fa3834b-7990-44ae-81ac-83d947d4f3aa.md b/gap_reports/gap_1fa3834b-7990-44ae-81ac-83d947d4f3aa.md
new file mode 100644
index 0000000000000000000000000000000000000000..e8aa769dcd9f647686506f101360f417ce9eada7
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1fa7c4e7-7ef4-48ff-977f-ec6149802613.md b/gap_reports/gap_1fa7c4e7-7ef4-48ff-977f-ec6149802613.md
new file mode 100644
index 0000000000000000000000000000000000000000..75198513a56006c0fd016637fc49c9813d6ec95f
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1fe6424e-34b8-475d-bc72-1ceee8b1652f.md b/gap_reports/gap_1fe6424e-34b8-475d-bc72-1ceee8b1652f.md
new file mode 100644
index 0000000000000000000000000000000000000000..228c2518114b158bb5c8e41e63513b34ee09f676
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_1fec8119-1d44-48af-8a75-74c9a426aa0c.md b/gap_reports/gap_1fec8119-1d44-48af-8a75-74c9a426aa0c.md
new file mode 100644
index 0000000000000000000000000000000000000000..d95cafd6b75c295bc38eec68b9d72c64b47564ff
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_20170f52-dabe-4cfc-9e8e-448e8be210b9.md b/gap_reports/gap_20170f52-dabe-4cfc-9e8e-448e8be210b9.md
new file mode 100644
index 0000000000000000000000000000000000000000..e90be4db32f0fbbaecc6101ff0417ae4288e8f8c
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2025dd7d-136e-4b73-811a-9f02ab6ffc79.md b/gap_reports/gap_2025dd7d-136e-4b73-811a-9f02ab6ffc79.md
new file mode 100644
index 0000000000000000000000000000000000000000..76808bfbe1beae1756f650cc60fca9a0e945b747
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_203857d7-c6b8-4019-b178-47d2795e6aa8.md b/gap_reports/gap_203857d7-c6b8-4019-b178-47d2795e6aa8.md
new file mode 100644
index 0000000000000000000000000000000000000000..518b2d95a0abed9db7cf8af18199fa2e5bc28064
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_205ac2dc-8f01-4f3e-b170-494bd05ef7a8.md b/gap_reports/gap_205ac2dc-8f01-4f3e-b170-494bd05ef7a8.md
new file mode 100644
index 0000000000000000000000000000000000000000..0309d0ebdf1fcff60497cf9d79627f6a935aa36d
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_205e28b5-33e2-4667-883d-573211b71093.md b/gap_reports/gap_205e28b5-33e2-4667-883d-573211b71093.md
new file mode 100644
index 0000000000000000000000000000000000000000..65ef9fc5355d41d530a58f9179c36f750b2f300c
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_20786bcb-fa36-4c06-b4d0-e40728b937ee.md b/gap_reports/gap_20786bcb-fa36-4c06-b4d0-e40728b937ee.md
new file mode 100644
index 0000000000000000000000000000000000000000..a0ab79b13bf4bed6cb9cc4114f2dcba46cb0c4da
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_20aa91e0-5ffe-455a-bb38-4f4d1f7173e0.md b/gap_reports/gap_20aa91e0-5ffe-455a-bb38-4f4d1f7173e0.md
new file mode 100644
index 0000000000000000000000000000000000000000..5b6802dfc83e88cdb4aaef16bf3708eec54232a3
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_20ace3cb-a2e3-4c7f-ac02-c63ef717e67e.md b/gap_reports/gap_20ace3cb-a2e3-4c7f-ac02-c63ef717e67e.md
new file mode 100644
index 0000000000000000000000000000000000000000..468e2e5161a6b96414fc2527d83d582e8ef3486b
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_20d133b9-7a01-4d37-9176-8d8767625044.md b/gap_reports/gap_20d133b9-7a01-4d37-9176-8d8767625044.md
new file mode 100644
index 0000000000000000000000000000000000000000..7dd05b95e0cb40967827e9a1d46df3d7282d87d7
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_20d6274a-344c-483c-ab50-98bd0525cb3e.md b/gap_reports/gap_20d6274a-344c-483c-ab50-98bd0525cb3e.md
new file mode 100644
index 0000000000000000000000000000000000000000..b2a3a666b11416f329c70dfc2792bc00adec0bed
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_20ee1c07-c841-4ce7-bbf2-d89050e93cd3.md b/gap_reports/gap_20ee1c07-c841-4ce7-bbf2-d89050e93cd3.md
new file mode 100644
index 0000000000000000000000000000000000000000..c39df2e94f5128d69ee7178ecc425af5f8cb5390
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_211b871c-1b05-435d-8f7e-f878d37aa01c.md b/gap_reports/gap_211b871c-1b05-435d-8f7e-f878d37aa01c.md
new file mode 100644
index 0000000000000000000000000000000000000000..a69d9b2aad49688ab4c31a63bc545049e58ce467
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_21231210-6235-4f75-9c00-d7f231e32a1e.md b/gap_reports/gap_21231210-6235-4f75-9c00-d7f231e32a1e.md
new file mode 100644
index 0000000000000000000000000000000000000000..0e46dd791bfdfa604a2fed8605124c94c046d8b7
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_213545db-dd90-4cb7-9489-b162e0bcbcbc.md b/gap_reports/gap_213545db-dd90-4cb7-9489-b162e0bcbcbc.md
new file mode 100644
index 0000000000000000000000000000000000000000..ada488b9171b7022cef8d7929c8b58806ac0bd1e
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_215c3ea9-94e4-4b9a-9643-32439f26ce67.md b/gap_reports/gap_215c3ea9-94e4-4b9a-9643-32439f26ce67.md
new file mode 100644
index 0000000000000000000000000000000000000000..9e21208831ecf935e42a02b709b7e0c093f58b84
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2163ca66-bdbf-4545-b270-9b0be8032a9b.md b/gap_reports/gap_2163ca66-bdbf-4545-b270-9b0be8032a9b.md
new file mode 100644
index 0000000000000000000000000000000000000000..ff84b413b5ec468416bf3a30edfc6a9b1c36dbf8
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_21648684-47a4-4afe-959d-0ec33f259732.md b/gap_reports/gap_21648684-47a4-4afe-959d-0ec33f259732.md
new file mode 100644
index 0000000000000000000000000000000000000000..a635344287603de45f2b6f676b60c9cb5c7ba226
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2180366a-d10d-4239-986c-a91ebf8b5cda.md b/gap_reports/gap_2180366a-d10d-4239-986c-a91ebf8b5cda.md
new file mode 100644
index 0000000000000000000000000000000000000000..5634d70e6200530aad8d0a0cb457d1bb009addfc
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2183d376-67f4-4e69-be67-b00b605f2c19.md b/gap_reports/gap_2183d376-67f4-4e69-be67-b00b605f2c19.md
new file mode 100644
index 0000000000000000000000000000000000000000..69236766ef1c70cbf8efe6c3bf8a8caf8f24b0a6
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2187abe9-82ee-4762-9be3-cfd82df159fe.md b/gap_reports/gap_2187abe9-82ee-4762-9be3-cfd82df159fe.md
new file mode 100644
index 0000000000000000000000000000000000000000..22ee16ba066aa5be1e1258499fd42c70d4bc9de4
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_2187c60f-c8c6-4289-bd07-78786723955d.md b/gap_reports/gap_2187c60f-c8c6-4289-bd07-78786723955d.md
new file mode 100644
index 0000000000000000000000000000000000000000..77b30dc260a21b5f5253c261bf04e48f10e20933
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_219a78c1-ee43-4df7-9a96-674c710cd544.md b/gap_reports/gap_219a78c1-ee43-4df7-9a96-674c710cd544.md
new file mode 100644
index 0000000000000000000000000000000000000000..484e28e4946bfc3921aa1ae67ad10c335105ba70
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_219b384a-54dc-43af-a881-4eea605ecb83.md b/gap_reports/gap_219b384a-54dc-43af-a881-4eea605ecb83.md
new file mode 100644
index 0000000000000000000000000000000000000000..8be2b63bed99e8edda64e813a134f55b1b85f202
--- /dev/null
+++ b/gap_reports/gap_219b384a-54dc-43af-a881-4eea605ecb83.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/219b384a-54dc-43af-a881-4eea605ecb83.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/219b384a-54dc-43af-a881-4eea605ecb83.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2796 |
+| Sim rows | 248 |
+| Real episode_id | `219b384a-54dc-43af-a881-4eea605ecb83` |
+| Sim episode_id | `219b384a-54dc-43af-a881-4eea605ecb83` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 191 | 17 | 2.962 | 11.08 | 19.20 | 1910.04 | 0.5776 |
+| 1 | descend | 370 | 33 | 0.905 | 5.44 | 9.43 | 3626.11 | 0.6951 |
+| 2 | settle | 429 | 37 | 0.020 | 0.59 | 1.02 | 3625.88 | 0.6284 |
+| 3 | close | 141 | 13 | 0.991 | 5.84 | 10.11 | 640.74 | 0.9255 |
+| 4 | lift | 355 | 31 | 3.208 | 12.99 | 22.51 | 1779.71 | 1.0519 |
+| 5 | move_xy | 378 | 33 | 7.396 | 33.38 | 57.81 | 1893.01 | 0.9110 |
+| 6 | lower | 437 | 38 | 0.081 | 1.12 | 1.95 | 1337.53 | 0.9782 |
+| 7 | open | 140 | 13 | 1.207 | 7.13 | 12.34 | 3626.08 | 0.6504 |
+| 8 | retract | 355 | 31 | 3.037 | 12.34 | 21.37 | 2309.33 | 0.6818 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.096 |
+| TCP position RMSE (mm, per-axis) | 13.64 |
+| EE position RMS L2 (mm) | 24.99 |
+| TCP rotvec (mrad) | 2524.89 |
+| W1 effort mean (A) | 0.7834 |
+| W1 effort per joint (A) | j0=0.2147, j1=1.2131, j2=1.6519, j3=0.7270, j4=0.2453, j5=0.6485 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00036 | -0.00025 | -0.00042 | 0.00061 | 0.036 |
+| 1 | 0.00042 | -0.00055 | -0.00078 | 0.00105 | 0.036 |
+| 2 | 0.00039 | -0.00056 | -0.00075 | 0.00102 | 0.036 |
+| 3 | 0.00050 | -0.00049 | -0.00043 | 0.00083 | 0.101 |
+| 4 | 0.00008 | -0.00047 | -0.00052 | 0.00071 | 0.097 |
+| 5 | 0.00090 | -0.00077 | -0.00091 | 0.00149 | 0.096 |
+| 6 | 0.00096 | -0.00081 | -0.00135 | 0.00185 | 0.102 |
+| 7 | 0.00017 | -0.00035 | -0.00052 | 0.00065 | 0.038 |
+| 8 | -0.00007 | -0.00010 | -0.00013 | 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.
diff --git a/gap_reports/gap_219cdeb4-6c8f-4e3c-8aa2-f98f492edb0b.md b/gap_reports/gap_219cdeb4-6c8f-4e3c-8aa2-f98f492edb0b.md
new file mode 100644
index 0000000000000000000000000000000000000000..ee78c9e0169a38ecdf50fa75f69a9e5b619fa9c8
--- /dev/null
+++ b/gap_reports/gap_219cdeb4-6c8f-4e3c-8aa2-f98f492edb0b.md
@@ -0,0 +1,57 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/219cdeb4-6c8f-4e3c-8aa2-f98f492edb0b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/219cdeb4-6c8f-4e3c-8aa2-f98f492edb0b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 89 |
+| Sim rows | 27 |
+| Real episode_id | `219cdeb4-6c8f-4e3c-8aa2-f98f492edb0b` |
+| Sim episode_id | `219cdeb4-6c8f-4e3c-8aa2-f98f492edb0b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 1 | descend | 89 | 9 | 0.023 | 0.27 | 0.46 | 1.36 | 0.7180 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 0.023 |
+| TCP position RMSE (mm, per-axis) | 0.27 |
+| EE position RMS L2 (mm) | 0.46 |
+| TCP rotvec (mrad) | 1.36 |
+| W1 effort mean (A) | 0.7180 |
+| W1 effort per joint (A) | j0=0.1662, j1=1.5272, j2=1.6378, j3=0.8567, j4=0.0985, j5=0.0218 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 1 | 0.00000 | -0.00001 | -0.00047 | 0.00047 | 0.046 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_21ac9d96-bb97-4fe6-8cbc-3dba03c97486.md b/gap_reports/gap_21ac9d96-bb97-4fe6-8cbc-3dba03c97486.md
new file mode 100644
index 0000000000000000000000000000000000000000..f0f5dbf140b6818fcc02ec10d4eb851090481d08
--- /dev/null
+++ b/gap_reports/gap_21ac9d96-bb97-4fe6-8cbc-3dba03c97486.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/21ac9d96-bb97-4fe6-8cbc-3dba03c97486.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/21ac9d96-bb97-4fe6-8cbc-3dba03c97486.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2690 |
+| Sim rows | 239 |
+| Real episode_id | `21ac9d96-bb97-4fe6-8cbc-3dba03c97486` |
+| Sim episode_id | `21ac9d96-bb97-4fe6-8cbc-3dba03c97486` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 184 | 16 | 2.435 | 13.19 | 22.84 | 1870.66 | 0.6332 |
+| 1 | descend | 316 | 28 | 1.068 | 7.32 | 12.68 | 3624.70 | 0.8290 |
+| 2 | settle | 362 | 32 | 0.028 | 0.97 | 1.69 | 3624.51 | 0.6988 |
+| 3 | close | 183 | 16 | 0.858 | 5.93 | 10.27 | 3625.09 | 1.0123 |
+| 4 | lift | 352 | 31 | 2.503 | 14.43 | 25.00 | 2366.44 | 1.1151 |
+| 5 | move_xy | 364 | 32 | 6.181 | 37.31 | 64.63 | 2868.60 | 0.9780 |
+| 6 | lower | 392 | 34 | 0.091 | 1.65 | 2.85 | 3625.05 | 1.1182 |
+| 7 | open | 185 | 17 | 0.802 | 5.56 | 9.63 | 3624.77 | 0.7587 |
+| 8 | retract | 352 | 31 | 2.546 | 14.71 | 25.48 | 2413.17 | 0.7430 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.569 |
+| TCP position RMSE (mm, per-axis) | 15.33 |
+| EE position RMS L2 (mm) | 28.31 |
+| TCP rotvec (mrad) | 3141.98 |
+| W1 effort mean (A) | 0.8709 |
+| W1 effort per joint (A) | j0=0.2439, j1=1.6467, j2=1.6826, j3=0.7573, j4=0.2925, j5=0.6022 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00076 | -0.00042 | -0.00077 | 0.00116 | 0.037 |
+| 1 | 0.00074 | -0.00088 | -0.00123 | 0.00168 | 0.062 |
+| 2 | 0.00075 | -0.00087 | -0.00121 | 0.00167 | 0.056 |
+| 3 | 0.00211 | -0.00046 | -0.00134 | 0.00255 | 0.182 |
+| 4 | 0.00015 | -0.00035 | -0.00045 | 0.00060 | 0.085 |
+| 5 | 0.00190 | -0.00126 | -0.00204 | 0.00306 | 0.146 |
+| 6 | 0.00173 | -0.00123 | -0.00197 | 0.00290 | 0.135 |
+| 7 | 0.00063 | -0.00054 | -0.00098 | 0.00128 | 0.051 |
+| 8 | -0.00012 | -0.00017 | -0.00016 | 0.00026 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_21b180ce-f207-43d6-bc08-7fa7f8404977.md b/gap_reports/gap_21b180ce-f207-43d6-bc08-7fa7f8404977.md
new file mode 100644
index 0000000000000000000000000000000000000000..5c90e9f5aaf14a1476c7e4ed30f3a3804b762d2b
--- /dev/null
+++ b/gap_reports/gap_21b180ce-f207-43d6-bc08-7fa7f8404977.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/21b180ce-f207-43d6-bc08-7fa7f8404977.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/21b180ce-f207-43d6-bc08-7fa7f8404977.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 703 |
+| Sim rows | 85 |
+| Real episode_id | `21b180ce-f207-43d6-bc08-7fa7f8404977` |
+| Sim episode_id | `21b180ce-f207-43d6-bc08-7fa7f8404977` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 494 | 48 | 2.977 | 12.09 | 20.94 | 6.69 | 0.7656 |
+| 1 | descend | 209 | 21 | 0.021 | 1.45 | 2.51 | 2.16 | 0.7746 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.105 |
+| TCP position RMSE (mm, per-axis) | 8.61 |
+| EE position RMS L2 (mm) | 17.61 |
+| TCP rotvec (mrad) | 4.97 |
+| W1 effort mean (A) | 0.7683 |
+| W1 effort per joint (A) | j0=0.1939, j1=1.5994, j2=1.7354, j3=0.8133, j4=0.1364, j5=0.1312 |
+
+## Phase-end anchor (sim - 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 | 0.00242 | 0.00073 | 0.00255 | 0.027 |
+| 1 | 0.00046 | 0.00236 | 0.00064 | 0.00249 | 0.043 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_21bf7151-f940-4731-9ff1-e725506a797a.md b/gap_reports/gap_21bf7151-f940-4731-9ff1-e725506a797a.md
new file mode 100644
index 0000000000000000000000000000000000000000..fa78c558b889adc42c6403c7dae82cb28aa00f48
--- /dev/null
+++ b/gap_reports/gap_21bf7151-f940-4731-9ff1-e725506a797a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/21bf7151-f940-4731-9ff1-e725506a797a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/21bf7151-f940-4731-9ff1-e725506a797a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2652 |
+| Sim rows | 237 |
+| Real episode_id | `21bf7151-f940-4731-9ff1-e725506a797a` |
+| Sim episode_id | `21bf7151-f940-4731-9ff1-e725506a797a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.401 | 14.66 | 25.39 | 2055.77 | 0.5829 |
+| 1 | descend | 270 | 24 | 1.176 | 7.82 | 13.54 | 3625.30 | 0.6414 |
+| 2 | settle | 365 | 32 | 0.023 | 0.81 | 1.41 | 3625.27 | 0.6652 |
+| 3 | close | 105 | 10 | 0.516 | 3.46 | 5.99 | 3625.92 | 0.9622 |
+| 4 | lift | 336 | 30 | 3.737 | 17.42 | 30.18 | 2190.05 | 1.1034 |
+| 5 | move_xy | 462 | 40 | 7.260 | 35.58 | 61.62 | 2668.08 | 0.8768 |
+| 6 | lower | 388 | 34 | 0.088 | 1.47 | 2.55 | 3476.62 | 0.8610 |
+| 7 | open | 105 | 10 | 0.498 | 3.26 | 5.64 | 3625.53 | 0.6210 |
+| 8 | retract | 338 | 30 | 3.696 | 17.38 | 30.11 | 2316.41 | 0.7348 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.228 |
+| TCP position RMSE (mm, per-axis) | 15.54 |
+| EE position RMS L2 (mm) | 31.36 |
+| TCP rotvec (mrad) | 3094.28 |
+| W1 effort mean (A) | 0.7698 |
+| W1 effort per joint (A) | j0=0.2175, j1=1.2868, j2=1.4995, j3=0.7266, j4=0.2820, j5=0.6067 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00083 | -0.00038 | -0.00065 | 0.00112 | 0.028 |
+| 1 | 0.00085 | -0.00056 | -0.00097 | 0.00141 | 0.045 |
+| 2 | 0.00085 | -0.00059 | -0.00094 | 0.00140 | 0.045 |
+| 3 | 0.00148 | -0.00045 | -0.00044 | 0.00161 | 0.101 |
+| 4 | 0.00045 | -0.00011 | -0.00031 | 0.00056 | 0.127 |
+| 5 | 0.00167 | -0.00074 | -0.00143 | 0.00232 | 0.106 |
+| 6 | 0.00214 | -0.00087 | -0.00112 | 0.00257 | 0.175 |
+| 7 | 0.00060 | -0.00035 | -0.00073 | 0.00101 | 0.036 |
+| 8 | -0.00014 | -0.00019 | -0.00019 | 0.00030 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_21e8a270-0000-4a27-b702-97cf819e2757.md b/gap_reports/gap_21e8a270-0000-4a27-b702-97cf819e2757.md
new file mode 100644
index 0000000000000000000000000000000000000000..309d7913864826ce462645ed7b8142b4e4369e16
--- /dev/null
+++ b/gap_reports/gap_21e8a270-0000-4a27-b702-97cf819e2757.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/21e8a270-0000-4a27-b702-97cf819e2757.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/21e8a270-0000-4a27-b702-97cf819e2757.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2524 |
+| Sim rows | 257 |
+| Real episode_id | `21e8a270-0000-4a27-b702-97cf819e2757` |
+| Sim episode_id | `21e8a270-0000-4a27-b702-97cf819e2757` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 176 | 18 | 3.426 | 16.54 | 28.65 | 1932.13 | 0.6453 |
+| 1 | descend | 289 | 30 | 1.341 | 9.52 | 16.48 | 3624.73 | 0.7308 |
+| 2 | settle | 330 | 33 | 0.026 | 1.00 | 1.74 | 3624.57 | 0.7323 |
+| 3 | close | 144 | 15 | 0.931 | 6.38 | 11.06 | 3625.27 | 1.0474 |
+| 4 | lift | 393 | 39 | 3.279 | 17.22 | 29.82 | 2439.81 | 1.1497 |
+| 5 | move_xy | 310 | 31 | 8.074 | 44.17 | 76.50 | 2830.22 | 0.9767 |
+| 6 | lower | 347 | 35 | 0.086 | 1.69 | 2.92 | 3625.20 | 1.0043 |
+| 7 | open | 145 | 15 | 0.770 | 5.39 | 9.34 | 3624.77 | 0.7466 |
+| 8 | retract | 390 | 39 | 3.433 | 18.00 | 31.17 | 2489.81 | 0.7570 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.379 |
+| TCP position RMSE (mm, per-axis) | 18.28 |
+| EE position RMS L2 (mm) | 33.31 |
+| TCP rotvec (mrad) | 3155.15 |
+| W1 effort mean (A) | 0.8571 |
+| W1 effort per joint (A) | j0=0.2372, j1=1.6379, j2=1.5769, j3=0.7362, j4=0.3072, j5=0.6474 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00103 | -0.00023 | -0.00063 | 0.00123 | 0.030 |
+| 1 | 0.00111 | -0.00066 | -0.00118 | 0.00175 | 0.058 |
+| 2 | 0.00113 | -0.00063 | -0.00117 | 0.00174 | 0.053 |
+| 3 | 0.00154 | -0.00042 | -0.00045 | 0.00166 | 0.088 |
+| 4 | 0.00047 | -0.00011 | -0.00041 | 0.00063 | 0.110 |
+| 5 | 0.00255 | -0.00096 | -0.00112 | 0.00294 | 0.185 |
+| 6 | 0.00221 | -0.00092 | -0.00185 | 0.00302 | 0.133 |
+| 7 | 0.00091 | -0.00026 | -0.00095 | 0.00134 | 0.047 |
+| 8 | -0.00007 | -0.00010 | -0.00013 | 0.00018 | 0.020 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_21f0f019-b007-4802-8804-0530926b374b.md b/gap_reports/gap_21f0f019-b007-4802-8804-0530926b374b.md
new file mode 100644
index 0000000000000000000000000000000000000000..80148b27e23fabb5559b319621e4e241eb779dad
--- /dev/null
+++ b/gap_reports/gap_21f0f019-b007-4802-8804-0530926b374b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/21f0f019-b007-4802-8804-0530926b374b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/21f0f019-b007-4802-8804-0530926b374b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2593 |
+| Sim rows | 231 |
+| Real episode_id | `21f0f019-b007-4802-8804-0530926b374b` |
+| Sim episode_id | `21f0f019-b007-4802-8804-0530926b374b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 228 | 20 | 3.492 | 17.32 | 30.00 | 1935.42 | 0.6335 |
+| 1 | descend | 309 | 27 | 0.991 | 7.04 | 12.19 | 3624.63 | 0.8256 |
+| 2 | settle | 373 | 33 | 0.030 | 1.02 | 1.77 | 3590.41 | 0.6890 |
+| 3 | close | 143 | 13 | 0.604 | 4.32 | 7.48 | 3625.16 | 1.0270 |
+| 4 | lift | 307 | 27 | 3.436 | 18.47 | 32.00 | 2377.18 | 1.1454 |
+| 5 | move_xy | 374 | 33 | 7.281 | 40.15 | 69.53 | 2716.01 | 0.9174 |
+| 6 | lower | 408 | 36 | 0.089 | 1.72 | 2.98 | 3625.01 | 1.0346 |
+| 7 | open | 142 | 13 | 0.726 | 5.12 | 8.87 | 3624.76 | 0.7468 |
+| 8 | retract | 309 | 27 | 3.549 | 19.11 | 33.10 | 2439.87 | 0.7624 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.188 |
+| TCP position RMSE (mm, per-axis) | 17.37 |
+| EE position RMS L2 (mm) | 32.48 |
+| TCP rotvec (mrad) | 3130.08 |
+| W1 effort mean (A) | 0.8508 |
+| W1 effort per joint (A) | j0=0.2639, j1=1.5404, j2=1.5587, j3=0.7791, j4=0.3699, j5=0.5925 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00111 | -0.00030 | -0.00078 | 0.00138 | 0.033 |
+| 1 | 0.00111 | -0.00061 | -0.00113 | 0.00170 | 0.045 |
+| 2 | 0.00110 | -0.00063 | -0.00117 | 0.00172 | 0.053 |
+| 3 | 0.00205 | -0.00043 | -0.00053 | 0.00216 | 0.141 |
+| 4 | 0.00037 | -0.00003 | -0.00038 | 0.00053 | 0.107 |
+| 5 | 0.00199 | -0.00082 | -0.00179 | 0.00280 | 0.111 |
+| 6 | 0.00197 | -0.00079 | -0.00182 | 0.00279 | 0.104 |
+| 7 | 0.00094 | -0.00031 | -0.00097 | 0.00138 | 0.043 |
+| 8 | -0.00016 | -0.00024 | -0.00024 | 0.00037 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2207157f-0e96-4f7c-a5e0-dfcc07eec27e.md b/gap_reports/gap_2207157f-0e96-4f7c-a5e0-dfcc07eec27e.md
new file mode 100644
index 0000000000000000000000000000000000000000..77b5e6ae42b3c01d71d02b9142d299163259a493
--- /dev/null
+++ b/gap_reports/gap_2207157f-0e96-4f7c-a5e0-dfcc07eec27e.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2207157f-0e96-4f7c-a5e0-dfcc07eec27e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2207157f-0e96-4f7c-a5e0-dfcc07eec27e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1137 |
+| Sim rows | 117 |
+| Real episode_id | `2207157f-0e96-4f7c-a5e0-dfcc07eec27e` |
+| Sim episode_id | `2207157f-0e96-4f7c-a5e0-dfcc07eec27e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 171 | 17 | 2.288 | 12.46 | 21.59 | 1049.55 | 0.6898 |
+| 1 | descend | 97 | 10 | 0.890 | 4.55 | 7.88 | 4.61 | 0.5942 |
+| 2 | settle | 23 | 3 | 0.019 | 2.96 | 5.14 | 5.20 | 0.5785 |
+| 3 | close | 44 | 5 | 0.134 | 3.53 | 6.12 | 3623.36 | 0.9713 |
+| 4 | lift | 116 | 12 | 1.094 | 5.98 | 10.35 | 3398.92 | 1.0427 |
+| 5 | move_xy | 220 | 22 | 3.370 | 14.45 | 25.02 | 2330.54 | 1.1050 |
+| 6 | lower | 64 | 7 | 0.509 | 3.03 | 5.24 | 4.47 | 1.0037 |
+| 7 | open | 69 | 8 | 0.026 | 2.17 | 3.75 | 4.83 | 0.6451 |
+| 8 | retract | 66 | 7 | 0.465 | 2.89 | 5.01 | 4.32 | 0.6840 |
+| 9 | return | 267 | 26 | 3.907 | 13.21 | 22.88 | 1104.26 | 0.7434 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.853 |
+| TCP position RMSE (mm, per-axis) | 7.99 |
+| EE position RMS L2 (mm) | 18.34 |
+| TCP rotvec (mrad) | 1800.94 |
+| W1 effort mean (A) | 0.7937 |
+| W1 effort per joint (A) | j0=0.2506, j1=1.3483, j2=1.5390, j3=0.8104, j4=0.3317, j5=0.4823 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00156 | -0.00433 | -0.00069 | 0.00465 | 0.023 |
+| 1 | 0.00202 | -0.00467 | -0.00071 | 0.00514 | 0.035 |
+| 2 | 0.00199 | -0.00467 | -0.00078 | 0.00513 | 0.032 |
+| 3 | 0.00302 | -0.00469 | -0.00263 | 0.00617 | 0.244 |
+| 4 | 0.00215 | -0.00434 | -0.00260 | 0.00550 | 0.237 |
+| 5 | 0.00073 | -0.00301 | -0.00020 | 0.00310 | 0.164 |
+| 6 | 0.00147 | -0.00273 | -0.00117 | 0.00332 | 0.119 |
+| 7 | 0.00191 | -0.00324 | -0.00018 | 0.00376 | 0.037 |
+| 8 | 0.00156 | -0.00328 | -0.00037 | 0.00365 | 0.057 |
+| 9 | -0.00008 | -0.00011 | -0.00025 | 0.00028 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2216cc85-47b7-4e2b-b33f-e939c7912a00.md b/gap_reports/gap_2216cc85-47b7-4e2b-b33f-e939c7912a00.md
new file mode 100644
index 0000000000000000000000000000000000000000..33f921861c802340e7395b5cfe1f5cadc4a80837
--- /dev/null
+++ b/gap_reports/gap_2216cc85-47b7-4e2b-b33f-e939c7912a00.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2216cc85-47b7-4e2b-b33f-e939c7912a00.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2216cc85-47b7-4e2b-b33f-e939c7912a00.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 909 |
+| Sim rows | 95 |
+| Real episode_id | `2216cc85-47b7-4e2b-b33f-e939c7912a00` |
+| Sim episode_id | `2216cc85-47b7-4e2b-b33f-e939c7912a00` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 129 | 13 | 4.200 | 11.96 | 20.71 | 853.28 | 0.6240 |
+| 1 | descend | 84 | 9 | 5.958 | 5.74 | 9.95 | 227.73 | 0.6372 |
+| 2 | settle | 34 | 4 | 5.798 | 2.45 | 4.24 | 228.45 | 0.6611 |
+| 3 | close | 36 | 4 | 5.798 | 2.35 | 4.07 | 229.56 | 1.0952 |
+| 4 | lift | 86 | 9 | 5.916 | 4.84 | 8.38 | 228.86 | 1.1262 |
+| 5 | move_xy | 148 | 15 | 3.688 | 12.32 | 21.33 | 100.16 | 1.0970 |
+| 6 | lower | 85 | 9 | 0.971 | 5.36 | 9.28 | 8.21 | 0.9743 |
+| 7 | open | 71 | 8 | 0.021 | 2.89 | 5.00 | 4.97 | 0.6179 |
+| 8 | retract | 84 | 9 | 0.852 | 4.38 | 7.58 | 4.39 | 0.7144 |
+| 9 | return | 152 | 15 | 2.535 | 11.39 | 19.72 | 1314.53 | 0.7285 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.208 |
+| TCP position RMSE (mm, per-axis) | 7.41 |
+| EE position RMS L2 (mm) | 15.25 |
+| TCP rotvec (mrad) | 517.24 |
+| W1 effort mean (A) | 0.8010 |
+| W1 effort per joint (A) | j0=0.1990, j1=1.2505, j2=1.5581, j3=0.7718, j4=0.3908, j5=0.6360 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00135 | -0.00374 | 0.00007 | 0.00398 | 14.169 |
+| 1 | 0.00215 | -0.00368 | 0.00019 | 0.00427 | 14.203 |
+| 2 | 0.00215 | -0.00366 | 0.00005 | 0.00425 | 14.203 |
+| 3 | 0.00268 | -0.00276 | -0.00120 | 0.00403 | 14.198 |
+| 4 | 0.00193 | -0.00348 | -0.00188 | 0.00440 | 14.221 |
+| 5 | 0.00248 | -0.00434 | -0.00209 | 0.00542 | 0.256 |
+| 6 | 0.00294 | -0.00446 | -0.00197 | 0.00569 | 0.173 |
+| 7 | 0.00204 | -0.00454 | -0.00065 | 0.00502 | 0.038 |
+| 8 | 0.00145 | -0.00422 | -0.00089 | 0.00455 | 0.065 |
+| 9 | -0.00018 | -0.00012 | -0.00028 | 0.00035 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_221c99e9-696f-4b28-801c-10b24434b8a7.md b/gap_reports/gap_221c99e9-696f-4b28-801c-10b24434b8a7.md
new file mode 100644
index 0000000000000000000000000000000000000000..6300b8cc1506786be0a1790642394324ddb7bc60
--- /dev/null
+++ b/gap_reports/gap_221c99e9-696f-4b28-801c-10b24434b8a7.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/221c99e9-696f-4b28-801c-10b24434b8a7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/221c99e9-696f-4b28-801c-10b24434b8a7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1063 |
+| Sim rows | 110 |
+| Real episode_id | `221c99e9-696f-4b28-801c-10b24434b8a7` |
+| Sim episode_id | `221c99e9-696f-4b28-801c-10b24434b8a7` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 197 | 20 | 5.458 | 16.02 | 27.75 | 1321.87 | 0.7767 |
+| 1 | descend | 77 | 8 | 0.533 | 3.31 | 5.74 | 4.42 | 0.6069 |
+| 2 | settle | 32 | 4 | 0.022 | 2.56 | 4.44 | 4.87 | 0.6606 |
+| 3 | close | 46 | 5 | 0.118 | 2.10 | 3.64 | 6.22 | 1.1395 |
+| 4 | lift | 99 | 10 | 0.789 | 3.92 | 6.79 | 5.57 | 1.1455 |
+| 5 | move_xy | 182 | 18 | 4.124 | 20.63 | 35.73 | 19.76 | 0.9834 |
+| 6 | lower | 85 | 9 | 0.857 | 4.11 | 7.11 | 7.99 | 1.1250 |
+| 7 | open | 97 | 10 | 0.020 | 2.19 | 3.79 | 4.94 | 0.6804 |
+| 8 | retract | 85 | 9 | 0.750 | 3.90 | 6.76 | 4.23 | 0.7093 |
+| 9 | return | 163 | 17 | 2.534 | 11.00 | 19.05 | 576.73 | 0.7690 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.355 |
+| TCP position RMSE (mm, per-axis) | 9.37 |
+| EE position RMS L2 (mm) | 20.83 |
+| TCP rotvec (mrad) | 456.13 |
+| W1 effort mean (A) | 0.8332 |
+| W1 effort per joint (A) | j0=0.2657, j1=1.4136, j2=1.5661, j3=0.8760, j4=0.4287, j5=0.4493 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00149 | -0.00375 | -0.00084 | 0.00412 | 0.029 |
+| 1 | 0.00172 | -0.00397 | -0.00083 | 0.00441 | 0.036 |
+| 2 | 0.00177 | -0.00398 | -0.00096 | 0.00445 | 0.037 |
+| 3 | 0.00063 | -0.00359 | -0.00027 | 0.00365 | 0.180 |
+| 4 | 0.00039 | -0.00331 | -0.00062 | 0.00339 | 0.170 |
+| 5 | -0.00039 | -0.00287 | -0.00068 | 0.00297 | 0.351 |
+| 6 | 0.00073 | -0.00278 | -0.00058 | 0.00293 | 0.410 |
+| 7 | 0.00211 | -0.00314 | -0.00022 | 0.00379 | 0.043 |
+| 8 | 0.00163 | -0.00327 | -0.00037 | 0.00367 | 0.052 |
+| 9 | -0.00004 | -0.00020 | -0.00028 | 0.00034 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_224df815-f1af-49a2-a316-65e05889fc01.md b/gap_reports/gap_224df815-f1af-49a2-a316-65e05889fc01.md
new file mode 100644
index 0000000000000000000000000000000000000000..4e8b5a2b49134f2a05fc51a4485d8e8073b35cca
--- /dev/null
+++ b/gap_reports/gap_224df815-f1af-49a2-a316-65e05889fc01.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/224df815-f1af-49a2-a316-65e05889fc01.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/224df815-f1af-49a2-a316-65e05889fc01.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2520 |
+| Sim rows | 227 |
+| Real episode_id | `224df815-f1af-49a2-a316-65e05889fc01` |
+| Sim episode_id | `224df815-f1af-49a2-a316-65e05889fc01` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.078 | 9.51 | 16.48 | 1929.46 | 0.5735 |
+| 1 | descend | 333 | 30 | 0.955 | 6.20 | 10.74 | 3625.31 | 0.7127 |
+| 2 | settle | 385 | 34 | 0.024 | 0.74 | 1.29 | 3625.23 | 0.7010 |
+| 3 | close | 152 | 14 | 0.596 | 3.89 | 6.73 | 3123.15 | 1.0260 |
+| 4 | lift | 312 | 28 | 2.480 | 12.40 | 21.48 | 2139.19 | 1.0915 |
+| 5 | move_xy | 322 | 28 | 5.275 | 29.04 | 50.30 | 2726.82 | 0.8844 |
+| 6 | lower | 377 | 33 | 0.084 | 1.30 | 2.24 | 3549.66 | 0.9866 |
+| 7 | open | 152 | 14 | 0.648 | 4.21 | 7.30 | 3625.44 | 0.6804 |
+| 8 | retract | 314 | 28 | 2.526 | 12.69 | 21.98 | 2250.48 | 0.7176 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.270 |
+| TCP position RMSE (mm, per-axis) | 12.12 |
+| EE position RMS L2 (mm) | 21.94 |
+| TCP rotvec (mrad) | 3029.16 |
+| W1 effort mean (A) | 0.8033 |
+| W1 effort per joint (A) | j0=0.2277, j1=1.4177, j2=1.5735, j3=0.7148, j4=0.3534, j5=0.5329 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00042 | -0.00040 | -0.00073 | 0.00093 | 0.041 |
+| 1 | 0.00040 | -0.00072 | -0.00096 | 0.00127 | 0.046 |
+| 2 | 0.00040 | -0.00071 | -0.00099 | 0.00129 | 0.048 |
+| 3 | 0.00098 | -0.00051 | -0.00041 | 0.00118 | 0.092 |
+| 4 | 0.00012 | -0.00037 | -0.00041 | 0.00056 | 0.100 |
+| 5 | 0.00119 | -0.00097 | -0.00065 | 0.00166 | 0.112 |
+| 6 | 0.00101 | -0.00112 | -0.00234 | 0.00278 | 0.182 |
+| 7 | 0.00028 | -0.00045 | -0.00078 | 0.00094 | 0.044 |
+| 8 | -0.00011 | -0.00017 | -0.00019 | 0.00028 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_22810358-dcb7-4cf6-8d52-175c74236d63.md b/gap_reports/gap_22810358-dcb7-4cf6-8d52-175c74236d63.md
new file mode 100644
index 0000000000000000000000000000000000000000..ab86e5ea0778e25bd744d553f9f188c8fb23b3db
--- /dev/null
+++ b/gap_reports/gap_22810358-dcb7-4cf6-8d52-175c74236d63.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/22810358-dcb7-4cf6-8d52-175c74236d63.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/22810358-dcb7-4cf6-8d52-175c74236d63.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1614 |
+| Sim rows | 161 |
+| Real episode_id | `22810358-dcb7-4cf6-8d52-175c74236d63` |
+| Sim episode_id | `22810358-dcb7-4cf6-8d52-175c74236d63` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 170 | 17 | 9.823 | 8.35 | 14.47 | 715.14 | 0.6206 |
+| 1 | descend | 79 | 8 | 18.942 | 3.40 | 5.89 | 731.69 | 0.7004 |
+| 2 | settle | 30 | 4 | 18.930 | 2.63 | 4.55 | 732.20 | 0.7238 |
+| 3 | close | 382 | 37 | 18.929 | 2.66 | 4.61 | 733.33 | 1.1312 |
+| 4 | lift | 78 | 8 | 18.938 | 3.41 | 5.90 | 732.80 | 1.2400 |
+| 5 | move_xy | 163 | 16 | 10.220 | 12.84 | 22.24 | 1150.81 | 1.2695 |
+| 6 | lower | 77 | 8 | 0.579 | 4.63 | 8.02 | 2500.55 | 1.1740 |
+| 7 | open | 363 | 36 | 0.026 | 3.03 | 5.25 | 6.01 | 0.6413 |
+| 8 | retract | 77 | 8 | 0.719 | 4.29 | 7.43 | 5.67 | 0.7476 |
+| 9 | return | 195 | 19 | 2.171 | 15.78 | 27.34 | 915.30 | 0.7316 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 12.808 |
+| TCP position RMSE (mm, per-axis) | 7.55 |
+| EE position RMS L2 (mm) | 13.53 |
+| TCP rotvec (mrad) | 1052.27 |
+| W1 effort mean (A) | 0.8684 |
+| W1 effort per joint (A) | j0=0.1022, j1=1.4323, j2=1.5863, j3=0.7738, j4=0.4123, j5=0.9033 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00142 | -0.00403 | -0.00002 | 0.00427 | 46.305 |
+| 1 | 0.00190 | -0.00416 | 0.00005 | 0.00457 | 46.370 |
+| 2 | 0.00190 | -0.00412 | -0.00007 | 0.00454 | 46.368 |
+| 3 | 0.00261 | -0.00355 | -0.00157 | 0.00468 | 46.366 |
+| 4 | 0.00197 | -0.00376 | -0.00144 | 0.00448 | 46.372 |
+| 5 | 0.00250 | -0.00419 | -0.00376 | 0.00616 | 0.295 |
+| 6 | 0.00317 | -0.00426 | -0.00348 | 0.00634 | 0.232 |
+| 7 | 0.00237 | -0.00457 | -0.00118 | 0.00528 | 0.057 |
+| 8 | 0.00197 | -0.00447 | -0.00131 | 0.00506 | 0.069 |
+| 9 | -0.00019 | -0.00014 | -0.00032 | 0.00040 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_22863f17-4047-4581-b24c-b4ce50fb9813.md b/gap_reports/gap_22863f17-4047-4581-b24c-b4ce50fb9813.md
new file mode 100644
index 0000000000000000000000000000000000000000..73aecdb08afe2321321a38197232445e930d084b
--- /dev/null
+++ b/gap_reports/gap_22863f17-4047-4581-b24c-b4ce50fb9813.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/22863f17-4047-4581-b24c-b4ce50fb9813.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/22863f17-4047-4581-b24c-b4ce50fb9813.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3261 |
+| Sim rows | 288 |
+| Real episode_id | `22863f17-4047-4581-b24c-b4ce50fb9813` |
+| Sim episode_id | `22863f17-4047-4581-b24c-b4ce50fb9813` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 210 | 19 | 3.139 | 14.06 | 24.36 | 2032.37 | 0.5890 |
+| 1 | descend | 856 | 74 | 0.371 | 2.48 | 4.30 | 3625.41 | 0.7465 |
+| 2 | settle | 366 | 32 | 0.024 | 0.77 | 1.34 | 3625.25 | 0.7399 |
+| 3 | close | 146 | 13 | 1.054 | 6.71 | 11.62 | 2701.32 | 0.9655 |
+| 4 | lift | 374 | 33 | 3.206 | 15.01 | 26.00 | 2349.34 | 1.0840 |
+| 5 | move_xy | 388 | 34 | 6.786 | 34.62 | 59.96 | 2702.78 | 0.9109 |
+| 6 | lower | 402 | 35 | 0.082 | 1.33 | 2.31 | 3554.04 | 1.0389 |
+| 7 | open | 145 | 13 | 1.039 | 6.63 | 11.49 | 3625.48 | 0.6700 |
+| 8 | retract | 374 | 33 | 3.135 | 14.50 | 25.12 | 2341.45 | 0.7308 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.950 |
+| TCP position RMSE (mm, per-axis) | 14.64 |
+| EE position RMS L2 (mm) | 25.17 |
+| TCP rotvec (mrad) | 3014.70 |
+| W1 effort mean (A) | 0.8057 |
+| W1 effort per joint (A) | j0=0.2523, j1=1.3260, j2=1.6613, j3=0.7575, j4=0.2456, j5=0.5915 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00061 | -0.00023 | -0.00066 | 0.00093 | 0.038 |
+| 1 | 0.00062 | -0.00062 | -0.00102 | 0.00134 | 0.049 |
+| 2 | 0.00063 | -0.00063 | -0.00100 | 0.00134 | 0.048 |
+| 3 | 0.00103 | -0.00042 | -0.00081 | 0.00137 | 0.112 |
+| 4 | 0.00014 | -0.00028 | -0.00045 | 0.00055 | 0.069 |
+| 5 | 0.00162 | -0.00076 | -0.00128 | 0.00220 | 0.145 |
+| 6 | 0.00138 | -0.00090 | -0.00082 | 0.00184 | 0.106 |
+| 7 | 0.00043 | -0.00036 | -0.00075 | 0.00093 | 0.048 |
+| 8 | -0.00007 | -0.00012 | -0.00015 | 0.00020 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2289e2a4-5484-4a8d-8fce-d57c9bc986d4.md b/gap_reports/gap_2289e2a4-5484-4a8d-8fce-d57c9bc986d4.md
new file mode 100644
index 0000000000000000000000000000000000000000..ee5acef79593e163a4e12e555abccc7886f7faee
--- /dev/null
+++ b/gap_reports/gap_2289e2a4-5484-4a8d-8fce-d57c9bc986d4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2289e2a4-5484-4a8d-8fce-d57c9bc986d4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2289e2a4-5484-4a8d-8fce-d57c9bc986d4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2600 |
+| Sim rows | 260 |
+| Real episode_id | `2289e2a4-5484-4a8d-8fce-d57c9bc986d4` |
+| Sim episode_id | `2289e2a4-5484-4a8d-8fce-d57c9bc986d4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 187 | 19 | 2.898 | 11.95 | 20.70 | 1948.24 | 0.5997 |
+| 1 | descend | 293 | 29 | 1.208 | 7.85 | 13.60 | 3625.38 | 0.6945 |
+| 2 | settle | 338 | 33 | 0.024 | 0.81 | 1.41 | 3625.27 | 0.5685 |
+| 3 | close | 182 | 19 | 1.277 | 7.97 | 13.81 | 3337.68 | 0.9712 |
+| 4 | lift | 376 | 37 | 3.680 | 16.56 | 28.69 | 2317.78 | 1.1093 |
+| 5 | move_xy | 335 | 33 | 7.792 | 37.78 | 65.43 | 2621.52 | 0.8791 |
+| 6 | lower | 332 | 33 | 0.087 | 1.47 | 2.54 | 3471.64 | 0.9162 |
+| 7 | open | 180 | 18 | 1.208 | 7.57 | 13.12 | 3625.49 | 0.6516 |
+| 8 | retract | 377 | 37 | 4.045 | 18.76 | 32.49 | 2455.91 | 0.7330 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.393 |
+| TCP position RMSE (mm, per-axis) | 16.27 |
+| EE position RMS L2 (mm) | 30.03 |
+| TCP rotvec (mrad) | 3067.65 |
+| W1 effort mean (A) | 0.7764 |
+| W1 effort per joint (A) | j0=0.2588, j1=1.3081, j2=1.4522, j3=0.6823, j4=0.3689, j5=0.5881 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00078 | -0.00012 | -0.00058 | 0.00098 | 0.033 |
+| 1 | 0.00092 | -0.00056 | -0.00100 | 0.00147 | 0.045 |
+| 2 | 0.00084 | -0.00060 | -0.00089 | 0.00137 | 0.040 |
+| 3 | 0.00131 | -0.00026 | -0.00076 | 0.00154 | 0.120 |
+| 4 | 0.00038 | 0.00012 | 0.00000 | 0.00040 | 0.076 |
+| 5 | 0.00188 | -0.00071 | -0.00176 | 0.00267 | 0.124 |
+| 6 | 0.00177 | -0.00075 | -0.00168 | 0.00256 | 0.115 |
+| 7 | 0.00066 | -0.00020 | -0.00079 | 0.00105 | 0.057 |
+| 8 | -0.00009 | -0.00013 | -0.00016 | 0.00022 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_22952813-9c3c-4e87-b2c0-b4d4714958cb.md b/gap_reports/gap_22952813-9c3c-4e87-b2c0-b4d4714958cb.md
new file mode 100644
index 0000000000000000000000000000000000000000..fedb84e230e3e54139828361a0fb9deb4bebadb1
--- /dev/null
+++ b/gap_reports/gap_22952813-9c3c-4e87-b2c0-b4d4714958cb.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/22952813-9c3c-4e87-b2c0-b4d4714958cb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/22952813-9c3c-4e87-b2c0-b4d4714958cb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2659 |
+| Sim rows | 234 |
+| Real episode_id | `22952813-9c3c-4e87-b2c0-b4d4714958cb` |
+| Sim episode_id | `22952813-9c3c-4e87-b2c0-b4d4714958cb` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 215 | 19 | 2.790 | 14.49 | 25.10 | 1816.67 | 0.6166 |
+| 1 | descend | 357 | 31 | 0.815 | 5.77 | 10.00 | 3624.75 | 0.7376 |
+| 2 | settle | 395 | 34 | 0.025 | 0.95 | 1.65 | 3624.57 | 0.7216 |
+| 3 | close | 168 | 15 | 0.797 | 5.65 | 9.78 | 3625.31 | 0.9991 |
+| 4 | lift | 287 | 25 | 2.794 | 15.33 | 26.55 | 2421.21 | 1.1335 |
+| 5 | move_xy | 390 | 34 | 6.126 | 35.51 | 61.50 | 2837.58 | 0.9251 |
+| 6 | lower | 394 | 34 | 0.089 | 1.65 | 2.85 | 3625.26 | 1.0265 |
+| 7 | open | 168 | 15 | 0.919 | 6.35 | 11.00 | 3624.71 | 0.7648 |
+| 8 | retract | 285 | 25 | 2.787 | 15.38 | 26.64 | 2448.18 | 0.7591 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.647 |
+| TCP position RMSE (mm, per-axis) | 15.10 |
+| EE position RMS L2 (mm) | 28.05 |
+| TCP rotvec (mrad) | 3143.04 |
+| W1 effort mean (A) | 0.8388 |
+| W1 effort per joint (A) | j0=0.2474, j1=1.5443, j2=1.6755, j3=0.7603, j4=0.2381, j5=0.5669 |
+
+## Phase-end anchor (sim - 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 | -0.00033 | -0.00074 | 0.00122 | 0.033 |
+| 1 | 0.00092 | -0.00075 | -0.00118 | 0.00167 | 0.054 |
+| 2 | 0.00091 | -0.00077 | -0.00117 | 0.00167 | 0.056 |
+| 3 | 0.00152 | -0.00043 | -0.00062 | 0.00170 | 0.096 |
+| 4 | 0.00004 | -0.00049 | -0.00046 | 0.00067 | 0.100 |
+| 5 | 0.00216 | -0.00110 | -0.00225 | 0.00331 | 0.153 |
+| 6 | 0.00207 | -0.00115 | -0.00131 | 0.00270 | 0.150 |
+| 7 | 0.00076 | -0.00040 | -0.00098 | 0.00130 | 0.048 |
+| 8 | -0.00015 | -0.00022 | -0.00019 | 0.00033 | 0.037 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_22b71149-2678-4d6b-b492-d79cd64b9823.md b/gap_reports/gap_22b71149-2678-4d6b-b492-d79cd64b9823.md
new file mode 100644
index 0000000000000000000000000000000000000000..b20dca74dcc4a518385474d0baf14587d5118822
--- /dev/null
+++ b/gap_reports/gap_22b71149-2678-4d6b-b492-d79cd64b9823.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/22b71149-2678-4d6b-b492-d79cd64b9823.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/22b71149-2678-4d6b-b492-d79cd64b9823.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 647 |
+| Sim rows | 80 |
+| Real episode_id | `22b71149-2678-4d6b-b492-d79cd64b9823` |
+| Sim episode_id | `22b71149-2678-4d6b-b492-d79cd64b9823` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 439 | 43 | 3.019 | 15.87 | 27.48 | 875.97 | 0.7582 |
+| 1 | descend | 208 | 21 | 0.024 | 2.44 | 4.23 | 1.96 | 0.7580 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.135 |
+| TCP position RMSE (mm, per-axis) | 11.35 |
+| EE position RMS L2 (mm) | 22.76 |
+| TCP rotvec (mrad) | 619.41 |
+| W1 effort mean (A) | 0.7577 |
+| W1 effort per joint (A) | j0=0.1444, j1=1.6973, j2=1.6714, j3=0.7330, j4=0.1551, j5=0.1450 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00274 | -0.00320 | 0.00054 | 0.00424 | 0.050 |
+| 1 | -0.00266 | -0.00326 | 0.00043 | 0.00423 | 0.045 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_22e3a758-b312-44ad-adcf-ab6deb39b31e.md b/gap_reports/gap_22e3a758-b312-44ad-adcf-ab6deb39b31e.md
new file mode 100644
index 0000000000000000000000000000000000000000..94519289bd5aab203b54b3d47b683fb3c72ce651
--- /dev/null
+++ b/gap_reports/gap_22e3a758-b312-44ad-adcf-ab6deb39b31e.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/22e3a758-b312-44ad-adcf-ab6deb39b31e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/22e3a758-b312-44ad-adcf-ab6deb39b31e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 493 |
+| Sim rows | 65 |
+| Real episode_id | `22e3a758-b312-44ad-adcf-ab6deb39b31e` |
+| Sim episode_id | `22e3a758-b312-44ad-adcf-ab6deb39b31e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 282 | 28 | 3.782 | 17.77 | 30.78 | 208.41 | 0.7636 |
+| 1 | descend | 211 | 21 | 0.022 | 3.63 | 6.29 | 1.96 | 0.7666 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.674 |
+| TCP position RMSE (mm, per-axis) | 12.83 |
+| EE position RMS L2 (mm) | 23.64 |
+| TCP rotvec (mrad) | 147.37 |
+| W1 effort mean (A) | 0.7641 |
+| W1 effort per joint (A) | j0=0.2620, j1=1.5887, j2=1.6501, j3=0.8226, j4=0.1232, j5=0.1381 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00607 | 0.00167 | 0.00043 | 0.00631 | 0.049 |
+| 1 | -0.00608 | 0.00153 | 0.00026 | 0.00627 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_232413cc-1541-4ea3-946a-f0398aee14cc.md b/gap_reports/gap_232413cc-1541-4ea3-946a-f0398aee14cc.md
new file mode 100644
index 0000000000000000000000000000000000000000..9ebb9d5baf52736a7b781d4a41e41103fd52a6c8
--- /dev/null
+++ b/gap_reports/gap_232413cc-1541-4ea3-946a-f0398aee14cc.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/232413cc-1541-4ea3-946a-f0398aee14cc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/232413cc-1541-4ea3-946a-f0398aee14cc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2570 |
+| Sim rows | 227 |
+| Real episode_id | `232413cc-1541-4ea3-946a-f0398aee14cc` |
+| Sim episode_id | `232413cc-1541-4ea3-946a-f0398aee14cc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.270 | 9.00 | 15.58 | 1989.62 | 0.5565 |
+| 1 | descend | 437 | 38 | 0.836 | 5.05 | 8.74 | 3626.00 | 0.7194 |
+| 2 | settle | 384 | 33 | 0.021 | 0.56 | 0.97 | 3625.95 | 0.6975 |
+| 3 | close | 110 | 10 | 0.551 | 3.36 | 5.82 | 1837.26 | 0.9583 |
+| 4 | lift | 309 | 27 | 2.633 | 11.26 | 19.51 | 1832.97 | 1.1045 |
+| 5 | move_xy | 324 | 28 | 5.167 | 24.36 | 42.20 | 2236.11 | 0.9076 |
+| 6 | lower | 405 | 35 | 0.079 | 1.02 | 1.77 | 1434.19 | 0.9646 |
+| 7 | open | 106 | 10 | 0.613 | 3.65 | 6.32 | 3626.21 | 0.6036 |
+| 8 | retract | 309 | 27 | 2.556 | 10.81 | 18.72 | 2211.92 | 0.6837 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.278 |
+| TCP position RMSE (mm, per-axis) | 10.38 |
+| EE position RMS L2 (mm) | 18.62 |
+| TCP rotvec (mrad) | 2626.54 |
+| W1 effort mean (A) | 0.7882 |
+| W1 effort per joint (A) | j0=0.2368, j1=1.1429, j2=1.6186, j3=0.7531, j4=0.4074, j5=0.5705 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00018 | -0.00040 | -0.00053 | 0.00069 | 0.030 |
+| 1 | 0.00017 | -0.00058 | -0.00078 | 0.00099 | 0.037 |
+| 2 | 0.00018 | -0.00058 | -0.00077 | 0.00098 | 0.037 |
+| 3 | 0.00055 | -0.00052 | -0.00087 | 0.00115 | 0.115 |
+| 4 | 0.00016 | -0.00004 | -0.00035 | 0.00038 | 0.074 |
+| 5 | 0.00136 | -0.00077 | -0.00072 | 0.00172 | 0.184 |
+| 6 | 0.00066 | -0.00088 | -0.00175 | 0.00207 | 0.131 |
+| 7 | -0.00005 | -0.00037 | -0.00067 | 0.00077 | 0.047 |
+| 8 | -0.00005 | -0.00007 | -0.00012 | 0.00015 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_23329181-7d23-4376-a27c-ca7fe1fd2b41.md b/gap_reports/gap_23329181-7d23-4376-a27c-ca7fe1fd2b41.md
new file mode 100644
index 0000000000000000000000000000000000000000..faedaa17422574bfad43956432d6f2f15daaec5e
--- /dev/null
+++ b/gap_reports/gap_23329181-7d23-4376-a27c-ca7fe1fd2b41.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/23329181-7d23-4376-a27c-ca7fe1fd2b41.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/23329181-7d23-4376-a27c-ca7fe1fd2b41.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2397 |
+| Sim rows | 215 |
+| Real episode_id | `23329181-7d23-4376-a27c-ca7fe1fd2b41` |
+| Sim episode_id | `23329181-7d23-4376-a27c-ca7fe1fd2b41` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 201 | 18 | 2.368 | 9.37 | 16.23 | 1964.51 | 0.5613 |
+| 1 | descend | 312 | 28 | 0.867 | 5.07 | 8.78 | 3626.02 | 0.7441 |
+| 2 | settle | 356 | 31 | 0.020 | 0.56 | 0.98 | 3625.95 | 0.6660 |
+| 3 | close | 118 | 11 | 0.786 | 4.59 | 7.95 | 1879.43 | 0.9380 |
+| 4 | lift | 271 | 24 | 2.482 | 10.35 | 17.93 | 1656.34 | 1.0601 |
+| 5 | move_xy | 366 | 32 | 4.928 | 23.13 | 40.07 | 2079.33 | 0.8879 |
+| 6 | lower | 385 | 34 | 0.079 | 1.00 | 1.73 | 1632.87 | 1.0131 |
+| 7 | open | 117 | 11 | 0.683 | 4.01 | 6.94 | 3626.18 | 0.5898 |
+| 8 | retract | 271 | 24 | 2.515 | 10.49 | 18.17 | 2267.69 | 0.6938 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.217 |
+| TCP position RMSE (mm, per-axis) | 10.02 |
+| EE position RMS L2 (mm) | 18.89 |
+| TCP rotvec (mrad) | 2618.57 |
+| W1 effort mean (A) | 0.7887 |
+| W1 effort per joint (A) | j0=0.2169, j1=1.1193, j2=1.6261, j3=0.8079, j4=0.3363, j5=0.6260 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00015 | -0.00040 | -0.00046 | 0.00063 | 0.024 |
+| 1 | 0.00013 | -0.00057 | -0.00079 | 0.00098 | 0.038 |
+| 2 | 0.00019 | -0.00058 | -0.00076 | 0.00097 | 0.036 |
+| 3 | 0.00080 | -0.00046 | -0.00054 | 0.00107 | 0.134 |
+| 4 | 0.00025 | 0.00018 | -0.00008 | 0.00032 | 0.070 |
+| 5 | 0.00085 | -0.00091 | -0.00142 | 0.00189 | 0.114 |
+| 6 | 0.00098 | -0.00087 | -0.00206 | 0.00244 | 0.156 |
+| 7 | -0.00010 | -0.00036 | -0.00057 | 0.00068 | 0.037 |
+| 8 | -0.00008 | -0.00010 | -0.00015 | 0.00020 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2337519c-3508-4003-8323-109266f11b37.md b/gap_reports/gap_2337519c-3508-4003-8323-109266f11b37.md
new file mode 100644
index 0000000000000000000000000000000000000000..cc79f2ec33e0b156e221a379bfd532223871255f
--- /dev/null
+++ b/gap_reports/gap_2337519c-3508-4003-8323-109266f11b37.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2337519c-3508-4003-8323-109266f11b37.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2337519c-3508-4003-8323-109266f11b37.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2412 |
+| Sim rows | 242 |
+| Real episode_id | `2337519c-3508-4003-8323-109266f11b37` |
+| Sim episode_id | `2337519c-3508-4003-8323-109266f11b37` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 245 | 24 | 3.698 | 13.28 | 23.00 | 2006.20 | 0.5746 |
+| 1 | descend | 278 | 28 | 1.317 | 7.90 | 13.68 | 3626.00 | 0.6812 |
+| 2 | settle | 319 | 31 | 0.021 | 0.67 | 1.17 | 3625.99 | 0.6566 |
+| 3 | close | 104 | 11 | 0.714 | 4.22 | 7.31 | 706.67 | 0.8833 |
+| 4 | lift | 281 | 28 | 4.010 | 16.54 | 28.66 | 2010.24 | 1.1174 |
+| 5 | move_xy | 435 | 43 | 8.305 | 36.40 | 63.05 | 2142.11 | 0.8652 |
+| 6 | lower | 368 | 36 | 0.079 | 1.20 | 2.08 | 1836.39 | 0.9224 |
+| 7 | open | 102 | 11 | 0.885 | 5.11 | 8.85 | 3626.22 | 0.5868 |
+| 8 | retract | 280 | 28 | 4.024 | 16.67 | 28.87 | 2363.71 | 0.7113 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.620 |
+| TCP position RMSE (mm, per-axis) | 15.50 |
+| EE position RMS L2 (mm) | 31.48 |
+| TCP rotvec (mrad) | 2615.31 |
+| W1 effort mean (A) | 0.7691 |
+| W1 effort per joint (A) | j0=0.2377, j1=1.1527, j2=1.4713, j3=0.7144, j4=0.4068, j5=0.6318 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00070 | -0.00022 | -0.00049 | 0.00088 | 0.032 |
+| 1 | 0.00068 | -0.00053 | -0.00077 | 0.00116 | 0.036 |
+| 2 | 0.00069 | -0.00055 | -0.00074 | 0.00115 | 0.034 |
+| 3 | 0.00110 | -0.00020 | -0.00024 | 0.00114 | 0.091 |
+| 4 | 0.00022 | -0.00012 | -0.00028 | 0.00037 | 0.070 |
+| 5 | 0.00147 | -0.00078 | -0.00121 | 0.00206 | 0.112 |
+| 6 | 0.00143 | -0.00059 | -0.00171 | 0.00231 | 0.123 |
+| 7 | 0.00041 | -0.00023 | -0.00052 | 0.00070 | 0.038 |
+| 8 | -0.00011 | -0.00015 | -0.00017 | 0.00025 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2386ae59-450f-435d-ab27-8b696603a5e4.md b/gap_reports/gap_2386ae59-450f-435d-ab27-8b696603a5e4.md
new file mode 100644
index 0000000000000000000000000000000000000000..a722bdce2cfeec3c056f98f47f6f344646ad5ce1
--- /dev/null
+++ b/gap_reports/gap_2386ae59-450f-435d-ab27-8b696603a5e4.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2386ae59-450f-435d-ab27-8b696603a5e4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2386ae59-450f-435d-ab27-8b696603a5e4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1124 |
+| Sim rows | 118 |
+| Real episode_id | `2386ae59-450f-435d-ab27-8b696603a5e4` |
+| Sim episode_id | `2386ae59-450f-435d-ab27-8b696603a5e4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 187 | 19 | 5.237 | 11.76 | 20.38 | 289.41 | 0.6239 |
+| 1 | descend | 92 | 10 | 8.980 | 3.25 | 5.62 | 350.21 | 0.6893 |
+| 2 | settle | 17 | 3 | 8.959 | 2.63 | 4.56 | 350.34 | 0.7126 |
+| 3 | close | 43 | 5 | 8.959 | 2.82 | 4.88 | 351.62 | 1.1316 |
+| 4 | lift | 94 | 10 | 8.981 | 3.61 | 6.25 | 351.45 | 1.1581 |
+| 5 | move_xy | 230 | 23 | 7.032 | 17.69 | 30.64 | 178.24 | 1.1508 |
+| 6 | lower | 93 | 10 | 0.627 | 3.30 | 5.72 | 3.85 | 0.9750 |
+| 7 | open | 75 | 8 | 0.017 | 2.62 | 4.54 | 4.71 | 0.5880 |
+| 8 | retract | 90 | 10 | 0.683 | 3.52 | 6.10 | 4.19 | 0.6394 |
+| 9 | return | 203 | 20 | 3.252 | 12.23 | 21.19 | 1085.07 | 0.6787 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 6.404 |
+| TCP position RMSE (mm, per-axis) | 8.18 |
+| EE position RMS L2 (mm) | 18.88 |
+| TCP rotvec (mrad) | 422.55 |
+| W1 effort mean (A) | 0.8028 |
+| W1 effort per joint (A) | j0=0.1695, j1=1.3269, j2=1.4854, j3=0.8534, j4=0.3820, j5=0.5998 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00185 | -0.00392 | -0.00017 | 0.00434 | 21.947 |
+| 1 | 0.00228 | -0.00395 | -0.00022 | 0.00457 | 21.947 |
+| 2 | 0.00228 | -0.00396 | -0.00027 | 0.00458 | 21.942 |
+| 3 | 0.00304 | -0.00338 | -0.00170 | 0.00486 | 21.945 |
+| 4 | 0.00256 | -0.00363 | -0.00192 | 0.00484 | 21.981 |
+| 5 | 0.00155 | -0.00329 | -0.00124 | 0.00384 | 0.101 |
+| 6 | 0.00196 | -0.00323 | -0.00117 | 0.00395 | 0.131 |
+| 7 | 0.00209 | -0.00398 | -0.00062 | 0.00454 | 0.033 |
+| 8 | 0.00175 | -0.00372 | -0.00067 | 0.00417 | 0.036 |
+| 9 | -0.00016 | -0.00009 | -0.00024 | 0.00030 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_23889370-9f66-43a0-bd72-891539af42a1.md b/gap_reports/gap_23889370-9f66-43a0-bd72-891539af42a1.md
new file mode 100644
index 0000000000000000000000000000000000000000..4c49120793f173334c4ef801f8b39fa733238037
--- /dev/null
+++ b/gap_reports/gap_23889370-9f66-43a0-bd72-891539af42a1.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/23889370-9f66-43a0-bd72-891539af42a1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/23889370-9f66-43a0-bd72-891539af42a1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 495 |
+| Sim rows | 65 |
+| Real episode_id | `23889370-9f66-43a0-bd72-891539af42a1` |
+| Sim episode_id | `23889370-9f66-43a0-bd72-891539af42a1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 286 | 28 | 2.676 | 14.02 | 24.28 | 424.36 | 0.7506 |
+| 1 | descend | 209 | 21 | 0.023 | 0.46 | 0.79 | 2.16 | 0.7587 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.892 |
+| TCP position RMSE (mm, per-axis) | 9.92 |
+| EE position RMS L2 (mm) | 18.46 |
+| TCP rotvec (mrad) | 300.07 |
+| W1 effort mean (A) | 0.7539 |
+| W1 effort per joint (A) | j0=0.1754, j1=1.6642, j2=1.6355, j3=0.8227, j4=0.0966, j5=0.1288 |
+
+## Phase-end anchor (sim - 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 | -0.00047 | 0.00064 | 0.00082 | 0.048 |
+| 1 | -0.00005 | -0.00047 | 0.00061 | 0.00077 | 0.045 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_23940413-5d6e-43a9-930a-62388dd77a74.md b/gap_reports/gap_23940413-5d6e-43a9-930a-62388dd77a74.md
new file mode 100644
index 0000000000000000000000000000000000000000..90f264950e6913a1a37cee1332869c643bab1276
--- /dev/null
+++ b/gap_reports/gap_23940413-5d6e-43a9-930a-62388dd77a74.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/23940413-5d6e-43a9-930a-62388dd77a74.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/23940413-5d6e-43a9-930a-62388dd77a74.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2629 |
+| Sim rows | 235 |
+| Real episode_id | `23940413-5d6e-43a9-930a-62388dd77a74` |
+| Sim episode_id | `23940413-5d6e-43a9-930a-62388dd77a74` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 231 | 21 | 3.498 | 15.11 | 26.17 | 1995.70 | 0.6003 |
+| 1 | descend | 359 | 31 | 0.553 | 3.79 | 6.56 | 3625.29 | 0.8794 |
+| 2 | settle | 365 | 32 | 0.026 | 0.83 | 1.44 | 3625.29 | 0.7299 |
+| 3 | close | 128 | 12 | 0.533 | 3.56 | 6.16 | 2899.17 | 1.0251 |
+| 4 | lift | 322 | 28 | 3.633 | 17.42 | 30.17 | 2267.97 | 1.1060 |
+| 5 | move_xy | 395 | 35 | 8.065 | 39.43 | 68.30 | 2740.83 | 0.8571 |
+| 6 | lower | 378 | 33 | 0.088 | 1.47 | 2.54 | 3432.45 | 0.9244 |
+| 7 | open | 128 | 12 | 0.526 | 3.40 | 5.88 | 3625.42 | 0.6366 |
+| 8 | retract | 323 | 29 | 3.653 | 17.14 | 29.69 | 2343.65 | 0.7260 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.411 |
+| TCP position RMSE (mm, per-axis) | 16.40 |
+| EE position RMS L2 (mm) | 31.49 |
+| TCP rotvec (mrad) | 3013.81 |
+| W1 effort mean (A) | 0.8184 |
+| W1 effort per joint (A) | j0=0.2728, j1=1.3419, j2=1.5680, j3=0.7994, j4=0.3548, j5=0.5735 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00086 | -0.00042 | -0.00061 | 0.00114 | 0.025 |
+| 1 | 0.00091 | -0.00056 | -0.00102 | 0.00148 | 0.047 |
+| 2 | 0.00088 | -0.00060 | -0.00096 | 0.00143 | 0.047 |
+| 3 | 0.00142 | -0.00051 | -0.00080 | 0.00171 | 0.097 |
+| 4 | 0.00013 | -0.00036 | -0.00036 | 0.00053 | 0.092 |
+| 5 | 0.00209 | -0.00092 | -0.00081 | 0.00242 | 0.162 |
+| 6 | 0.00200 | -0.00077 | -0.00047 | 0.00219 | 0.156 |
+| 7 | 0.00070 | -0.00038 | -0.00075 | 0.00109 | 0.034 |
+| 8 | -0.00014 | -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.
diff --git a/gap_reports/gap_23c037ff-4adc-4f64-85c4-3198a9403535.md b/gap_reports/gap_23c037ff-4adc-4f64-85c4-3198a9403535.md
new file mode 100644
index 0000000000000000000000000000000000000000..d1e5f3deb79dca4044e8a0e5e05593515ed91e6d
--- /dev/null
+++ b/gap_reports/gap_23c037ff-4adc-4f64-85c4-3198a9403535.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/23c037ff-4adc-4f64-85c4-3198a9403535.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/23c037ff-4adc-4f64-85c4-3198a9403535.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2488 |
+| Sim rows | 249 |
+| Real episode_id | `23c037ff-4adc-4f64-85c4-3198a9403535` |
+| Sim episode_id | `23c037ff-4adc-4f64-85c4-3198a9403535` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 201 | 20 | 3.061 | 12.18 | 21.09 | 1930.87 | 0.5668 |
+| 1 | descend | 300 | 30 | 1.039 | 6.31 | 10.93 | 3625.99 | 0.6946 |
+| 2 | settle | 329 | 32 | 0.022 | 0.60 | 1.03 | 3625.97 | 0.6783 |
+| 3 | close | 95 | 10 | 0.559 | 3.36 | 5.81 | 2081.81 | 0.9691 |
+| 4 | lift | 399 | 39 | 3.377 | 13.80 | 23.90 | 2034.17 | 1.0957 |
+| 5 | move_xy | 343 | 34 | 6.002 | 26.94 | 46.66 | 1841.40 | 0.8746 |
+| 6 | lower | 334 | 33 | 0.078 | 1.09 | 1.88 | 1616.37 | 1.0021 |
+| 7 | open | 97 | 10 | 0.688 | 4.01 | 6.94 | 3626.23 | 0.5802 |
+| 8 | retract | 390 | 39 | 3.331 | 13.61 | 23.57 | 2300.46 | 0.6960 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.784 |
+| TCP position RMSE (mm, per-axis) | 12.10 |
+| EE position RMS L2 (mm) | 23.09 |
+| TCP rotvec (mrad) | 2644.50 |
+| W1 effort mean (A) | 0.7917 |
+| W1 effort per joint (A) | j0=0.2507, j1=1.1743, j2=1.5706, j3=0.7125, j4=0.3943, j5=0.6475 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00040 | -0.00033 | -0.00051 | 0.00073 | 0.032 |
+| 1 | 0.00043 | -0.00054 | -0.00075 | 0.00102 | 0.034 |
+| 2 | 0.00040 | -0.00056 | -0.00074 | 0.00101 | 0.034 |
+| 3 | 0.00075 | -0.00035 | -0.00134 | 0.00158 | 0.107 |
+| 4 | 0.00041 | -0.00009 | -0.00034 | 0.00054 | 0.092 |
+| 5 | 0.00149 | -0.00081 | -0.00069 | 0.00183 | 0.163 |
+| 6 | 0.00106 | -0.00077 | -0.00085 | 0.00156 | 0.108 |
+| 7 | 0.00019 | -0.00030 | -0.00061 | 0.00071 | 0.042 |
+| 8 | -0.00004 | -0.00004 | -0.00010 | 0.00012 | 0.021 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_23d62212-a569-40de-b817-4a8f2e9e1e4c.md b/gap_reports/gap_23d62212-a569-40de-b817-4a8f2e9e1e4c.md
new file mode 100644
index 0000000000000000000000000000000000000000..3fdb09884514cdcd784840df406349403c8891ac
--- /dev/null
+++ b/gap_reports/gap_23d62212-a569-40de-b817-4a8f2e9e1e4c.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/23d62212-a569-40de-b817-4a8f2e9e1e4c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/23d62212-a569-40de-b817-4a8f2e9e1e4c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1565 |
+| Sim rows | 159 |
+| Real episode_id | `23d62212-a569-40de-b817-4a8f2e9e1e4c` |
+| Sim episode_id | `23d62212-a569-40de-b817-4a8f2e9e1e4c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 228 | 23 | 6.696 | 20.90 | 36.21 | 1647.27 | 0.7534 |
+| 1 | descend | 94 | 10 | 0.643 | 3.40 | 5.89 | 4.55 | 0.5675 |
+| 2 | settle | 33 | 4 | 0.023 | 2.55 | 4.42 | 4.93 | 0.5917 |
+| 3 | close | 288 | 28 | 0.099 | 2.05 | 3.55 | 3.50 | 0.8809 |
+| 4 | lift | 114 | 12 | 0.935 | 4.14 | 7.18 | 3.18 | 1.0531 |
+| 5 | move_xy | 281 | 28 | 9.099 | 38.86 | 67.30 | 26.64 | 0.8575 |
+| 6 | lower | 117 | 12 | 1.061 | 5.17 | 8.96 | 8.67 | 1.0696 |
+| 7 | open | 98 | 10 | 0.025 | 1.97 | 3.42 | 5.38 | 0.7178 |
+| 8 | retract | 115 | 12 | 1.014 | 5.11 | 8.84 | 4.62 | 0.7745 |
+| 9 | return | 197 | 20 | 2.994 | 18.62 | 32.24 | 284.86 | 0.8046 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.742 |
+| TCP position RMSE (mm, per-axis) | 15.46 |
+| EE position RMS L2 (mm) | 34.00 |
+| TCP rotvec (mrad) | 528.73 |
+| W1 effort mean (A) | 0.8055 |
+| W1 effort per joint (A) | j0=0.2483, j1=1.3992, j2=1.5718, j3=0.7999, j4=0.3194, j5=0.4942 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00138 | -0.00366 | -0.00077 | 0.00399 | 0.026 |
+| 1 | 0.00157 | -0.00405 | -0.00082 | 0.00442 | 0.030 |
+| 2 | 0.00157 | -0.00404 | -0.00090 | 0.00443 | 0.033 |
+| 3 | 0.00062 | -0.00338 | -0.00020 | 0.00344 | 0.166 |
+| 4 | 0.00072 | -0.00321 | -0.00061 | 0.00335 | 0.142 |
+| 5 | -0.00027 | -0.00357 | -0.00139 | 0.00384 | 0.263 |
+| 6 | 0.00001 | -0.00314 | -0.00077 | 0.00323 | 0.315 |
+| 7 | 0.00198 | -0.00278 | -0.00023 | 0.00342 | 0.050 |
+| 8 | 0.00172 | -0.00304 | -0.00036 | 0.00351 | 0.055 |
+| 9 | -0.00002 | -0.00017 | -0.00024 | 0.00030 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2408c1e8-1fda-4e1f-aab3-ed7b2c2e324e.md b/gap_reports/gap_2408c1e8-1fda-4e1f-aab3-ed7b2c2e324e.md
new file mode 100644
index 0000000000000000000000000000000000000000..54b8f0e195a3dd139b11c9c0c5e5a2508c0381d1
--- /dev/null
+++ b/gap_reports/gap_2408c1e8-1fda-4e1f-aab3-ed7b2c2e324e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2408c1e8-1fda-4e1f-aab3-ed7b2c2e324e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2408c1e8-1fda-4e1f-aab3-ed7b2c2e324e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2700 |
+| Sim rows | 240 |
+| Real episode_id | `2408c1e8-1fda-4e1f-aab3-ed7b2c2e324e` |
+| Sim episode_id | `2408c1e8-1fda-4e1f-aab3-ed7b2c2e324e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.394 | 8.76 | 15.17 | 1927.25 | 0.5800 |
+| 1 | descend | 377 | 33 | 1.334 | 8.02 | 13.89 | 3626.04 | 0.7115 |
+| 2 | settle | 364 | 32 | 0.021 | 0.60 | 1.03 | 3625.96 | 0.7049 |
+| 3 | close | 151 | 14 | 0.956 | 5.50 | 9.52 | 1649.79 | 0.9921 |
+| 4 | lift | 359 | 31 | 3.040 | 12.49 | 21.63 | 1600.01 | 1.0698 |
+| 5 | move_xy | 355 | 31 | 7.279 | 33.47 | 57.97 | 2244.40 | 0.9075 |
+| 6 | lower | 408 | 36 | 0.081 | 1.10 | 1.91 | 1457.19 | 0.9681 |
+| 7 | open | 152 | 14 | 1.018 | 5.95 | 10.31 | 3626.23 | 0.6098 |
+| 8 | retract | 357 | 31 | 3.037 | 12.44 | 21.54 | 2286.80 | 0.7011 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.998 |
+| TCP position RMSE (mm, per-axis) | 13.50 |
+| EE position RMS L2 (mm) | 24.88 |
+| TCP rotvec (mrad) | 2599.82 |
+| W1 effort mean (A) | 0.7937 |
+| W1 effort per joint (A) | j0=0.2500, j1=1.2230, j2=1.5847, j3=0.6883, j4=0.4530, j5=0.5633 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00038 | -0.00028 | -0.00041 | 0.00062 | 0.035 |
+| 1 | 0.00042 | -0.00054 | -0.00078 | 0.00104 | 0.036 |
+| 2 | 0.00041 | -0.00057 | -0.00075 | 0.00103 | 0.034 |
+| 3 | 0.00077 | -0.00021 | -0.00041 | 0.00089 | 0.090 |
+| 4 | 0.00029 | -0.00010 | -0.00012 | 0.00033 | 0.118 |
+| 5 | 0.00141 | -0.00085 | -0.00204 | 0.00263 | 0.151 |
+| 6 | 0.00102 | -0.00080 | -0.00080 | 0.00153 | 0.092 |
+| 7 | 0.00020 | -0.00028 | -0.00055 | 0.00065 | 0.040 |
+| 8 | -0.00007 | -0.00010 | -0.00015 | 0.00019 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_24252ab6-052d-4a32-9006-d80a9ce0ee2c.md b/gap_reports/gap_24252ab6-052d-4a32-9006-d80a9ce0ee2c.md
new file mode 100644
index 0000000000000000000000000000000000000000..f9f7933605f4db5abda9828849bd1dbe4f9d8274
--- /dev/null
+++ b/gap_reports/gap_24252ab6-052d-4a32-9006-d80a9ce0ee2c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/24252ab6-052d-4a32-9006-d80a9ce0ee2c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/24252ab6-052d-4a32-9006-d80a9ce0ee2c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2623 |
+| Sim rows | 231 |
+| Real episode_id | `24252ab6-052d-4a32-9006-d80a9ce0ee2c` |
+| Sim episode_id | `24252ab6-052d-4a32-9006-d80a9ce0ee2c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 170 | 15 | 2.439 | 12.01 | 20.81 | 2005.04 | 0.5711 |
+| 1 | descend | 340 | 30 | 1.328 | 8.59 | 14.88 | 3625.36 | 0.7432 |
+| 2 | settle | 365 | 32 | 0.024 | 0.74 | 1.29 | 3625.22 | 0.6304 |
+| 3 | close | 135 | 12 | 0.748 | 4.83 | 8.37 | 3274.67 | 1.0025 |
+| 4 | lift | 383 | 33 | 2.545 | 12.69 | 21.98 | 2261.53 | 1.0850 |
+| 5 | move_xy | 310 | 27 | 4.840 | 26.51 | 45.92 | 2860.75 | 0.8767 |
+| 6 | lower | 404 | 35 | 0.086 | 1.33 | 2.30 | 3625.72 | 1.0253 |
+| 7 | open | 132 | 12 | 0.788 | 5.13 | 8.89 | 3625.43 | 0.6831 |
+| 8 | retract | 384 | 33 | 2.592 | 12.87 | 22.30 | 2250.69 | 0.7126 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.249 |
+| TCP position RMSE (mm, per-axis) | 12.02 |
+| EE position RMS L2 (mm) | 21.40 |
+| TCP rotvec (mrad) | 3085.50 |
+| W1 effort mean (A) | 0.8132 |
+| W1 effort per joint (A) | j0=0.2262, j1=1.3617, j2=1.5929, j3=0.7443, j4=0.3522, 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 | 0.00043 | -0.00041 | -0.00072 | 0.00093 | 0.040 |
+| 1 | 0.00039 | -0.00073 | -0.00095 | 0.00126 | 0.045 |
+| 2 | 0.00042 | -0.00072 | -0.00096 | 0.00128 | 0.044 |
+| 3 | 0.00154 | -0.00049 | -0.00080 | 0.00180 | 0.155 |
+| 4 | 0.00012 | -0.00019 | -0.00011 | 0.00025 | 0.089 |
+| 5 | 0.00128 | -0.00100 | -0.00103 | 0.00192 | 0.113 |
+| 6 | 0.00120 | -0.00118 | -0.00278 | 0.00325 | 0.212 |
+| 7 | 0.00024 | -0.00045 | -0.00076 | 0.00092 | 0.043 |
+| 8 | -0.00009 | -0.00013 | -0.00015 | 0.00022 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2428d182-a9e2-4070-b913-b4c6aa585692.md b/gap_reports/gap_2428d182-a9e2-4070-b913-b4c6aa585692.md
new file mode 100644
index 0000000000000000000000000000000000000000..341bdd81e6498e1632a6ffc0f74bb1790122a42d
--- /dev/null
+++ b/gap_reports/gap_2428d182-a9e2-4070-b913-b4c6aa585692.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2428d182-a9e2-4070-b913-b4c6aa585692.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2428d182-a9e2-4070-b913-b4c6aa585692.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2305 |
+| Sim rows | 232 |
+| Real episode_id | `2428d182-a9e2-4070-b913-b4c6aa585692` |
+| Sim episode_id | `2428d182-a9e2-4070-b913-b4c6aa585692` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 185 | 19 | 2.522 | 11.90 | 20.60 | 1958.66 | 0.5647 |
+| 1 | descend | 327 | 32 | 1.345 | 8.44 | 14.62 | 3625.36 | 0.7219 |
+| 2 | settle | 328 | 32 | 0.023 | 0.73 | 1.27 | 3625.24 | 0.6961 |
+| 3 | close | 133 | 14 | 1.090 | 6.72 | 11.63 | 2900.45 | 0.9958 |
+| 4 | lift | 245 | 24 | 2.430 | 11.69 | 20.25 | 2396.04 | 1.0921 |
+| 5 | move_xy | 368 | 36 | 6.156 | 32.89 | 56.96 | 2909.37 | 0.9087 |
+| 6 | lower | 338 | 34 | 0.082 | 1.27 | 2.19 | 3551.95 | 1.0196 |
+| 7 | open | 136 | 14 | 0.877 | 5.56 | 9.64 | 3625.44 | 0.6858 |
+| 8 | retract | 245 | 25 | 2.443 | 11.83 | 20.48 | 2362.13 | 0.7243 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.580 |
+| TCP position RMSE (mm, per-axis) | 13.54 |
+| EE position RMS L2 (mm) | 26.17 |
+| TCP rotvec (mrad) | 3056.50 |
+| W1 effort mean (A) | 0.8104 |
+| W1 effort per joint (A) | j0=0.2336, j1=1.3921, j2=1.5747, j3=0.7509, j4=0.3384, j5=0.5724 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00042 | -0.00035 | -0.00073 | 0.00091 | 0.040 |
+| 1 | 0.00051 | -0.00070 | -0.00096 | 0.00130 | 0.039 |
+| 2 | 0.00041 | -0.00069 | -0.00097 | 0.00126 | 0.041 |
+| 3 | 0.00130 | -0.00026 | -0.00049 | 0.00142 | 0.129 |
+| 4 | 0.00031 | -0.00032 | -0.00057 | 0.00072 | 0.101 |
+| 5 | 0.00105 | -0.00093 | -0.00123 | 0.00187 | 0.096 |
+| 6 | 0.00141 | -0.00081 | -0.00042 | 0.00168 | 0.143 |
+| 7 | 0.00028 | -0.00043 | -0.00080 | 0.00096 | 0.048 |
+| 8 | -0.00009 | -0.00015 | -0.00017 | 0.00024 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_243edfb7-315c-4aa1-b96a-3b25fadbd941.md b/gap_reports/gap_243edfb7-315c-4aa1-b96a-3b25fadbd941.md
new file mode 100644
index 0000000000000000000000000000000000000000..3d2e1bfaf3bf697f0d97ef64a11aafe2089140e9
--- /dev/null
+++ b/gap_reports/gap_243edfb7-315c-4aa1-b96a-3b25fadbd941.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/243edfb7-315c-4aa1-b96a-3b25fadbd941.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/243edfb7-315c-4aa1-b96a-3b25fadbd941.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1577 |
+| Sim rows | 160 |
+| Real episode_id | `243edfb7-315c-4aa1-b96a-3b25fadbd941` |
+| Sim episode_id | `243edfb7-315c-4aa1-b96a-3b25fadbd941` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 151 | 15 | 2.020 | 12.92 | 22.38 | 445.11 | 0.7567 |
+| 1 | descend | 78 | 8 | 0.730 | 4.78 | 8.28 | 6.37 | 0.7377 |
+| 2 | settle | 20 | 3 | 0.025 | 3.20 | 5.55 | 6.73 | 0.7649 |
+| 3 | close | 323 | 32 | 0.154 | 3.78 | 6.55 | 3622.45 | 1.2772 |
+| 4 | lift | 79 | 8 | 0.643 | 4.14 | 7.17 | 3263.72 | 1.4090 |
+| 5 | move_xy | 158 | 17 | 6.636 | 17.23 | 29.84 | 1670.64 | 1.2557 |
+| 6 | lower | 78 | 8 | 13.548 | 4.25 | 7.37 | 526.14 | 1.1745 |
+| 7 | open | 292 | 29 | 13.515 | 2.58 | 4.47 | 525.36 | 0.7102 |
+| 8 | retract | 77 | 8 | 13.542 | 3.92 | 6.79 | 524.90 | 0.7648 |
+| 9 | return | 321 | 32 | 7.515 | 11.19 | 19.38 | 1296.85 | 0.7768 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 8.094 |
+| TCP position RMSE (mm, per-axis) | 8.33 |
+| EE position RMS L2 (mm) | 15.41 |
+| TCP rotvec (mrad) | 1710.95 |
+| W1 effort mean (A) | 0.9453 |
+| W1 effort per joint (A) | j0=0.2291, j1=1.7288, j2=1.6241, j3=0.8167, j4=0.4881, j5=0.7850 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00210 | -0.00470 | -0.00108 | 0.00526 | 0.061 |
+| 1 | 0.00243 | -0.00483 | -0.00131 | 0.00556 | 0.048 |
+| 2 | 0.00241 | -0.00483 | -0.00139 | 0.00557 | 0.053 |
+| 3 | 0.00275 | -0.00381 | -0.00423 | 0.00632 | 0.272 |
+| 4 | 0.00188 | -0.00395 | -0.00379 | 0.00579 | 0.279 |
+| 5 | 0.00173 | -0.00369 | -0.00138 | 0.00430 | 33.121 |
+| 6 | 0.00283 | -0.00302 | -0.00172 | 0.00448 | 33.109 |
+| 7 | 0.00208 | -0.00394 | -0.00015 | 0.00446 | 33.104 |
+| 8 | 0.00154 | -0.00402 | -0.00031 | 0.00432 | 33.139 |
+| 9 | -0.00007 | -0.00008 | -0.00021 | 0.00023 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_244aaf66-0d2f-453c-9fb3-e699de8f5d67.md b/gap_reports/gap_244aaf66-0d2f-453c-9fb3-e699de8f5d67.md
new file mode 100644
index 0000000000000000000000000000000000000000..f47a6e23a572b083f274266bb1dddd220d60de6b
--- /dev/null
+++ b/gap_reports/gap_244aaf66-0d2f-453c-9fb3-e699de8f5d67.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/244aaf66-0d2f-453c-9fb3-e699de8f5d67.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/244aaf66-0d2f-453c-9fb3-e699de8f5d67.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2782 |
+| Sim rows | 247 |
+| Real episode_id | `244aaf66-0d2f-453c-9fb3-e699de8f5d67` |
+| Sim episode_id | `244aaf66-0d2f-453c-9fb3-e699de8f5d67` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 217 | 19 | 3.049 | 13.72 | 23.77 | 1922.15 | 0.5875 |
+| 1 | descend | 509 | 44 | 0.667 | 4.45 | 7.71 | 3625.40 | 0.7247 |
+| 2 | settle | 367 | 32 | 0.022 | 0.76 | 1.31 | 3625.26 | 0.7179 |
+| 3 | close | 129 | 12 | 1.009 | 6.52 | 11.29 | 3159.94 | 0.9563 |
+| 4 | lift | 317 | 28 | 2.684 | 12.46 | 21.59 | 2283.07 | 1.0979 |
+| 5 | move_xy | 411 | 36 | 6.883 | 35.36 | 61.25 | 2778.35 | 0.8837 |
+| 6 | lower | 386 | 34 | 0.087 | 1.37 | 2.38 | 3340.62 | 0.9814 |
+| 7 | open | 128 | 12 | 0.871 | 5.55 | 9.62 | 3625.48 | 0.6525 |
+| 8 | retract | 318 | 28 | 2.808 | 13.21 | 22.87 | 2353.42 | 0.7310 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.867 |
+| TCP position RMSE (mm, per-axis) | 14.39 |
+| EE position RMS L2 (mm) | 27.08 |
+| TCP rotvec (mrad) | 3032.05 |
+| W1 effort mean (A) | 0.7990 |
+| W1 effort per joint (A) | j0=0.2312, j1=1.3259, j2=1.6497, j3=0.7411, j4=0.2894, j5=0.5568 |
+
+## Phase-end anchor (sim - 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 | -0.00025 | -0.00069 | 0.00097 | 0.038 |
+| 1 | 0.00064 | -0.00062 | -0.00101 | 0.00134 | 0.047 |
+| 2 | 0.00063 | -0.00063 | -0.00096 | 0.00131 | 0.042 |
+| 3 | 0.00109 | -0.00045 | -0.00124 | 0.00171 | 0.122 |
+| 4 | 0.00012 | -0.00031 | -0.00037 | 0.00050 | 0.088 |
+| 5 | 0.00140 | -0.00082 | -0.00224 | 0.00276 | 0.148 |
+| 6 | 0.00175 | -0.00084 | -0.00124 | 0.00231 | 0.157 |
+| 7 | 0.00042 | -0.00037 | -0.00075 | 0.00094 | 0.048 |
+| 8 | -0.00012 | -0.00018 | -0.00021 | 0.00030 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2454263c-ddbf-48e9-8014-a80b7612e183.md b/gap_reports/gap_2454263c-ddbf-48e9-8014-a80b7612e183.md
new file mode 100644
index 0000000000000000000000000000000000000000..da913d846856acd30c240a223906f471d7937f3c
--- /dev/null
+++ b/gap_reports/gap_2454263c-ddbf-48e9-8014-a80b7612e183.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2454263c-ddbf-48e9-8014-a80b7612e183.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2454263c-ddbf-48e9-8014-a80b7612e183.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1011 |
+| Sim rows | 106 |
+| Real episode_id | `2454263c-ddbf-48e9-8014-a80b7612e183` |
+| Sim episode_id | `2454263c-ddbf-48e9-8014-a80b7612e183` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 151 | 15 | 2.999 | 15.03 | 26.03 | 729.20 | 0.6991 |
+| 1 | descend | 69 | 8 | 0.415 | 3.04 | 5.27 | 4.97 | 0.7436 |
+| 2 | settle | 35 | 4 | 0.027 | 2.31 | 4.00 | 5.52 | 0.7576 |
+| 3 | close | 30 | 4 | 0.095 | 2.06 | 3.56 | 7.11 | 1.2146 |
+| 4 | lift | 76 | 8 | 0.670 | 3.66 | 6.34 | 6.76 | 1.2607 |
+| 5 | move_xy | 178 | 18 | 4.369 | 22.02 | 38.15 | 43.61 | 1.2619 |
+| 6 | lower | 72 | 8 | 0.944 | 3.43 | 5.95 | 10.32 | 1.2749 |
+| 7 | open | 95 | 10 | 0.035 | 3.28 | 5.68 | 7.62 | 0.8057 |
+| 8 | retract | 73 | 8 | 0.887 | 4.33 | 7.50 | 7.34 | 0.8213 |
+| 9 | return | 232 | 23 | 3.969 | 17.30 | 29.96 | 1192.80 | 0.6949 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.148 |
+| TCP position RMSE (mm, per-axis) | 10.41 |
+| EE position RMS L2 (mm) | 24.06 |
+| TCP rotvec (mrad) | 442.35 |
+| W1 effort mean (A) | 0.8764 |
+| W1 effort per joint (A) | j0=0.1834, j1=1.9817, j2=1.5387, j3=0.7113, j4=0.3920, j5=0.4509 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00210 | -0.00316 | -0.00019 | 0.00379 | 0.070 |
+| 1 | 0.00261 | -0.00303 | -0.00020 | 0.00401 | 0.040 |
+| 2 | 0.00259 | -0.00302 | -0.00043 | 0.00400 | 0.065 |
+| 3 | 0.00240 | -0.00247 | -0.00064 | 0.00350 | 0.157 |
+| 4 | 0.00224 | -0.00268 | -0.00044 | 0.00352 | 0.167 |
+| 5 | 0.00081 | -0.00338 | -0.00155 | 0.00380 | 0.229 |
+| 6 | 0.00109 | -0.00325 | -0.00070 | 0.00350 | 0.228 |
+| 7 | 0.00286 | -0.00465 | -0.00165 | 0.00570 | 0.081 |
+| 8 | 0.00265 | -0.00490 | -0.00144 | 0.00575 | 0.100 |
+| 9 | -0.00019 | -0.00020 | -0.00034 | 0.00043 | 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.
diff --git a/gap_reports/gap_24782e25-40da-4c71-b0aa-5cf4f53002d7.md b/gap_reports/gap_24782e25-40da-4c71-b0aa-5cf4f53002d7.md
new file mode 100644
index 0000000000000000000000000000000000000000..ef2152a2d4c8154ef1419f21368dc9d2231cddd5
--- /dev/null
+++ b/gap_reports/gap_24782e25-40da-4c71-b0aa-5cf4f53002d7.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/24782e25-40da-4c71-b0aa-5cf4f53002d7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/24782e25-40da-4c71-b0aa-5cf4f53002d7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2495 |
+| Sim rows | 222 |
+| Real episode_id | `24782e25-40da-4c71-b0aa-5cf4f53002d7` |
+| Sim episode_id | `24782e25-40da-4c71-b0aa-5cf4f53002d7` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 22 | 3.264 | 16.82 | 29.14 | 1892.99 | 0.6595 |
+| 1 | descend | 249 | 22 | 0.833 | 5.86 | 10.15 | 3624.69 | 1.1278 |
+| 2 | settle | 364 | 32 | 0.027 | 0.98 | 1.69 | 3624.60 | 1.0330 |
+| 3 | close | 105 | 10 | 0.511 | 3.86 | 6.68 | 3625.03 | 1.2715 |
+| 4 | lift | 299 | 26 | 2.884 | 16.15 | 27.97 | 2371.95 | 1.2979 |
+| 5 | move_xy | 420 | 37 | 6.452 | 37.61 | 65.15 | 2751.31 | 1.1407 |
+| 6 | lower | 403 | 35 | 0.091 | 1.69 | 2.93 | 3624.97 | 1.4257 |
+| 7 | open | 105 | 10 | 0.495 | 3.54 | 6.13 | 3624.70 | 0.9705 |
+| 8 | retract | 297 | 26 | 2.911 | 16.45 | 28.49 | 2351.59 | 0.9142 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.794 |
+| TCP position RMSE (mm, per-axis) | 15.97 |
+| EE position RMS L2 (mm) | 31.73 |
+| TCP rotvec (mrad) | 3127.03 |
+| W1 effort mean (A) | 1.1006 |
+| W1 effort per joint (A) | j0=0.7170, j1=1.4546, j2=1.9283, j3=1.1170, j4=0.7597, j5=0.6270 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00086 | -0.00045 | -0.00083 | 0.00128 | 0.027 |
+| 1 | 0.00087 | -0.00074 | -0.00120 | 0.00166 | 0.059 |
+| 2 | 0.00093 | -0.00077 | -0.00117 | 0.00168 | 0.055 |
+| 3 | 0.00185 | -0.00058 | -0.00114 | 0.00225 | 0.131 |
+| 4 | 0.00035 | -0.00011 | -0.00043 | 0.00057 | 0.106 |
+| 5 | 0.00236 | -0.00095 | -0.00154 | 0.00298 | 0.189 |
+| 6 | 0.00237 | -0.00108 | -0.00116 | 0.00286 | 0.176 |
+| 7 | 0.00070 | -0.00048 | -0.00098 | 0.00130 | 0.046 |
+| 8 | -0.00015 | -0.00024 | -0.00022 | 0.00035 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_248b5fc5-8930-4199-9c93-8de7168d27e1.md b/gap_reports/gap_248b5fc5-8930-4199-9c93-8de7168d27e1.md
new file mode 100644
index 0000000000000000000000000000000000000000..be3e6facd07d94ca35cfbaef4db211c8a284d816
--- /dev/null
+++ b/gap_reports/gap_248b5fc5-8930-4199-9c93-8de7168d27e1.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/248b5fc5-8930-4199-9c93-8de7168d27e1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/248b5fc5-8930-4199-9c93-8de7168d27e1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2893 |
+| Sim rows | 257 |
+| Real episode_id | `248b5fc5-8930-4199-9c93-8de7168d27e1` |
+| Sim episode_id | `248b5fc5-8930-4199-9c93-8de7168d27e1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 210 | 19 | 3.447 | 16.85 | 29.18 | 1871.91 | 0.6408 |
+| 1 | descend | 295 | 26 | 1.210 | 8.54 | 14.79 | 3624.75 | 0.7696 |
+| 2 | settle | 377 | 33 | 0.027 | 1.00 | 1.74 | 3624.59 | 0.7775 |
+| 3 | close | 166 | 15 | 0.781 | 5.64 | 9.77 | 3625.05 | 1.0579 |
+| 4 | lift | 446 | 39 | 3.619 | 18.86 | 32.66 | 2445.80 | 1.1374 |
+| 5 | move_xy | 388 | 34 | 8.862 | 48.40 | 83.84 | 2832.94 | 0.9643 |
+| 6 | lower | 401 | 35 | 0.097 | 1.81 | 3.13 | 3625.02 | 1.0117 |
+| 7 | open | 166 | 15 | 0.942 | 6.49 | 11.24 | 3624.72 | 0.7790 |
+| 8 | retract | 444 | 39 | 3.535 | 18.48 | 32.01 | 2451.03 | 0.7568 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.636 |
+| TCP position RMSE (mm, per-axis) | 19.65 |
+| EE position RMS L2 (mm) | 36.92 |
+| TCP rotvec (mrad) | 3148.47 |
+| W1 effort mean (A) | 0.8679 |
+| W1 effort per joint (A) | j0=0.2400, j1=1.6422, j2=1.6028, j3=0.7672, j4=0.3496, j5=0.6056 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00107 | -0.00023 | -0.00067 | 0.00128 | 0.029 |
+| 1 | 0.00145 | -0.00062 | -0.00119 | 0.00198 | 0.059 |
+| 2 | 0.00114 | -0.00065 | -0.00119 | 0.00177 | 0.057 |
+| 3 | 0.00176 | -0.00026 | -0.00110 | 0.00209 | 0.099 |
+| 4 | 0.00019 | -0.00034 | -0.00048 | 0.00061 | 0.091 |
+| 5 | 0.00203 | -0.00078 | -0.00096 | 0.00238 | 0.121 |
+| 6 | 0.00206 | -0.00095 | -0.00080 | 0.00241 | 0.117 |
+| 7 | 0.00091 | -0.00026 | -0.00095 | 0.00134 | 0.054 |
+| 8 | -0.00010 | -0.00012 | -0.00015 | 0.00022 | 0.021 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_24971ca9-a1e6-4397-9de5-59f843f23246.md b/gap_reports/gap_24971ca9-a1e6-4397-9de5-59f843f23246.md
new file mode 100644
index 0000000000000000000000000000000000000000..22f356ee076877ee6b9795471e92aaec15aa8d26
--- /dev/null
+++ b/gap_reports/gap_24971ca9-a1e6-4397-9de5-59f843f23246.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/24971ca9-a1e6-4397-9de5-59f843f23246.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/24971ca9-a1e6-4397-9de5-59f843f23246.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2615 |
+| Sim rows | 235 |
+| Real episode_id | `24971ca9-a1e6-4397-9de5-59f843f23246` |
+| Sim episode_id | `24971ca9-a1e6-4397-9de5-59f843f23246` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.062 | 11.05 | 19.14 | 1909.41 | 0.6689 |
+| 1 | descend | 492 | 43 | 0.416 | 3.05 | 5.29 | 3624.65 | 1.0861 |
+| 2 | settle | 377 | 33 | 0.027 | 0.97 | 1.68 | 3624.53 | 1.0919 |
+| 3 | close | 162 | 15 | 0.606 | 4.31 | 7.46 | 3625.09 | 1.3182 |
+| 4 | lift | 280 | 25 | 2.284 | 13.81 | 23.93 | 2292.78 | 1.2992 |
+| 5 | move_xy | 301 | 27 | 4.918 | 30.55 | 52.91 | 2787.63 | 1.1189 |
+| 6 | lower | 389 | 34 | 0.092 | 1.66 | 2.88 | 3625.09 | 1.4336 |
+| 7 | open | 162 | 15 | 0.551 | 3.89 | 6.74 | 3624.73 | 0.9351 |
+| 8 | retract | 279 | 25 | 2.291 | 13.73 | 23.79 | 2317.02 | 0.9059 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.102 |
+| TCP position RMSE (mm, per-axis) | 12.83 |
+| EE position RMS L2 (mm) | 21.94 |
+| TCP rotvec (mrad) | 3122.30 |
+| W1 effort mean (A) | 1.1153 |
+| W1 effort per joint (A) | j0=0.7947, j1=1.5245, j2=1.9188, j3=1.1378, j4=0.7290, j5=0.5868 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00078 | -0.00051 | -0.00071 | 0.00117 | 0.029 |
+| 1 | 0.00075 | -0.00087 | -0.00124 | 0.00169 | 0.062 |
+| 2 | 0.00078 | -0.00087 | -0.00119 | 0.00167 | 0.055 |
+| 3 | 0.00168 | -0.00065 | -0.00103 | 0.00208 | 0.133 |
+| 4 | 0.00015 | -0.00028 | -0.00043 | 0.00053 | 0.066 |
+| 5 | 0.00193 | -0.00133 | -0.00199 | 0.00307 | 0.157 |
+| 6 | 0.00164 | -0.00114 | -0.00125 | 0.00236 | 0.109 |
+| 7 | 0.00070 | -0.00058 | -0.00100 | 0.00135 | 0.044 |
+| 8 | -0.00015 | -0.00021 | -0.00020 | 0.00033 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2497feeb-c43e-4b9c-b0f2-01e069f6746b.md b/gap_reports/gap_2497feeb-c43e-4b9c-b0f2-01e069f6746b.md
new file mode 100644
index 0000000000000000000000000000000000000000..4b0640e7aa979b1008c32d27d018c9ebc5c71030
--- /dev/null
+++ b/gap_reports/gap_2497feeb-c43e-4b9c-b0f2-01e069f6746b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2497feeb-c43e-4b9c-b0f2-01e069f6746b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2497feeb-c43e-4b9c-b0f2-01e069f6746b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2755 |
+| Sim rows | 244 |
+| Real episode_id | `2497feeb-c43e-4b9c-b0f2-01e069f6746b` |
+| Sim episode_id | `2497feeb-c43e-4b9c-b0f2-01e069f6746b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 266 | 23 | 3.321 | 16.79 | 29.08 | 1937.55 | 0.6181 |
+| 1 | descend | 377 | 33 | 0.899 | 6.53 | 11.31 | 3624.81 | 0.8557 |
+| 2 | settle | 374 | 33 | 0.027 | 0.91 | 1.58 | 3624.64 | 0.6817 |
+| 3 | close | 119 | 11 | 0.670 | 4.81 | 8.33 | 3377.01 | 1.0231 |
+| 4 | lift | 340 | 30 | 2.986 | 16.16 | 28.00 | 2399.86 | 1.1728 |
+| 5 | move_xy | 439 | 38 | 6.361 | 36.39 | 63.03 | 2697.01 | 0.9271 |
+| 6 | lower | 383 | 33 | 0.088 | 1.58 | 2.73 | 3625.23 | 0.9847 |
+| 7 | open | 119 | 11 | 0.667 | 4.62 | 8.00 | 3624.77 | 0.7353 |
+| 8 | retract | 338 | 30 | 3.050 | 16.60 | 28.74 | 2422.86 | 0.7507 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.817 |
+| TCP position RMSE (mm, per-axis) | 15.75 |
+| EE position RMS L2 (mm) | 30.62 |
+| TCP rotvec (mrad) | 3102.33 |
+| W1 effort mean (A) | 0.8384 |
+| W1 effort per joint (A) | j0=0.2182, j1=1.4623, j2=1.6504, j3=0.8193, j4=0.2816, j5=0.5986 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00092 | -0.00035 | -0.00077 | 0.00125 | 0.025 |
+| 1 | 0.00091 | -0.00065 | -0.00112 | 0.00158 | 0.048 |
+| 2 | 0.00093 | -0.00066 | -0.00112 | 0.00160 | 0.051 |
+| 3 | 0.00125 | -0.00055 | -0.00054 | 0.00147 | 0.083 |
+| 4 | 0.00008 | -0.00052 | -0.00057 | 0.00078 | 0.085 |
+| 5 | 0.00186 | -0.00087 | -0.00111 | 0.00234 | 0.116 |
+| 6 | 0.00211 | -0.00094 | -0.00148 | 0.00274 | 0.156 |
+| 7 | 0.00073 | -0.00041 | -0.00097 | 0.00128 | 0.058 |
+| 8 | -0.00012 | -0.00018 | -0.00018 | 0.00028 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_24a09586-985a-444a-bd48-8e50f68645ce.md b/gap_reports/gap_24a09586-985a-444a-bd48-8e50f68645ce.md
new file mode 100644
index 0000000000000000000000000000000000000000..7c4d2ffd191bd16164d9cf2c51a21814509da905
--- /dev/null
+++ b/gap_reports/gap_24a09586-985a-444a-bd48-8e50f68645ce.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/24a09586-985a-444a-bd48-8e50f68645ce.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/24a09586-985a-444a-bd48-8e50f68645ce.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2736 |
+| Sim rows | 244 |
+| Real episode_id | `24a09586-985a-444a-bd48-8e50f68645ce` |
+| Sim episode_id | `24a09586-985a-444a-bd48-8e50f68645ce` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 196 | 18 | 2.728 | 12.11 | 20.97 | 1972.14 | 0.6034 |
+| 1 | descend | 461 | 40 | 0.933 | 5.98 | 10.36 | 3625.41 | 0.9589 |
+| 2 | settle | 349 | 31 | 0.024 | 0.77 | 1.33 | 3625.30 | 1.0965 |
+| 3 | close | 181 | 16 | 1.023 | 6.55 | 11.35 | 3195.30 | 1.1675 |
+| 4 | lift | 313 | 28 | 3.266 | 15.15 | 26.24 | 2287.84 | 1.2577 |
+| 5 | move_xy | 350 | 31 | 5.342 | 26.78 | 46.39 | 2695.72 | 1.0272 |
+| 6 | lower | 393 | 34 | 0.083 | 1.33 | 2.30 | 3552.08 | 1.4137 |
+| 7 | open | 181 | 16 | 0.979 | 6.19 | 10.71 | 3625.52 | 0.8278 |
+| 8 | retract | 312 | 28 | 3.232 | 15.07 | 26.11 | 2428.57 | 0.8904 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.581 |
+| TCP position RMSE (mm, per-axis) | 12.65 |
+| EE position RMS L2 (mm) | 22.33 |
+| TCP rotvec (mrad) | 3064.97 |
+| W1 effort mean (A) | 1.0430 |
+| W1 effort per joint (A) | j0=0.6461, j1=1.3996, j2=1.9250, j3=1.0724, j4=0.6297, j5=0.5853 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00055 | -0.00017 | -0.00069 | 0.00090 | 0.044 |
+| 1 | 0.00081 | -0.00066 | -0.00103 | 0.00146 | 0.045 |
+| 2 | 0.00062 | -0.00063 | -0.00098 | 0.00132 | 0.045 |
+| 3 | 0.00106 | -0.00032 | -0.00070 | 0.00132 | 0.077 |
+| 4 | 0.00015 | -0.00030 | -0.00031 | 0.00046 | 0.103 |
+| 5 | 0.00153 | -0.00078 | -0.00081 | 0.00190 | 0.116 |
+| 6 | 0.00123 | -0.00091 | -0.00167 | 0.00226 | 0.125 |
+| 7 | 0.00043 | -0.00033 | -0.00076 | 0.00094 | 0.052 |
+| 8 | -0.00010 | -0.00018 | -0.00020 | 0.00029 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_24a7164c-227e-4028-ae6d-2ddd8bd809e6.md b/gap_reports/gap_24a7164c-227e-4028-ae6d-2ddd8bd809e6.md
new file mode 100644
index 0000000000000000000000000000000000000000..acb73e483fcb6cb46e16364478c624b692745e56
--- /dev/null
+++ b/gap_reports/gap_24a7164c-227e-4028-ae6d-2ddd8bd809e6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/24a7164c-227e-4028-ae6d-2ddd8bd809e6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/24a7164c-227e-4028-ae6d-2ddd8bd809e6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2676 |
+| Sim rows | 238 |
+| Real episode_id | `24a7164c-227e-4028-ae6d-2ddd8bd809e6` |
+| Sim episode_id | `24a7164c-227e-4028-ae6d-2ddd8bd809e6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 205 | 19 | 3.073 | 14.78 | 25.60 | 1961.08 | 0.6281 |
+| 1 | descend | 318 | 28 | 1.130 | 7.78 | 13.48 | 3624.78 | 0.7726 |
+| 2 | settle | 371 | 33 | 0.027 | 0.96 | 1.67 | 3624.54 | 0.7567 |
+| 3 | close | 206 | 18 | 1.080 | 7.36 | 12.74 | 3625.02 | 1.0336 |
+| 4 | lift | 289 | 25 | 2.952 | 16.03 | 27.76 | 2431.46 | 1.1646 |
+| 5 | move_xy | 394 | 35 | 7.071 | 40.79 | 70.64 | 2875.73 | 0.9657 |
+| 6 | lower | 403 | 35 | 0.095 | 1.74 | 3.01 | 3625.03 | 1.0485 |
+| 7 | open | 203 | 18 | 1.031 | 7.09 | 12.29 | 3624.74 | 0.7452 |
+| 8 | retract | 287 | 25 | 2.829 | 15.32 | 26.54 | 2458.39 | 0.7622 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.975 |
+| TCP position RMSE (mm, per-axis) | 16.81 |
+| EE position RMS L2 (mm) | 31.48 |
+| TCP rotvec (mrad) | 3158.20 |
+| W1 effort mean (A) | 0.8676 |
+| W1 effort per joint (A) | j0=0.2390, j1=1.5610, j2=1.6908, j3=0.7902, j4=0.3050, j5=0.6195 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00090 | -0.00027 | -0.00073 | 0.00120 | 0.030 |
+| 1 | 0.00089 | -0.00075 | -0.00120 | 0.00167 | 0.059 |
+| 2 | 0.00091 | -0.00073 | -0.00122 | 0.00169 | 0.057 |
+| 3 | 0.00188 | -0.00044 | -0.00245 | 0.00312 | 0.223 |
+| 4 | 0.00003 | -0.00041 | -0.00028 | 0.00050 | 0.088 |
+| 5 | 0.00187 | -0.00106 | -0.00074 | 0.00228 | 0.116 |
+| 6 | 0.00239 | -0.00104 | -0.00206 | 0.00332 | 0.207 |
+| 7 | 0.00077 | -0.00036 | -0.00102 | 0.00132 | 0.065 |
+| 8 | -0.00012 | -0.00022 | -0.00022 | 0.00033 | 0.037 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_24c03d00-d30a-400d-bfc1-d927965ca743.md b/gap_reports/gap_24c03d00-d30a-400d-bfc1-d927965ca743.md
new file mode 100644
index 0000000000000000000000000000000000000000..98657a33447b8c5a628afc5ed81f32bf66d65092
--- /dev/null
+++ b/gap_reports/gap_24c03d00-d30a-400d-bfc1-d927965ca743.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/24c03d00-d30a-400d-bfc1-d927965ca743.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/24c03d00-d30a-400d-bfc1-d927965ca743.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1584 |
+| Sim rows | 160 |
+| Real episode_id | `24c03d00-d30a-400d-bfc1-d927965ca743` |
+| Sim episode_id | `24c03d00-d30a-400d-bfc1-d927965ca743` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 117 | 12 | 2.128 | 8.00 | 13.86 | 651.37 | 0.6649 |
+| 1 | descend | 77 | 8 | 0.958 | 4.44 | 7.70 | 3.89 | 0.5833 |
+| 2 | settle | 40 | 5 | 0.017 | 2.35 | 4.07 | 4.57 | 0.5916 |
+| 3 | close | 394 | 39 | 0.103 | 2.46 | 4.25 | 8.72 | 1.1516 |
+| 4 | lift | 77 | 8 | 0.891 | 4.32 | 7.48 | 7.98 | 1.2257 |
+| 5 | move_xy | 170 | 17 | 2.763 | 15.03 | 26.03 | 57.11 | 1.2112 |
+| 6 | lower | 79 | 8 | 0.860 | 5.35 | 9.26 | 10.80 | 1.2124 |
+| 7 | open | 350 | 35 | 0.024 | 3.09 | 5.35 | 5.99 | 0.6552 |
+| 8 | retract | 78 | 8 | 0.795 | 4.38 | 7.59 | 5.37 | 0.7608 |
+| 9 | return | 202 | 20 | 2.840 | 21.43 | 37.11 | 1120.46 | 0.7173 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.527 |
+| TCP position RMSE (mm, per-axis) | 9.25 |
+| EE position RMS L2 (mm) | 16.93 |
+| TCP rotvec (mrad) | 410.28 |
+| W1 effort mean (A) | 0.8784 |
+| W1 effort per joint (A) | j0=0.1667, j1=1.5149, j2=1.5779, j3=0.7715, j4=0.6534, j5=0.5863 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00150 | -0.00327 | -0.00006 | 0.00360 | 0.052 |
+| 1 | 0.00225 | -0.00340 | 0.00003 | 0.00407 | 0.058 |
+| 2 | 0.00221 | -0.00341 | -0.00015 | 0.00406 | 0.034 |
+| 3 | 0.00278 | -0.00355 | -0.00025 | 0.00451 | 0.129 |
+| 4 | 0.00202 | -0.00351 | -0.00043 | 0.00407 | 0.116 |
+| 5 | 0.00158 | -0.00550 | -0.00184 | 0.00601 | 0.174 |
+| 6 | 0.00180 | -0.00567 | -0.00128 | 0.00609 | 0.141 |
+| 7 | 0.00185 | -0.00481 | -0.00143 | 0.00534 | 0.048 |
+| 8 | 0.00146 | -0.00438 | -0.00163 | 0.00489 | 0.066 |
+| 9 | -0.00035 | -0.00010 | -0.00035 | 0.00050 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_24c9b2cb-385a-46ed-a6b7-44b2b29cc53e.md b/gap_reports/gap_24c9b2cb-385a-46ed-a6b7-44b2b29cc53e.md
new file mode 100644
index 0000000000000000000000000000000000000000..e55abbe1c541e781dd83fcb01ace506f61a915f3
--- /dev/null
+++ b/gap_reports/gap_24c9b2cb-385a-46ed-a6b7-44b2b29cc53e.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/24c9b2cb-385a-46ed-a6b7-44b2b29cc53e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/24c9b2cb-385a-46ed-a6b7-44b2b29cc53e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1095 |
+| Sim rows | 115 |
+| Real episode_id | `24c9b2cb-385a-46ed-a6b7-44b2b29cc53e` |
+| Sim episode_id | `24c9b2cb-385a-46ed-a6b7-44b2b29cc53e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 158 | 16 | 4.124 | 16.67 | 28.87 | 1516.98 | 0.7257 |
+| 1 | descend | 80 | 9 | 1.000 | 4.33 | 7.50 | 4.16 | 0.5180 |
+| 2 | settle | 12 | 2 | 0.057 | 2.79 | 4.83 | 4.71 | 0.5422 |
+| 3 | close | 41 | 5 | 0.063 | 2.88 | 4.98 | 1109.82 | 0.9306 |
+| 4 | lift | 100 | 11 | 1.361 | 5.55 | 9.61 | 4.03 | 1.0168 |
+| 5 | move_xy | 228 | 23 | 10.526 | 37.34 | 64.67 | 995.59 | 0.9716 |
+| 6 | lower | 68 | 8 | 0.547 | 4.03 | 6.97 | 9.94 | 1.2691 |
+| 7 | open | 86 | 9 | 0.034 | 2.44 | 4.23 | 6.13 | 0.8044 |
+| 8 | retract | 68 | 7 | 0.454 | 3.17 | 5.50 | 5.82 | 0.8411 |
+| 9 | return | 254 | 25 | 3.841 | 24.51 | 42.45 | 299.45 | 0.7812 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.820 |
+| TCP position RMSE (mm, per-axis) | 15.40 |
+| EE position RMS L2 (mm) | 37.81 |
+| TCP rotvec (mrad) | 679.27 |
+| W1 effort mean (A) | 0.8299 |
+| W1 effort per joint (A) | j0=0.3150, j1=1.4774, j2=1.4589, j3=0.7426, j4=0.4317, j5=0.5537 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00171 | -0.00402 | -0.00038 | 0.00438 | 0.039 |
+| 1 | 0.00170 | -0.00451 | -0.00027 | 0.00482 | 0.050 |
+| 2 | 0.00171 | -0.00451 | -0.00039 | 0.00483 | 0.023 |
+| 3 | 0.00194 | -0.00441 | -0.00077 | 0.00488 | 0.085 |
+| 4 | 0.00188 | -0.00369 | -0.00160 | 0.00443 | 0.169 |
+| 5 | 0.00349 | -0.00242 | -0.00397 | 0.00581 | 0.381 |
+| 6 | 0.00350 | -0.00201 | -0.00301 | 0.00503 | 0.241 |
+| 7 | 0.00310 | -0.00285 | -0.00061 | 0.00425 | 0.075 |
+| 8 | 0.00312 | -0.00302 | -0.00073 | 0.00441 | 0.084 |
+| 9 | -0.00009 | -0.00017 | -0.00031 | 0.00037 | 0.047 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_24d4cc12-30e0-40d5-b995-3df3382fdb3b.md b/gap_reports/gap_24d4cc12-30e0-40d5-b995-3df3382fdb3b.md
new file mode 100644
index 0000000000000000000000000000000000000000..38d03ec711c51e0d2db30e23620c55d325e7bb46
--- /dev/null
+++ b/gap_reports/gap_24d4cc12-30e0-40d5-b995-3df3382fdb3b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/24d4cc12-30e0-40d5-b995-3df3382fdb3b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/24d4cc12-30e0-40d5-b995-3df3382fdb3b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2610 |
+| Sim rows | 233 |
+| Real episode_id | `24d4cc12-30e0-40d5-b995-3df3382fdb3b` |
+| Sim episode_id | `24d4cc12-30e0-40d5-b995-3df3382fdb3b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 185 | 17 | 2.111 | 11.67 | 20.22 | 1940.26 | 0.6184 |
+| 1 | descend | 297 | 26 | 1.270 | 8.71 | 15.09 | 3624.64 | 0.8306 |
+| 2 | settle | 362 | 32 | 0.028 | 0.97 | 1.68 | 3624.55 | 0.7927 |
+| 3 | close | 141 | 13 | 0.975 | 6.85 | 11.87 | 3625.10 | 1.0460 |
+| 4 | lift | 386 | 34 | 2.507 | 14.52 | 25.15 | 2377.44 | 1.1096 |
+| 5 | move_xy | 331 | 29 | 5.467 | 33.63 | 58.24 | 2697.31 | 0.9636 |
+| 6 | lower | 381 | 33 | 0.100 | 1.75 | 3.04 | 3548.65 | 1.1321 |
+| 7 | open | 141 | 13 | 0.856 | 5.89 | 10.21 | 3624.73 | 0.7426 |
+| 8 | retract | 386 | 34 | 2.492 | 14.47 | 25.07 | 2377.13 | 0.7384 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.361 |
+| TCP position RMSE (mm, per-axis) | 14.33 |
+| EE position RMS L2 (mm) | 26.20 |
+| TCP rotvec (mrad) | 3117.89 |
+| W1 effort mean (A) | 0.8811 |
+| W1 effort per joint (A) | j0=0.2724, j1=1.6188, j2=1.6822, j3=0.7170, j4=0.3983, j5=0.5981 |
+
+## Phase-end anchor (sim - 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 | -0.00041 | -0.00073 | 0.00115 | 0.037 |
+| 1 | 0.00081 | -0.00089 | -0.00119 | 0.00169 | 0.056 |
+| 2 | 0.00079 | -0.00086 | -0.00121 | 0.00168 | 0.054 |
+| 3 | 0.00191 | -0.00056 | -0.00104 | 0.00225 | 0.155 |
+| 4 | 0.00060 | 0.00011 | -0.00015 | 0.00063 | 0.114 |
+| 5 | 0.00186 | -0.00122 | -0.00227 | 0.00318 | 0.164 |
+| 6 | 0.00193 | -0.00103 | -0.00179 | 0.00283 | 0.160 |
+| 7 | 0.00060 | -0.00050 | -0.00097 | 0.00125 | 0.044 |
+| 8 | -0.00010 | -0.00014 | -0.00014 | 0.00022 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_24db91c3-1d63-43a6-8e76-54eed8fdaeb2.md b/gap_reports/gap_24db91c3-1d63-43a6-8e76-54eed8fdaeb2.md
new file mode 100644
index 0000000000000000000000000000000000000000..d014fe6e4af19ba6a86a4c5c5d167f2d5c6fbad3
--- /dev/null
+++ b/gap_reports/gap_24db91c3-1d63-43a6-8e76-54eed8fdaeb2.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/24db91c3-1d63-43a6-8e76-54eed8fdaeb2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/24db91c3-1d63-43a6-8e76-54eed8fdaeb2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2043 |
+| Sim rows | 204 |
+| Real episode_id | `24db91c3-1d63-43a6-8e76-54eed8fdaeb2` |
+| Sim episode_id | `24db91c3-1d63-43a6-8e76-54eed8fdaeb2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 223 | 22 | 3.634 | 12.11 | 20.97 | 1103.04 | 0.7776 |
+| 1 | descend | 115 | 12 | 1.081 | 5.53 | 9.57 | 5.69 | 0.7554 |
+| 2 | settle | 13 | 2 | 0.026 | 2.74 | 4.74 | 6.25 | 0.7653 |
+| 3 | close | 380 | 37 | 0.135 | 2.01 | 3.48 | 8.06 | 1.2588 |
+| 4 | lift | 114 | 12 | 1.046 | 5.10 | 8.84 | 8.04 | 1.3576 |
+| 5 | move_xy | 283 | 28 | 13.723 | 20.74 | 35.92 | 453.45 | 1.2013 |
+| 6 | lower | 115 | 12 | 26.993 | 5.28 | 9.14 | 1033.00 | 1.3503 |
+| 7 | open | 368 | 36 | 26.955 | 2.46 | 4.26 | 1032.74 | 0.9568 |
+| 8 | retract | 116 | 12 | 26.990 | 5.49 | 9.51 | 1032.37 | 0.9519 |
+| 9 | return | 316 | 31 | 14.366 | 12.96 | 22.45 | 1048.64 | 0.8857 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 16.105 |
+| TCP position RMSE (mm, per-axis) | 9.36 |
+| EE position RMS L2 (mm) | 18.16 |
+| TCP rotvec (mrad) | 756.41 |
+| W1 effort mean (A) | 1.0268 |
+| W1 effort per joint (A) | j0=0.2019, j1=1.8777, j2=1.7076, j3=0.8562, j4=0.4542, j5=1.0634 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00180 | -0.00390 | -0.00088 | 0.00438 | 0.042 |
+| 1 | 0.00232 | -0.00399 | -0.00106 | 0.00474 | 0.049 |
+| 2 | 0.00232 | -0.00399 | -0.00114 | 0.00475 | 0.058 |
+| 3 | 0.00112 | -0.00325 | -0.00161 | 0.00379 | 0.160 |
+| 4 | 0.00030 | -0.00328 | -0.00205 | 0.00388 | 0.202 |
+| 5 | 0.00180 | -0.00320 | -0.00123 | 0.00387 | 66.070 |
+| 6 | 0.00238 | -0.00244 | -0.00169 | 0.00380 | 66.024 |
+| 7 | 0.00209 | -0.00370 | -0.00024 | 0.00425 | 66.025 |
+| 8 | 0.00175 | -0.00397 | -0.00029 | 0.00435 | 66.101 |
+| 9 | -0.00006 | -0.00015 | -0.00022 | 0.00027 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_24e171c9-a6b6-4685-a0b3-1deec41a8771.md b/gap_reports/gap_24e171c9-a6b6-4685-a0b3-1deec41a8771.md
new file mode 100644
index 0000000000000000000000000000000000000000..f278aca6fe1cb397b953891c679591d549e155a3
--- /dev/null
+++ b/gap_reports/gap_24e171c9-a6b6-4685-a0b3-1deec41a8771.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/24e171c9-a6b6-4685-a0b3-1deec41a8771.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/24e171c9-a6b6-4685-a0b3-1deec41a8771.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1706 |
+| Sim rows | 171 |
+| Real episode_id | `24e171c9-a6b6-4685-a0b3-1deec41a8771` |
+| Sim episode_id | `24e171c9-a6b6-4685-a0b3-1deec41a8771` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 154 | 16 | 5.962 | 12.91 | 22.37 | 452.44 | 0.7217 |
+| 1 | descend | 78 | 8 | 11.419 | 4.63 | 8.01 | 443.49 | 0.8650 |
+| 2 | settle | 22 | 3 | 11.377 | 3.25 | 5.63 | 443.65 | 0.8846 |
+| 3 | close | 376 | 37 | 11.376 | 4.03 | 6.98 | 445.11 | 1.3027 |
+| 4 | lift | 79 | 8 | 11.412 | 4.66 | 8.08 | 444.92 | 1.3832 |
+| 5 | move_xy | 126 | 13 | 13.024 | 11.49 | 19.90 | 489.76 | 1.2504 |
+| 6 | lower | 79 | 8 | 14.779 | 4.65 | 8.05 | 573.31 | 1.0252 |
+| 7 | open | 375 | 37 | 14.750 | 2.69 | 4.67 | 573.07 | 0.6884 |
+| 8 | retract | 78 | 8 | 14.764 | 3.56 | 6.17 | 572.26 | 0.7326 |
+| 9 | return | 339 | 33 | 8.338 | 9.75 | 16.90 | 1297.95 | 0.6638 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 12.034 |
+| TCP position RMSE (mm, per-axis) | 7.11 |
+| EE position RMS L2 (mm) | 12.56 |
+| TCP rotvec (mrad) | 624.77 |
+| W1 effort mean (A) | 0.9056 |
+| W1 effort per joint (A) | j0=0.1920, j1=1.4768, j2=1.6599, j3=0.7590, j4=0.3234, j5=1.0224 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00203 | -0.00479 | -0.00107 | 0.00531 | 27.959 |
+| 1 | 0.00243 | -0.00495 | -0.00100 | 0.00560 | 27.869 |
+| 2 | 0.00244 | -0.00494 | -0.00118 | 0.00564 | 27.863 |
+| 3 | 0.00346 | -0.00492 | -0.00396 | 0.00720 | 27.860 |
+| 4 | 0.00257 | -0.00520 | -0.00347 | 0.00676 | 27.951 |
+| 5 | 0.00159 | -0.00399 | -0.00162 | 0.00459 | 36.110 |
+| 6 | 0.00304 | -0.00351 | -0.00178 | 0.00497 | 36.127 |
+| 7 | 0.00187 | -0.00426 | -0.00010 | 0.00466 | 36.130 |
+| 8 | 0.00119 | -0.00412 | -0.00022 | 0.00430 | 36.119 |
+| 9 | -0.00013 | -0.00010 | -0.00026 | 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.
diff --git a/gap_reports/gap_24f055b0-3221-41d0-879f-9904e2028633.md b/gap_reports/gap_24f055b0-3221-41d0-879f-9904e2028633.md
new file mode 100644
index 0000000000000000000000000000000000000000..839bc1447b178b9315646b4c9487015a6824fd57
--- /dev/null
+++ b/gap_reports/gap_24f055b0-3221-41d0-879f-9904e2028633.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/24f055b0-3221-41d0-879f-9904e2028633.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/24f055b0-3221-41d0-879f-9904e2028633.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3000 |
+| Sim rows | 267 |
+| Real episode_id | `24f055b0-3221-41d0-879f-9904e2028633` |
+| Sim episode_id | `24f055b0-3221-41d0-879f-9904e2028633` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 191 | 17 | 2.620 | 11.60 | 20.09 | 1891.65 | 0.5875 |
+| 1 | descend | 585 | 51 | 0.744 | 4.96 | 8.60 | 3625.36 | 0.6891 |
+| 2 | settle | 368 | 32 | 0.024 | 0.77 | 1.33 | 3625.22 | 0.7257 |
+| 3 | close | 170 | 15 | 0.968 | 6.14 | 10.63 | 3264.66 | 0.9787 |
+| 4 | lift | 386 | 34 | 2.941 | 13.53 | 23.43 | 2159.21 | 1.0968 |
+| 5 | move_xy | 351 | 31 | 7.542 | 38.26 | 66.26 | 2830.90 | 0.8794 |
+| 6 | lower | 393 | 35 | 0.078 | 1.28 | 2.22 | 3481.09 | 1.0213 |
+| 7 | open | 171 | 16 | 1.023 | 6.47 | 11.21 | 3625.47 | 0.6419 |
+| 8 | retract | 385 | 34 | 3.122 | 14.47 | 25.07 | 2387.72 | 0.7233 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.067 |
+| TCP position RMSE (mm, per-axis) | 15.26 |
+| EE position RMS L2 (mm) | 26.82 |
+| TCP rotvec (mrad) | 3057.98 |
+| W1 effort mean (A) | 0.7948 |
+| W1 effort per joint (A) | j0=0.2570, j1=1.3454, j2=1.6109, j3=0.6859, j4=0.3209, j5=0.5487 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00059 | -0.00017 | -0.00070 | 0.00093 | 0.044 |
+| 1 | 0.00061 | -0.00061 | -0.00103 | 0.00134 | 0.046 |
+| 2 | 0.00064 | -0.00061 | -0.00102 | 0.00135 | 0.042 |
+| 3 | 0.00150 | -0.00024 | -0.00082 | 0.00173 | 0.137 |
+| 4 | 0.00002 | -0.00040 | -0.00044 | 0.00060 | 0.087 |
+| 5 | 0.00127 | -0.00095 | -0.00175 | 0.00236 | 0.139 |
+| 6 | 0.00134 | -0.00090 | -0.00099 | 0.00189 | 0.099 |
+| 7 | 0.00045 | -0.00032 | -0.00083 | 0.00100 | 0.055 |
+| 8 | -0.00009 | -0.00009 | -0.00014 | 0.00019 | 0.020 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_24ff7c0f-ae20-4a8f-9706-c62dad0d1909.md b/gap_reports/gap_24ff7c0f-ae20-4a8f-9706-c62dad0d1909.md
new file mode 100644
index 0000000000000000000000000000000000000000..29ca577adae0a12b6e289f478cc8ce5ff2b458bd
--- /dev/null
+++ b/gap_reports/gap_24ff7c0f-ae20-4a8f-9706-c62dad0d1909.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/24ff7c0f-ae20-4a8f-9706-c62dad0d1909.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/24ff7c0f-ae20-4a8f-9706-c62dad0d1909.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1077 |
+| Sim rows | 113 |
+| Real episode_id | `24ff7c0f-ae20-4a8f-9706-c62dad0d1909` |
+| Sim episode_id | `24ff7c0f-ae20-4a8f-9706-c62dad0d1909` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 172 | 17 | 3.573 | 13.80 | 23.91 | 1267.73 | 0.7833 |
+| 1 | descend | 89 | 10 | 0.669 | 4.09 | 7.08 | 5.35 | 0.6845 |
+| 2 | settle | 39 | 5 | 0.026 | 2.79 | 4.83 | 5.84 | 0.6906 |
+| 3 | close | 43 | 5 | 0.127 | 2.69 | 4.66 | 9.27 | 1.1330 |
+| 4 | lift | 112 | 12 | 0.988 | 5.43 | 9.41 | 8.71 | 1.1860 |
+| 5 | move_xy | 181 | 18 | 3.544 | 15.24 | 26.40 | 52.86 | 1.0882 |
+| 6 | lower | 91 | 10 | 0.838 | 4.23 | 7.33 | 8.56 | 1.0735 |
+| 7 | open | 83 | 9 | 0.027 | 2.46 | 4.26 | 4.92 | 0.6337 |
+| 8 | retract | 94 | 10 | 0.814 | 4.39 | 7.60 | 4.25 | 0.7126 |
+| 9 | return | 173 | 17 | 2.084 | 11.24 | 19.47 | 264.44 | 0.7726 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.802 |
+| TCP position RMSE (mm, per-axis) | 8.08 |
+| EE position RMS L2 (mm) | 17.18 |
+| TCP rotvec (mrad) | 409.90 |
+| W1 effort mean (A) | 0.8592 |
+| W1 effort per joint (A) | j0=0.2246, j1=1.6293, j2=1.5535, j3=0.7945, j4=0.4915, j5=0.4622 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00187 | -0.00390 | -0.00089 | 0.00441 | 0.042 |
+| 1 | 0.00232 | -0.00410 | -0.00111 | 0.00484 | 0.043 |
+| 2 | 0.00229 | -0.00409 | -0.00121 | 0.00484 | 0.058 |
+| 3 | 0.00225 | -0.00383 | -0.00237 | 0.00504 | 0.234 |
+| 4 | 0.00100 | -0.00332 | -0.00167 | 0.00385 | 0.346 |
+| 5 | 0.00148 | -0.00320 | -0.00120 | 0.00372 | 0.210 |
+| 6 | 0.00209 | -0.00296 | -0.00068 | 0.00369 | 0.225 |
+| 7 | 0.00242 | -0.00349 | -0.00034 | 0.00425 | 0.048 |
+| 8 | 0.00197 | -0.00359 | -0.00041 | 0.00412 | 0.047 |
+| 9 | -0.00006 | -0.00018 | -0.00030 | 0.00035 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_25007804-33db-408f-b9ca-f4bdf8f149f2.md b/gap_reports/gap_25007804-33db-408f-b9ca-f4bdf8f149f2.md
new file mode 100644
index 0000000000000000000000000000000000000000..fe9401523b21536ccd3d940c79c41e11a913b5a4
--- /dev/null
+++ b/gap_reports/gap_25007804-33db-408f-b9ca-f4bdf8f149f2.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/25007804-33db-408f-b9ca-f4bdf8f149f2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/25007804-33db-408f-b9ca-f4bdf8f149f2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 521 |
+| Sim rows | 68 |
+| Real episode_id | `25007804-33db-408f-b9ca-f4bdf8f149f2` |
+| Sim episode_id | `25007804-33db-408f-b9ca-f4bdf8f149f2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 311 | 31 | 3.869 | 21.94 | 38.01 | 501.97 | 0.7949 |
+| 1 | descend | 210 | 21 | 0.024 | 2.21 | 3.83 | 2.07 | 0.7214 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.736 |
+| TCP position RMSE (mm, per-axis) | 15.60 |
+| EE position RMS L2 (mm) | 29.47 |
+| TCP rotvec (mrad) | 354.95 |
+| W1 effort mean (A) | 0.7652 |
+| W1 effort per joint (A) | j0=0.2034, j1=1.5506, j2=1.6129, j3=0.9130, j4=0.1310, j5=0.1801 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00260 | 0.00288 | 0.00060 | 0.00393 | 0.047 |
+| 1 | -0.00232 | 0.00297 | 0.00052 | 0.00381 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2501afed-0718-4b9f-b39e-d87e4c996445.md b/gap_reports/gap_2501afed-0718-4b9f-b39e-d87e4c996445.md
new file mode 100644
index 0000000000000000000000000000000000000000..090de40e84382a2addfca5d19a531a84d0de8b00
--- /dev/null
+++ b/gap_reports/gap_2501afed-0718-4b9f-b39e-d87e4c996445.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2501afed-0718-4b9f-b39e-d87e4c996445.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2501afed-0718-4b9f-b39e-d87e4c996445.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2752 |
+| Sim rows | 246 |
+| Real episode_id | `2501afed-0718-4b9f-b39e-d87e4c996445` |
+| Sim episode_id | `2501afed-0718-4b9f-b39e-d87e4c996445` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 195 | 18 | 2.836 | 12.42 | 21.50 | 2011.00 | 0.5841 |
+| 1 | descend | 372 | 33 | 1.129 | 7.46 | 12.92 | 3625.36 | 0.6793 |
+| 2 | settle | 355 | 31 | 0.024 | 0.76 | 1.32 | 3625.25 | 0.7372 |
+| 3 | close | 126 | 12 | 0.846 | 5.45 | 9.44 | 3625.94 | 0.9657 |
+| 4 | lift | 426 | 37 | 3.254 | 15.22 | 26.37 | 2041.73 | 1.0856 |
+| 5 | move_xy | 341 | 30 | 6.141 | 31.65 | 54.82 | 2694.45 | 0.8868 |
+| 6 | lower | 387 | 34 | 0.088 | 1.40 | 2.42 | 3320.61 | 1.0062 |
+| 7 | open | 126 | 12 | 0.879 | 5.70 | 9.87 | 3625.48 | 0.6500 |
+| 8 | retract | 424 | 37 | 3.150 | 14.63 | 25.34 | 2322.41 | 0.7130 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.769 |
+| TCP position RMSE (mm, per-axis) | 13.83 |
+| EE position RMS L2 (mm) | 25.37 |
+| TCP rotvec (mrad) | 3063.59 |
+| W1 effort mean (A) | 0.8036 |
+| W1 effort per joint (A) | j0=0.2348, j1=1.3464, j2=1.6284, j3=0.6986, j4=0.3366, j5=0.5769 |
+
+## Phase-end anchor (sim - 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 | -0.00028 | -0.00065 | 0.00095 | 0.039 |
+| 1 | 0.00061 | -0.00062 | -0.00101 | 0.00133 | 0.046 |
+| 2 | 0.00064 | -0.00063 | -0.00100 | 0.00134 | 0.045 |
+| 3 | 0.00125 | -0.00040 | -0.00036 | 0.00136 | 0.106 |
+| 4 | 0.00025 | -0.00025 | -0.00038 | 0.00052 | 0.102 |
+| 5 | 0.00195 | -0.00099 | -0.00122 | 0.00250 | 0.181 |
+| 6 | 0.00144 | -0.00090 | -0.00125 | 0.00211 | 0.116 |
+| 7 | 0.00039 | -0.00035 | -0.00073 | 0.00090 | 0.039 |
+| 8 | -0.00005 | -0.00008 | -0.00012 | 0.00016 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_25079017-103f-474d-a077-029ffdfefb56.md b/gap_reports/gap_25079017-103f-474d-a077-029ffdfefb56.md
new file mode 100644
index 0000000000000000000000000000000000000000..2de054f87c26c50ddfe8b58225a42393595d68d1
--- /dev/null
+++ b/gap_reports/gap_25079017-103f-474d-a077-029ffdfefb56.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/25079017-103f-474d-a077-029ffdfefb56.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/25079017-103f-474d-a077-029ffdfefb56.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2873 |
+| Sim rows | 255 |
+| Real episode_id | `25079017-103f-474d-a077-029ffdfefb56` |
+| Sim episode_id | `25079017-103f-474d-a077-029ffdfefb56` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 251 | 22 | 3.538 | 16.83 | 29.15 | 2020.69 | 0.6368 |
+| 1 | descend | 405 | 35 | 1.262 | 8.91 | 15.43 | 3624.69 | 0.8371 |
+| 2 | settle | 363 | 32 | 0.028 | 1.01 | 1.75 | 3624.60 | 0.7526 |
+| 3 | close | 154 | 14 | 0.870 | 6.37 | 11.04 | 3625.32 | 1.0271 |
+| 4 | lift | 350 | 31 | 3.298 | 17.63 | 30.54 | 2428.23 | 1.1070 |
+| 5 | move_xy | 444 | 39 | 8.211 | 45.11 | 78.13 | 2816.35 | 0.9333 |
+| 6 | lower | 403 | 35 | 0.093 | 1.75 | 3.04 | 3625.13 | 1.0515 |
+| 7 | open | 152 | 14 | 0.923 | 6.28 | 10.89 | 3624.72 | 0.7631 |
+| 8 | retract | 351 | 31 | 3.744 | 19.76 | 34.22 | 2462.58 | 0.7617 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.465 |
+| TCP position RMSE (mm, per-axis) | 18.81 |
+| EE position RMS L2 (mm) | 36.37 |
+| TCP rotvec (mrad) | 3156.56 |
+| W1 effort mean (A) | 0.8609 |
+| W1 effort per joint (A) | j0=0.2515, j1=1.5734, j2=1.6017, j3=0.8138, j4=0.3182, j5=0.6070 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00111 | -0.00028 | -0.00076 | 0.00137 | 0.027 |
+| 1 | 0.00112 | -0.00064 | -0.00120 | 0.00177 | 0.057 |
+| 2 | 0.00111 | -0.00065 | -0.00117 | 0.00174 | 0.057 |
+| 3 | 0.00204 | -0.00029 | -0.00113 | 0.00235 | 0.141 |
+| 4 | 0.00011 | -0.00042 | -0.00041 | 0.00060 | 0.110 |
+| 5 | 0.00268 | -0.00089 | -0.00122 | 0.00308 | 0.193 |
+| 6 | 0.00198 | -0.00087 | -0.00134 | 0.00255 | 0.102 |
+| 7 | 0.00094 | -0.00026 | -0.00096 | 0.00137 | 0.045 |
+| 8 | -0.00014 | -0.00022 | -0.00023 | 0.00035 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2544790e-9af6-4912-a5a5-a91cc3643648.md b/gap_reports/gap_2544790e-9af6-4912-a5a5-a91cc3643648.md
new file mode 100644
index 0000000000000000000000000000000000000000..a1b6b8701785004e63f7e4b013d4478a20a599b6
--- /dev/null
+++ b/gap_reports/gap_2544790e-9af6-4912-a5a5-a91cc3643648.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2544790e-9af6-4912-a5a5-a91cc3643648.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2544790e-9af6-4912-a5a5-a91cc3643648.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3344 |
+| Sim rows | 293 |
+| Real episode_id | `2544790e-9af6-4912-a5a5-a91cc3643648` |
+| Sim episode_id | `2544790e-9af6-4912-a5a5-a91cc3643648` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 214 | 19 | 3.222 | 13.59 | 23.54 | 2028.55 | 0.5935 |
+| 1 | descend | 778 | 67 | 0.710 | 4.73 | 8.20 | 3625.40 | 0.7057 |
+| 2 | settle | 363 | 32 | 0.022 | 0.81 | 1.41 | 3625.26 | 0.6737 |
+| 3 | close | 145 | 13 | 1.145 | 7.23 | 12.53 | 2834.29 | 0.9581 |
+| 4 | lift | 454 | 39 | 3.642 | 16.46 | 28.50 | 2318.52 | 1.0987 |
+| 5 | move_xy | 389 | 34 | 8.053 | 38.98 | 67.51 | 2847.53 | 0.9123 |
+| 6 | lower | 402 | 35 | 0.089 | 1.50 | 2.60 | 3480.95 | 0.9176 |
+| 7 | open | 145 | 13 | 1.128 | 7.15 | 12.39 | 3625.52 | 0.6296 |
+| 8 | retract | 454 | 39 | 3.725 | 17.00 | 29.45 | 2447.98 | 0.7346 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.423 |
+| TCP position RMSE (mm, per-axis) | 16.30 |
+| EE position RMS L2 (mm) | 28.70 |
+| TCP rotvec (mrad) | 3039.96 |
+| W1 effort mean (A) | 0.7857 |
+| W1 effort per joint (A) | j0=0.2626, j1=1.3338, j2=1.5364, j3=0.6931, j4=0.3179, j5=0.5707 |
+
+## Phase-end anchor (sim - 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 | -0.00014 | -0.00060 | 0.00104 | 0.035 |
+| 1 | 0.00087 | -0.00058 | -0.00096 | 0.00142 | 0.046 |
+| 2 | 0.00087 | -0.00060 | -0.00093 | 0.00140 | 0.043 |
+| 3 | 0.00159 | -0.00019 | -0.00162 | 0.00228 | 0.163 |
+| 4 | 0.00018 | -0.00029 | -0.00029 | 0.00045 | 0.111 |
+| 5 | 0.00171 | -0.00078 | -0.00139 | 0.00234 | 0.104 |
+| 6 | 0.00213 | -0.00073 | -0.00159 | 0.00275 | 0.163 |
+| 7 | 0.00065 | -0.00025 | -0.00076 | 0.00103 | 0.053 |
+| 8 | -0.00008 | -0.00008 | -0.00012 | 0.00017 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_25592fc2-a58b-4067-8385-f7d2e32d75a5.md b/gap_reports/gap_25592fc2-a58b-4067-8385-f7d2e32d75a5.md
new file mode 100644
index 0000000000000000000000000000000000000000..af79123fa8d227976102e1d11d52554c5aca5ef7
--- /dev/null
+++ b/gap_reports/gap_25592fc2-a58b-4067-8385-f7d2e32d75a5.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/25592fc2-a58b-4067-8385-f7d2e32d75a5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/25592fc2-a58b-4067-8385-f7d2e32d75a5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2732 |
+| Sim rows | 242 |
+| Real episode_id | `25592fc2-a58b-4067-8385-f7d2e32d75a5` |
+| Sim episode_id | `25592fc2-a58b-4067-8385-f7d2e32d75a5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 240 | 21 | 3.072 | 16.03 | 27.77 | 1915.22 | 0.6153 |
+| 1 | descend | 393 | 34 | 0.644 | 4.74 | 8.20 | 3624.71 | 0.7171 |
+| 2 | settle | 432 | 38 | 0.026 | 0.94 | 1.63 | 3624.59 | 0.7684 |
+| 3 | close | 143 | 13 | 0.577 | 4.46 | 7.72 | 3625.00 | 0.9823 |
+| 4 | lift | 293 | 26 | 2.766 | 15.83 | 27.42 | 2377.17 | 1.1341 |
+| 5 | move_xy | 380 | 33 | 5.566 | 32.55 | 56.38 | 2642.94 | 0.8932 |
+| 6 | lower | 415 | 36 | 0.090 | 1.66 | 2.87 | 3625.20 | 1.0372 |
+| 7 | open | 141 | 13 | 0.480 | 3.38 | 5.85 | 3624.67 | 0.7409 |
+| 8 | retract | 295 | 26 | 2.809 | 16.03 | 27.77 | 2378.32 | 0.7322 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.515 |
+| TCP position RMSE (mm, per-axis) | 14.46 |
+| EE position RMS L2 (mm) | 26.27 |
+| TCP rotvec (mrad) | 3120.86 |
+| W1 effort mean (A) | 0.8325 |
+| W1 effort per joint (A) | j0=0.2184, j1=1.5057, j2=1.6801, j3=0.7702, j4=0.2325, j5=0.5882 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00096 | -0.00048 | -0.00071 | 0.00129 | 0.027 |
+| 1 | 0.00090 | -0.00077 | -0.00107 | 0.00160 | 0.048 |
+| 2 | 0.00089 | -0.00076 | -0.00112 | 0.00162 | 0.054 |
+| 3 | 0.00184 | -0.00076 | -0.00190 | 0.00275 | 0.155 |
+| 4 | 0.00007 | -0.00050 | -0.00066 | 0.00083 | 0.095 |
+| 5 | 0.00189 | -0.00104 | -0.00065 | 0.00225 | 0.117 |
+| 6 | 0.00168 | -0.00107 | -0.00150 | 0.00249 | 0.100 |
+| 7 | 0.00077 | -0.00051 | -0.00094 | 0.00132 | 0.041 |
+| 8 | -0.00014 | -0.00020 | -0.00020 | 0.00032 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_257317f5-2d20-4f08-b894-cc7ad07c0493.md b/gap_reports/gap_257317f5-2d20-4f08-b894-cc7ad07c0493.md
new file mode 100644
index 0000000000000000000000000000000000000000..62b38a01fe59171290a9841f3723e063e9ed727d
--- /dev/null
+++ b/gap_reports/gap_257317f5-2d20-4f08-b894-cc7ad07c0493.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/257317f5-2d20-4f08-b894-cc7ad07c0493.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/257317f5-2d20-4f08-b894-cc7ad07c0493.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2898 |
+| Sim rows | 255 |
+| Real episode_id | `257317f5-2d20-4f08-b894-cc7ad07c0493` |
+| Sim episode_id | `257317f5-2d20-4f08-b894-cc7ad07c0493` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 197 | 18 | 2.367 | 9.21 | 15.95 | 1984.33 | 0.5666 |
+| 1 | descend | 593 | 51 | 0.983 | 5.82 | 10.09 | 3626.01 | 0.7069 |
+| 2 | settle | 364 | 32 | 0.021 | 0.57 | 0.98 | 3625.90 | 0.7158 |
+| 3 | close | 153 | 14 | 1.217 | 7.06 | 12.24 | 1636.18 | 0.9206 |
+| 4 | lift | 324 | 28 | 2.668 | 10.72 | 18.57 | 2065.24 | 1.0952 |
+| 5 | move_xy | 381 | 33 | 5.571 | 25.74 | 44.59 | 1937.97 | 0.8907 |
+| 6 | lower | 405 | 35 | 0.079 | 1.02 | 1.77 | 1483.42 | 0.9727 |
+| 7 | open | 156 | 14 | 1.011 | 5.79 | 10.03 | 3626.13 | 0.5992 |
+| 8 | retract | 325 | 28 | 2.774 | 11.32 | 19.61 | 2328.21 | 0.6990 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.470 |
+| TCP position RMSE (mm, per-axis) | 11.10 |
+| EE position RMS L2 (mm) | 19.88 |
+| TCP rotvec (mrad) | 2618.32 |
+| W1 effort mean (A) | 0.7790 |
+| W1 effort per joint (A) | j0=0.2549, j1=1.1501, j2=1.5879, j3=0.7241, j4=0.3693, j5=0.5877 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00013 | -0.00034 | -0.00050 | 0.00062 | 0.029 |
+| 1 | 0.00016 | -0.00057 | -0.00080 | 0.00099 | 0.038 |
+| 2 | 0.00017 | -0.00056 | -0.00079 | 0.00098 | 0.035 |
+| 3 | 0.00051 | -0.00038 | -0.00033 | 0.00072 | 0.101 |
+| 4 | 0.00036 | 0.00009 | -0.00008 | 0.00038 | 0.076 |
+| 5 | 0.00073 | -0.00088 | -0.00088 | 0.00144 | 0.108 |
+| 6 | 0.00102 | -0.00086 | -0.00123 | 0.00182 | 0.141 |
+| 7 | 0.00004 | -0.00040 | -0.00054 | 0.00067 | 0.034 |
+| 8 | -0.00008 | -0.00009 | -0.00015 | 0.00019 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_25792b2b-c7de-458a-ac7f-87f42c451d64.md b/gap_reports/gap_25792b2b-c7de-458a-ac7f-87f42c451d64.md
new file mode 100644
index 0000000000000000000000000000000000000000..eb332aeac51cee7f0ef953c267e06d2bf986148f
--- /dev/null
+++ b/gap_reports/gap_25792b2b-c7de-458a-ac7f-87f42c451d64.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/25792b2b-c7de-458a-ac7f-87f42c451d64.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/25792b2b-c7de-458a-ac7f-87f42c451d64.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2702 |
+| Sim rows | 240 |
+| Real episode_id | `25792b2b-c7de-458a-ac7f-87f42c451d64` |
+| Sim episode_id | `25792b2b-c7de-458a-ac7f-87f42c451d64` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 208 | 19 | 3.815 | 15.62 | 27.05 | 1995.23 | 0.5942 |
+| 1 | descend | 318 | 28 | 0.901 | 5.90 | 10.21 | 3625.42 | 0.6883 |
+| 2 | settle | 378 | 33 | 0.022 | 0.77 | 1.34 | 3625.32 | 0.7384 |
+| 3 | close | 109 | 10 | 0.616 | 4.00 | 6.93 | 3192.93 | 0.9663 |
+| 4 | lift | 412 | 36 | 3.433 | 15.64 | 27.09 | 2170.86 | 1.1128 |
+| 5 | move_xy | 357 | 31 | 8.634 | 41.67 | 72.17 | 2813.35 | 0.9093 |
+| 6 | lower | 408 | 35 | 0.088 | 1.42 | 2.45 | 3191.96 | 0.9771 |
+| 7 | open | 103 | 10 | 0.528 | 3.50 | 6.06 | 3625.47 | 0.6702 |
+| 8 | retract | 409 | 36 | 3.464 | 15.70 | 27.19 | 2384.90 | 0.7309 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.565 |
+| TCP position RMSE (mm, per-axis) | 16.79 |
+| EE position RMS L2 (mm) | 31.39 |
+| TCP rotvec (mrad) | 3020.49 |
+| W1 effort mean (A) | 0.8214 |
+| W1 effort per joint (A) | j0=0.2546, j1=1.3493, j2=1.5793, j3=0.7625, j4=0.3518, j5=0.6310 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00084 | -0.00022 | -0.00059 | 0.00105 | 0.033 |
+| 1 | 0.00083 | -0.00050 | -0.00089 | 0.00131 | 0.042 |
+| 2 | 0.00086 | -0.00050 | -0.00091 | 0.00134 | 0.045 |
+| 3 | 0.00119 | -0.00041 | -0.00064 | 0.00141 | 0.096 |
+| 4 | 0.00014 | -0.00012 | -0.00000 | 0.00018 | 0.089 |
+| 5 | 0.00194 | -0.00062 | -0.00091 | 0.00224 | 0.154 |
+| 6 | 0.00201 | -0.00070 | -0.00071 | 0.00224 | 0.156 |
+| 7 | 0.00062 | -0.00025 | -0.00071 | 0.00097 | 0.036 |
+| 8 | -0.00006 | -0.00009 | -0.00013 | 0.00017 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_25933f02-d33e-43c2-b6ac-c407139e3adb.md b/gap_reports/gap_25933f02-d33e-43c2-b6ac-c407139e3adb.md
new file mode 100644
index 0000000000000000000000000000000000000000..1d20beaf360fc3c298baf336073b319e10f592cc
--- /dev/null
+++ b/gap_reports/gap_25933f02-d33e-43c2-b6ac-c407139e3adb.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/25933f02-d33e-43c2-b6ac-c407139e3adb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/25933f02-d33e-43c2-b6ac-c407139e3adb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 513 |
+| Sim rows | 67 |
+| Real episode_id | `25933f02-d33e-43c2-b6ac-c407139e3adb` |
+| Sim episode_id | `25933f02-d33e-43c2-b6ac-c407139e3adb` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 306 | 30 | 4.291 | 19.66 | 34.06 | 12.68 | 0.8038 |
+| 1 | descend | 207 | 21 | 0.023 | 1.68 | 2.90 | 2.25 | 0.8497 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.034 |
+| TCP position RMSE (mm, per-axis) | 13.95 |
+| EE position RMS L2 (mm) | 26.37 |
+| TCP rotvec (mrad) | 9.10 |
+| W1 effort mean (A) | 0.8222 |
+| W1 effort per joint (A) | j0=0.1798, j1=1.7248, j2=1.8107, j3=0.8760, j4=0.1985, j5=0.1435 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00237 | 0.00127 | 0.00080 | 0.00281 | 0.033 |
+| 1 | 0.00259 | 0.00121 | 0.00064 | 0.00293 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_25b75541-dc27-487f-a410-cb7f8121735a.md b/gap_reports/gap_25b75541-dc27-487f-a410-cb7f8121735a.md
new file mode 100644
index 0000000000000000000000000000000000000000..d5c749d3cf0c6843374eb00a8728c8c6e28ea68c
--- /dev/null
+++ b/gap_reports/gap_25b75541-dc27-487f-a410-cb7f8121735a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/25b75541-dc27-487f-a410-cb7f8121735a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/25b75541-dc27-487f-a410-cb7f8121735a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2516 |
+| Sim rows | 226 |
+| Real episode_id | `25b75541-dc27-487f-a410-cb7f8121735a` |
+| Sim episode_id | `25b75541-dc27-487f-a410-cb7f8121735a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.999 | 13.91 | 24.09 | 1953.89 | 0.5738 |
+| 1 | descend | 242 | 22 | 0.754 | 4.97 | 8.61 | 3625.36 | 0.6932 |
+| 2 | settle | 423 | 37 | 0.024 | 0.76 | 1.32 | 3625.21 | 0.6776 |
+| 3 | close | 115 | 11 | 0.500 | 3.32 | 5.75 | 3237.32 | 1.0068 |
+| 4 | lift | 318 | 28 | 2.661 | 12.99 | 22.50 | 1946.12 | 1.0902 |
+| 5 | move_xy | 357 | 31 | 6.546 | 33.79 | 58.52 | 2666.64 | 0.8817 |
+| 6 | lower | 421 | 37 | 0.084 | 1.35 | 2.34 | 3625.78 | 1.0211 |
+| 7 | open | 114 | 11 | 0.563 | 3.66 | 6.34 | 3625.34 | 0.7027 |
+| 8 | retract | 316 | 28 | 2.612 | 12.65 | 21.92 | 2205.94 | 0.7095 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.726 |
+| TCP position RMSE (mm, per-axis) | 13.81 |
+| EE position RMS L2 (mm) | 25.89 |
+| TCP rotvec (mrad) | 3030.17 |
+| W1 effort mean (A) | 0.8084 |
+| W1 effort per joint (A) | j0=0.2056, j1=1.3383, j2=1.6675, j3=0.7864, j4=0.3139, j5=0.5390 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00068 | -0.00037 | -0.00078 | 0.00110 | 0.041 |
+| 1 | 0.00059 | -0.00065 | -0.00096 | 0.00130 | 0.047 |
+| 2 | 0.00060 | -0.00064 | -0.00098 | 0.00132 | 0.047 |
+| 3 | 0.00110 | -0.00056 | -0.00052 | 0.00134 | 0.108 |
+| 4 | 0.00040 | -0.00009 | -0.00051 | 0.00065 | 0.124 |
+| 5 | 0.00161 | -0.00086 | -0.00086 | 0.00202 | 0.154 |
+| 6 | 0.00162 | -0.00077 | -0.00142 | 0.00229 | 0.124 |
+| 7 | 0.00044 | -0.00041 | -0.00080 | 0.00100 | 0.042 |
+| 8 | -0.00015 | -0.00020 | -0.00022 | 0.00033 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_25b9e47a-bce3-4734-a90e-c6fd50652ffd.md b/gap_reports/gap_25b9e47a-bce3-4734-a90e-c6fd50652ffd.md
new file mode 100644
index 0000000000000000000000000000000000000000..41a372579132defe3bef44d6946e24c9188a9280
--- /dev/null
+++ b/gap_reports/gap_25b9e47a-bce3-4734-a90e-c6fd50652ffd.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/25b9e47a-bce3-4734-a90e-c6fd50652ffd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/25b9e47a-bce3-4734-a90e-c6fd50652ffd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1636 |
+| Sim rows | 166 |
+| Real episode_id | `25b9e47a-bce3-4734-a90e-c6fd50652ffd` |
+| Sim episode_id | `25b9e47a-bce3-4734-a90e-c6fd50652ffd` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 150 | 15 | 2.109 | 11.99 | 20.77 | 410.20 | 0.7530 |
+| 1 | descend | 64 | 7 | 0.288 | 3.29 | 5.70 | 6.40 | 0.7589 |
+| 2 | settle | 33 | 4 | 0.028 | 3.08 | 5.34 | 6.62 | 0.7989 |
+| 3 | close | 377 | 37 | 0.092 | 3.09 | 5.35 | 8.12 | 1.2020 |
+| 4 | lift | 65 | 7 | 0.329 | 3.45 | 5.98 | 7.87 | 1.3261 |
+| 5 | move_xy | 198 | 20 | 11.690 | 20.90 | 36.19 | 370.08 | 1.1589 |
+| 6 | lower | 65 | 7 | 23.068 | 2.87 | 4.97 | 887.13 | 1.1775 |
+| 7 | open | 361 | 36 | 23.054 | 2.27 | 3.94 | 886.82 | 0.8449 |
+| 8 | retract | 64 | 7 | 23.064 | 2.96 | 5.13 | 886.56 | 0.8741 |
+| 9 | return | 259 | 26 | 13.153 | 22.14 | 38.35 | 1155.78 | 0.8849 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 13.820 |
+| TCP position RMSE (mm, per-axis) | 10.65 |
+| EE position RMS L2 (mm) | 21.12 |
+| TCP rotvec (mrad) | 632.51 |
+| W1 effort mean (A) | 0.9785 |
+| W1 effort per joint (A) | j0=0.1979, j1=1.9255, j2=1.5949, j3=0.7148, j4=0.4324, j5=1.0055 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00250 | -0.00428 | -0.00075 | 0.00501 | 0.057 |
+| 1 | 0.00277 | -0.00443 | -0.00098 | 0.00532 | 0.042 |
+| 2 | 0.00276 | -0.00443 | -0.00120 | 0.00536 | 0.066 |
+| 3 | 0.00265 | -0.00392 | -0.00260 | 0.00539 | 0.166 |
+| 4 | 0.00222 | -0.00400 | -0.00256 | 0.00524 | 0.157 |
+| 5 | 0.00169 | -0.00321 | -0.00082 | 0.00372 | 56.518 |
+| 6 | 0.00185 | -0.00254 | -0.00164 | 0.00355 | 56.474 |
+| 7 | 0.00201 | -0.00337 | -0.00013 | 0.00393 | 56.470 |
+| 8 | 0.00186 | -0.00360 | -0.00023 | 0.00406 | 56.505 |
+| 9 | -0.00002 | -0.00018 | -0.00028 | 0.00033 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_25cd94df-75df-4c3f-b8e5-a1d10f246db2.md b/gap_reports/gap_25cd94df-75df-4c3f-b8e5-a1d10f246db2.md
new file mode 100644
index 0000000000000000000000000000000000000000..140f361229d82f4e0e9194c05c399af0f33a2cbc
--- /dev/null
+++ b/gap_reports/gap_25cd94df-75df-4c3f-b8e5-a1d10f246db2.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/25cd94df-75df-4c3f-b8e5-a1d10f246db2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/25cd94df-75df-4c3f-b8e5-a1d10f246db2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1836 |
+| Sim rows | 188 |
+| Real episode_id | `25cd94df-75df-4c3f-b8e5-a1d10f246db2` |
+| Sim episode_id | `25cd94df-75df-4c3f-b8e5-a1d10f246db2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 226 | 23 | 5.654 | 17.79 | 30.81 | 1394.59 | 0.7537 |
+| 1 | descend | 95 | 10 | 0.657 | 3.73 | 6.47 | 4.41 | 0.6005 |
+| 2 | settle | 22 | 3 | 0.021 | 2.60 | 4.50 | 4.87 | 0.5824 |
+| 3 | close | 362 | 36 | 0.115 | 1.86 | 3.22 | 4.43 | 0.9490 |
+| 4 | lift | 90 | 10 | 0.491 | 2.75 | 4.76 | 4.04 | 1.1048 |
+| 5 | move_xy | 225 | 23 | 3.575 | 20.53 | 35.56 | 6.95 | 0.9966 |
+| 6 | lower | 92 | 10 | 0.497 | 2.66 | 4.61 | 7.56 | 1.0739 |
+| 7 | open | 361 | 36 | 0.025 | 2.30 | 3.99 | 5.14 | 0.6121 |
+| 8 | retract | 93 | 10 | 0.514 | 3.27 | 5.66 | 4.71 | 0.7253 |
+| 9 | return | 270 | 27 | 3.489 | 12.92 | 22.38 | 1181.97 | 0.7509 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.411 |
+| TCP position RMSE (mm, per-axis) | 9.80 |
+| EE position RMS L2 (mm) | 18.89 |
+| TCP rotvec (mrad) | 578.11 |
+| W1 effort mean (A) | 0.7915 |
+| W1 effort per joint (A) | j0=0.1997, j1=1.4230, j2=1.5040, j3=0.7554, j4=0.4380, j5=0.4285 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00149 | -0.00372 | -0.00083 | 0.00409 | 0.026 |
+| 1 | 0.00184 | -0.00400 | -0.00093 | 0.00450 | 0.031 |
+| 2 | 0.00183 | -0.00400 | -0.00096 | 0.00450 | 0.036 |
+| 3 | 0.00059 | -0.00313 | -0.00037 | 0.00320 | 0.165 |
+| 4 | 0.00051 | -0.00280 | -0.00087 | 0.00298 | 0.175 |
+| 5 | -0.00005 | -0.00285 | -0.00088 | 0.00298 | 0.269 |
+| 6 | 0.00090 | -0.00250 | -0.00157 | 0.00308 | 0.207 |
+| 7 | 0.00213 | -0.00334 | -0.00044 | 0.00398 | 0.046 |
+| 8 | 0.00181 | -0.00338 | -0.00047 | 0.00386 | 0.046 |
+| 9 | -0.00010 | -0.00008 | -0.00027 | 0.00030 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_25cde818-6d8c-41c4-944d-f232d6d6abd9.md b/gap_reports/gap_25cde818-6d8c-41c4-944d-f232d6d6abd9.md
new file mode 100644
index 0000000000000000000000000000000000000000..f757760be024b473e7bec4543e40f7e8a01fedc3
--- /dev/null
+++ b/gap_reports/gap_25cde818-6d8c-41c4-944d-f232d6d6abd9.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/25cde818-6d8c-41c4-944d-f232d6d6abd9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/25cde818-6d8c-41c4-944d-f232d6d6abd9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1883 |
+| Sim rows | 190 |
+| Real episode_id | `25cde818-6d8c-41c4-944d-f232d6d6abd9` |
+| Sim episode_id | `25cde818-6d8c-41c4-944d-f232d6d6abd9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 208 | 21 | 3.744 | 13.14 | 22.75 | 1195.99 | 0.7623 |
+| 1 | descend | 113 | 12 | 0.943 | 5.00 | 8.67 | 5.29 | 0.7324 |
+| 2 | settle | 29 | 4 | 0.027 | 2.76 | 4.78 | 5.95 | 0.7304 |
+| 3 | close | 390 | 38 | 0.150 | 1.75 | 3.03 | 7.16 | 1.0837 |
+| 4 | lift | 115 | 12 | 0.997 | 4.82 | 8.35 | 6.58 | 1.2324 |
+| 5 | move_xy | 243 | 24 | 4.729 | 21.07 | 36.49 | 62.59 | 1.1496 |
+| 6 | lower | 112 | 12 | 1.083 | 5.39 | 9.33 | 8.46 | 1.1266 |
+| 7 | open | 380 | 37 | 0.027 | 2.29 | 3.96 | 5.13 | 0.5921 |
+| 8 | retract | 115 | 12 | 0.889 | 4.77 | 8.26 | 4.44 | 0.7651 |
+| 9 | return | 178 | 18 | 2.885 | 18.15 | 31.44 | 662.10 | 0.8331 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.204 |
+| TCP position RMSE (mm, per-axis) | 10.31 |
+| EE position RMS L2 (mm) | 18.60 |
+| TCP rotvec (mrad) | 432.78 |
+| W1 effort mean (A) | 0.8819 |
+| W1 effort per joint (A) | j0=0.1876, j1=1.7560, j2=1.5292, j3=0.8166, j4=0.4811, j5=0.5211 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00174 | -0.00385 | -0.00083 | 0.00430 | 0.036 |
+| 1 | 0.00228 | -0.00404 | -0.00110 | 0.00476 | 0.049 |
+| 2 | 0.00228 | -0.00404 | -0.00116 | 0.00478 | 0.055 |
+| 3 | 0.00073 | -0.00283 | -0.00131 | 0.00320 | 0.215 |
+| 4 | -0.00016 | -0.00265 | -0.00176 | 0.00318 | 0.243 |
+| 5 | 0.00177 | -0.00266 | -0.00123 | 0.00343 | 0.260 |
+| 6 | 0.00224 | -0.00197 | -0.00157 | 0.00337 | 0.282 |
+| 7 | 0.00241 | -0.00313 | -0.00030 | 0.00396 | 0.058 |
+| 8 | 0.00220 | -0.00337 | -0.00036 | 0.00404 | 0.052 |
+| 9 | 0.00000 | -0.00022 | -0.00028 | 0.00036 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_25eca2d1-e45e-41d9-946b-698d57a199c2.md b/gap_reports/gap_25eca2d1-e45e-41d9-946b-698d57a199c2.md
new file mode 100644
index 0000000000000000000000000000000000000000..7d135408b1e6c9fb42c7a9040bb05f3dae9652d0
--- /dev/null
+++ b/gap_reports/gap_25eca2d1-e45e-41d9-946b-698d57a199c2.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/25eca2d1-e45e-41d9-946b-698d57a199c2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/25eca2d1-e45e-41d9-946b-698d57a199c2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1330 |
+| Sim rows | 135 |
+| Real episode_id | `25eca2d1-e45e-41d9-946b-698d57a199c2` |
+| Sim episode_id | `25eca2d1-e45e-41d9-946b-698d57a199c2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 178 | 18 | 3.024 | 14.90 | 25.80 | 358.14 | 0.6986 |
+| 1 | descend | 76 | 8 | 0.479 | 3.35 | 5.80 | 4.69 | 0.6613 |
+| 2 | settle | 33 | 4 | 0.025 | 2.38 | 4.12 | 5.15 | 0.6531 |
+| 3 | close | 46 | 5 | 0.054 | 2.53 | 4.39 | 5.28 | 1.0032 |
+| 4 | lift | 81 | 9 | 0.447 | 3.43 | 5.94 | 4.95 | 1.0350 |
+| 5 | move_xy | 221 | 22 | 7.386 | 28.39 | 49.17 | 651.88 | 1.1134 |
+| 6 | lower | 78 | 8 | 0.526 | 3.64 | 6.30 | 3623.89 | 0.9339 |
+| 7 | open | 96 | 10 | 0.019 | 2.56 | 4.43 | 4.84 | 0.6515 |
+| 8 | retract | 78 | 8 | 0.353 | 2.88 | 4.99 | 4.34 | 0.6958 |
+| 9 | return | 443 | 43 | 5.337 | 16.99 | 29.42 | 1099.14 | 0.6895 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.050 |
+| TCP position RMSE (mm, per-axis) | 11.74 |
+| EE position RMS L2 (mm) | 28.10 |
+| TCP rotvec (mrad) | 1220.41 |
+| W1 effort mean (A) | 0.7492 |
+| W1 effort per joint (A) | j0=0.1804, j1=1.4961, j2=1.6054, j3=0.7177, j4=0.1644, j5=0.3311 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00220 | -0.00332 | -0.00008 | 0.00398 | 0.039 |
+| 1 | 0.00252 | -0.00324 | -0.00023 | 0.00411 | 0.039 |
+| 2 | 0.00250 | -0.00327 | -0.00035 | 0.00413 | 0.056 |
+| 3 | 0.00270 | -0.00324 | -0.00080 | 0.00429 | 0.121 |
+| 4 | 0.00250 | -0.00350 | -0.00112 | 0.00444 | 0.156 |
+| 5 | 0.00201 | -0.00402 | -0.00145 | 0.00473 | 0.141 |
+| 6 | 0.00231 | -0.00405 | -0.00183 | 0.00501 | 0.136 |
+| 7 | 0.00173 | -0.00396 | -0.00095 | 0.00442 | 0.038 |
+| 8 | 0.00142 | -0.00371 | -0.00109 | 0.00412 | 0.052 |
+| 9 | -0.00005 | -0.00005 | -0.00019 | 0.00020 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2600b2ba-945a-4c26-acbf-288679f85a37.md b/gap_reports/gap_2600b2ba-945a-4c26-acbf-288679f85a37.md
new file mode 100644
index 0000000000000000000000000000000000000000..6685e35077347d17abfec1870e8ca8b2e425f21e
--- /dev/null
+++ b/gap_reports/gap_2600b2ba-945a-4c26-acbf-288679f85a37.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2600b2ba-945a-4c26-acbf-288679f85a37.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2600b2ba-945a-4c26-acbf-288679f85a37.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2247 |
+| Sim rows | 227 |
+| Real episode_id | `2600b2ba-945a-4c26-acbf-288679f85a37` |
+| Sim episode_id | `2600b2ba-945a-4c26-acbf-288679f85a37` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 184 | 19 | 2.460 | 11.75 | 20.35 | 1982.08 | 0.5705 |
+| 1 | descend | 181 | 19 | 0.796 | 5.16 | 8.94 | 3625.29 | 0.7657 |
+| 2 | settle | 335 | 33 | 0.024 | 0.75 | 1.29 | 3625.23 | 0.6260 |
+| 3 | close | 95 | 10 | 0.575 | 3.77 | 6.52 | 3048.81 | 0.9625 |
+| 4 | lift | 343 | 34 | 2.439 | 12.48 | 21.62 | 2214.96 | 1.0806 |
+| 5 | move_xy | 336 | 33 | 5.387 | 30.02 | 52.00 | 2747.86 | 0.8996 |
+| 6 | lower | 338 | 33 | 0.082 | 1.26 | 2.19 | 3471.63 | 1.0488 |
+| 7 | open | 93 | 10 | 0.443 | 2.91 | 5.04 | 3625.49 | 0.6492 |
+| 8 | retract | 342 | 34 | 2.540 | 13.09 | 22.68 | 2226.47 | 0.7033 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.325 |
+| TCP position RMSE (mm, per-axis) | 12.55 |
+| EE position RMS L2 (mm) | 24.45 |
+| TCP rotvec (mrad) | 3020.66 |
+| W1 effort mean (A) | 0.8124 |
+| W1 effort per joint (A) | j0=0.2112, j1=1.3426, j2=1.5868, j3=0.7803, j4=0.3264, j5=0.6271 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00047 | -0.00042 | -0.00072 | 0.00096 | 0.038 |
+| 1 | 0.00037 | -0.00069 | -0.00095 | 0.00124 | 0.041 |
+| 2 | 0.00041 | -0.00071 | -0.00095 | 0.00126 | 0.043 |
+| 3 | 0.00090 | -0.00065 | -0.00121 | 0.00165 | 0.095 |
+| 4 | 0.00056 | 0.00010 | -0.00003 | 0.00056 | 0.134 |
+| 5 | 0.00193 | -0.00113 | -0.00135 | 0.00261 | 0.233 |
+| 6 | 0.00157 | -0.00111 | -0.00168 | 0.00255 | 0.180 |
+| 7 | 0.00016 | -0.00054 | -0.00079 | 0.00097 | 0.042 |
+| 8 | -0.00008 | -0.00013 | -0.00015 | 0.00021 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2632de4d-25f6-49c9-858e-014fa6d688d6.md b/gap_reports/gap_2632de4d-25f6-49c9-858e-014fa6d688d6.md
new file mode 100644
index 0000000000000000000000000000000000000000..3b7f92d795b5b41b1b9f51a2a7b2c55e4a6508a9
--- /dev/null
+++ b/gap_reports/gap_2632de4d-25f6-49c9-858e-014fa6d688d6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2632de4d-25f6-49c9-858e-014fa6d688d6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2632de4d-25f6-49c9-858e-014fa6d688d6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2780 |
+| Sim rows | 248 |
+| Real episode_id | `2632de4d-25f6-49c9-858e-014fa6d688d6` |
+| Sim episode_id | `2632de4d-25f6-49c9-858e-014fa6d688d6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 209 | 19 | 3.074 | 14.05 | 24.33 | 1926.23 | 0.5815 |
+| 1 | descend | 255 | 23 | 1.080 | 7.04 | 12.20 | 3625.35 | 0.7120 |
+| 2 | settle | 379 | 33 | 0.025 | 0.78 | 1.35 | 3625.24 | 0.7055 |
+| 3 | close | 139 | 13 | 0.753 | 4.97 | 8.61 | 3257.19 | 0.9960 |
+| 4 | lift | 434 | 38 | 3.100 | 14.33 | 24.81 | 2302.25 | 1.1046 |
+| 5 | move_xy | 388 | 34 | 6.737 | 34.89 | 60.43 | 2570.36 | 0.8764 |
+| 6 | lower | 402 | 35 | 0.088 | 1.40 | 2.42 | 3587.84 | 1.0014 |
+| 7 | open | 139 | 13 | 0.762 | 4.90 | 8.48 | 3625.44 | 0.6799 |
+| 8 | retract | 435 | 38 | 3.218 | 14.96 | 25.91 | 2299.41 | 0.7179 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.927 |
+| TCP position RMSE (mm, per-axis) | 14.70 |
+| EE position RMS L2 (mm) | 27.88 |
+| TCP rotvec (mrad) | 3051.70 |
+| W1 effort mean (A) | 0.8157 |
+| W1 effort per joint (A) | j0=0.2265, j1=1.3435, j2=1.6512, j3=0.7418, j4=0.3499, j5=0.5814 |
+
+## Phase-end anchor (sim - 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 | -0.00030 | -0.00070 | 0.00100 | 0.039 |
+| 1 | 0.00062 | -0.00065 | -0.00102 | 0.00136 | 0.051 |
+| 2 | 0.00065 | -0.00065 | -0.00099 | 0.00135 | 0.049 |
+| 3 | 0.00136 | -0.00039 | -0.00092 | 0.00169 | 0.117 |
+| 4 | 0.00060 | 0.00009 | -0.00007 | 0.00061 | 0.145 |
+| 5 | 0.00156 | -0.00092 | -0.00214 | 0.00280 | 0.146 |
+| 6 | 0.00132 | -0.00095 | -0.00071 | 0.00177 | 0.111 |
+| 7 | 0.00046 | -0.00036 | -0.00071 | 0.00092 | 0.037 |
+| 8 | -0.00006 | -0.00008 | -0.00010 | 0.00014 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_264d4d3e-3e60-4957-8bb0-f63dd6c0c2bd.md b/gap_reports/gap_264d4d3e-3e60-4957-8bb0-f63dd6c0c2bd.md
new file mode 100644
index 0000000000000000000000000000000000000000..9bdc387d779cb91d8d58dc87df098b157b3b8c7c
--- /dev/null
+++ b/gap_reports/gap_264d4d3e-3e60-4957-8bb0-f63dd6c0c2bd.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/264d4d3e-3e60-4957-8bb0-f63dd6c0c2bd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/264d4d3e-3e60-4957-8bb0-f63dd6c0c2bd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1972 |
+| Sim rows | 196 |
+| Real episode_id | `264d4d3e-3e60-4957-8bb0-f63dd6c0c2bd` |
+| Sim episode_id | `264d4d3e-3e60-4957-8bb0-f63dd6c0c2bd` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 229 | 23 | 3.754 | 15.79 | 27.35 | 300.46 | 0.6805 |
+| 1 | descend | 118 | 12 | 3.158 | 5.16 | 8.94 | 119.28 | 0.7643 |
+| 2 | settle | 35 | 4 | 2.969 | 2.49 | 4.31 | 119.31 | 0.7326 |
+| 3 | close | 401 | 39 | 2.969 | 2.57 | 4.45 | 119.79 | 1.1216 |
+| 4 | lift | 116 | 12 | 3.092 | 4.35 | 7.54 | 119.67 | 1.2839 |
+| 5 | move_xy | 289 | 28 | 3.293 | 17.40 | 30.14 | 49.33 | 1.2952 |
+| 6 | lower | 117 | 12 | 0.848 | 5.29 | 9.17 | 8.63 | 1.1579 |
+| 7 | open | 365 | 36 | 0.033 | 3.35 | 5.81 | 6.76 | 0.6281 |
+| 8 | retract | 119 | 12 | 1.020 | 5.54 | 9.60 | 6.24 | 0.8112 |
+| 9 | return | 183 | 18 | 2.399 | 17.57 | 30.44 | 317.82 | 0.6872 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.638 |
+| TCP position RMSE (mm, per-axis) | 9.95 |
+| EE position RMS L2 (mm) | 18.31 |
+| TCP rotvec (mrad) | 158.43 |
+| W1 effort mean (A) | 0.9074 |
+| W1 effort per joint (A) | j0=0.1677, j1=1.9161, j2=1.5384, j3=0.8572, j4=0.3118, j5=0.6530 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00252 | -0.00343 | -0.00028 | 0.00427 | 7.367 |
+| 1 | 0.00282 | -0.00322 | -0.00040 | 0.00430 | 7.273 |
+| 2 | 0.00279 | -0.00326 | -0.00047 | 0.00431 | 7.270 |
+| 3 | 0.00296 | -0.00295 | -0.00170 | 0.00451 | 7.266 |
+| 4 | 0.00287 | -0.00331 | -0.00150 | 0.00463 | 7.364 |
+| 5 | 0.00204 | -0.00516 | -0.00251 | 0.00609 | 0.146 |
+| 6 | 0.00321 | -0.00494 | -0.00381 | 0.00701 | 0.222 |
+| 7 | 0.00230 | -0.00512 | -0.00150 | 0.00581 | 0.067 |
+| 8 | 0.00178 | -0.00503 | -0.00154 | 0.00555 | 0.061 |
+| 9 | -0.00026 | -0.00017 | -0.00036 | 0.00048 | 0.054 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_26613eb7-0255-4439-a265-79b16c47852d.md b/gap_reports/gap_26613eb7-0255-4439-a265-79b16c47852d.md
new file mode 100644
index 0000000000000000000000000000000000000000..4c85c720da586042893f2c314b947c23687a1c1c
--- /dev/null
+++ b/gap_reports/gap_26613eb7-0255-4439-a265-79b16c47852d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/26613eb7-0255-4439-a265-79b16c47852d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/26613eb7-0255-4439-a265-79b16c47852d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2626 |
+| Sim rows | 234 |
+| Real episode_id | `26613eb7-0255-4439-a265-79b16c47852d` |
+| Sim episode_id | `26613eb7-0255-4439-a265-79b16c47852d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 208 | 19 | 2.425 | 11.98 | 20.75 | 2.72 | 0.5706 |
+| 1 | descend | 474 | 41 | 0.569 | 3.87 | 6.71 | 3.87 | 0.7342 |
+| 2 | settle | 363 | 32 | 0.026 | 0.92 | 1.60 | 3.99 | 0.6851 |
+| 3 | close | 137 | 13 | 0.656 | 4.16 | 7.21 | 5.64 | 0.9316 |
+| 4 | lift | 262 | 23 | 2.358 | 11.88 | 20.57 | 4.38 | 1.0821 |
+| 5 | move_xy | 368 | 32 | 4.709 | 26.19 | 45.36 | 4.84 | 0.9357 |
+| 6 | lower | 413 | 36 | 0.092 | 1.57 | 2.72 | 6.41 | 1.0105 |
+| 7 | open | 138 | 13 | 0.758 | 4.83 | 8.37 | 3.87 | 0.6588 |
+| 8 | retract | 263 | 23 | 2.161 | 10.89 | 18.86 | 2.83 | 0.7131 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.098 |
+| TCP position RMSE (mm, per-axis) | 11.29 |
+| EE position RMS L2 (mm) | 20.40 |
+| TCP rotvec (mrad) | 4.43 |
+| W1 effort mean (A) | 0.7868 |
+| W1 effort per joint (A) | j0=0.2629, j1=1.3131, j2=1.4824, j3=0.6384, j4=0.4556, j5=0.5684 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00072 | -0.00075 | -0.00071 | 0.00126 | 0.031 |
+| 1 | 0.00070 | -0.00101 | -0.00100 | 0.00159 | 0.047 |
+| 2 | 0.00070 | -0.00101 | -0.00098 | 0.00157 | 0.046 |
+| 3 | 0.00116 | -0.00088 | -0.00090 | 0.00171 | 0.104 |
+| 4 | 0.00002 | -0.00058 | -0.00060 | 0.00084 | 0.118 |
+| 5 | 0.00146 | -0.00129 | -0.00164 | 0.00255 | 0.105 |
+| 6 | 0.00207 | -0.00143 | -0.00177 | 0.00308 | 0.193 |
+| 7 | 0.00055 | -0.00075 | -0.00081 | 0.00123 | 0.046 |
+| 8 | -0.00011 | -0.00017 | -0.00016 | 0.00026 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_26667f97-9b00-401a-888e-f32aa4615d34.md b/gap_reports/gap_26667f97-9b00-401a-888e-f32aa4615d34.md
new file mode 100644
index 0000000000000000000000000000000000000000..3ad10694fa1a6052100526818e6cc161a29b9a0a
--- /dev/null
+++ b/gap_reports/gap_26667f97-9b00-401a-888e-f32aa4615d34.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/26667f97-9b00-401a-888e-f32aa4615d34.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/26667f97-9b00-401a-888e-f32aa4615d34.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2678 |
+| Sim rows | 240 |
+| Real episode_id | `26667f97-9b00-401a-888e-f32aa4615d34` |
+| Sim episode_id | `26667f97-9b00-401a-888e-f32aa4615d34` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.513 | 17.32 | 30.00 | 1877.60 | 0.6445 |
+| 1 | descend | 292 | 26 | 1.021 | 7.27 | 12.58 | 3624.72 | 0.7879 |
+| 2 | settle | 362 | 32 | 0.027 | 0.99 | 1.72 | 3624.58 | 0.6567 |
+| 3 | close | 113 | 11 | 0.682 | 4.94 | 8.56 | 3624.94 | 1.0518 |
+| 4 | lift | 431 | 38 | 3.536 | 18.48 | 32.01 | 2432.15 | 1.1223 |
+| 5 | move_xy | 349 | 31 | 7.266 | 39.96 | 69.22 | 2730.28 | 0.9350 |
+| 6 | lower | 382 | 33 | 0.091 | 1.73 | 3.00 | 3625.09 | 1.0225 |
+| 7 | open | 113 | 11 | 0.553 | 3.92 | 6.79 | 3624.76 | 0.7357 |
+| 8 | retract | 431 | 38 | 3.497 | 18.37 | 31.82 | 2419.34 | 0.7540 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.192 |
+| TCP position RMSE (mm, per-axis) | 17.23 |
+| EE position RMS L2 (mm) | 32.33 |
+| TCP rotvec (mrad) | 3134.84 |
+| W1 effort mean (A) | 0.8493 |
+| W1 effort per joint (A) | j0=0.2301, j1=1.5599, j2=1.6119, j3=0.7290, j4=0.3027, j5=0.6621 |
+
+## Phase-end anchor (sim - 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 | -0.00025 | -0.00072 | 0.00133 | 0.038 |
+| 1 | 0.00110 | -0.00066 | -0.00118 | 0.00174 | 0.062 |
+| 2 | 0.00111 | -0.00066 | -0.00113 | 0.00172 | 0.056 |
+| 3 | 0.00218 | -0.00027 | -0.00138 | 0.00259 | 0.159 |
+| 4 | -0.00009 | -0.00071 | -0.00069 | 0.00099 | 0.125 |
+| 5 | 0.00260 | -0.00092 | -0.00272 | 0.00388 | 0.203 |
+| 6 | 0.00232 | -0.00081 | -0.00128 | 0.00277 | 0.137 |
+| 7 | 0.00091 | -0.00028 | -0.00096 | 0.00135 | 0.045 |
+| 8 | -0.00009 | -0.00013 | -0.00015 | 0.00022 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_26769218-2447-4eda-ac69-b2bf8d9569f4.md b/gap_reports/gap_26769218-2447-4eda-ac69-b2bf8d9569f4.md
new file mode 100644
index 0000000000000000000000000000000000000000..182c0cd0dfbc0eeac33092435eb7f031babdae05
--- /dev/null
+++ b/gap_reports/gap_26769218-2447-4eda-ac69-b2bf8d9569f4.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/26769218-2447-4eda-ac69-b2bf8d9569f4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/26769218-2447-4eda-ac69-b2bf8d9569f4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 443 |
+| Sim rows | 60 |
+| Real episode_id | `26769218-2447-4eda-ac69-b2bf8d9569f4` |
+| Sim episode_id | `26769218-2447-4eda-ac69-b2bf8d9569f4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 235 | 23 | 2.261 | 10.40 | 18.01 | 329.73 | 0.8046 |
+| 1 | descend | 208 | 21 | 0.024 | 1.08 | 1.87 | 2.10 | 0.7790 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.599 |
+| TCP position RMSE (mm, per-axis) | 7.39 |
+| EE position RMS L2 (mm) | 13.18 |
+| TCP rotvec (mrad) | 233.16 |
+| W1 effort mean (A) | 0.7926 |
+| W1 effort per joint (A) | j0=0.1516, j1=1.7486, j2=1.7651, j3=0.8403, j4=0.1434, j5=0.1065 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00192 | -0.00046 | 0.00057 | 0.00205 | 0.053 |
+| 1 | -0.00171 | -0.00040 | 0.00064 | 0.00187 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_267c732f-47a4-4c77-8920-5f9b97bbbf32.md b/gap_reports/gap_267c732f-47a4-4c77-8920-5f9b97bbbf32.md
new file mode 100644
index 0000000000000000000000000000000000000000..8aec5e028e8ef687b40eb03f8419007aa68c11a2
--- /dev/null
+++ b/gap_reports/gap_267c732f-47a4-4c77-8920-5f9b97bbbf32.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/267c732f-47a4-4c77-8920-5f9b97bbbf32.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/267c732f-47a4-4c77-8920-5f9b97bbbf32.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1362 |
+| Sim rows | 141 |
+| Real episode_id | `267c732f-47a4-4c77-8920-5f9b97bbbf32` |
+| Sim episode_id | `267c732f-47a4-4c77-8920-5f9b97bbbf32` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 216 | 22 | 19.777 | 16.17 | 28.01 | 1040.05 | 0.6880 |
+| 1 | descend | 117 | 12 | 35.077 | 5.65 | 9.78 | 1328.98 | 0.8949 |
+| 2 | settle | 17 | 3 | 35.042 | 2.39 | 4.14 | 1329.25 | 0.9110 |
+| 3 | close | 53 | 6 | 35.041 | 2.24 | 3.87 | 1329.63 | 1.2952 |
+| 4 | lift | 125 | 13 | 35.074 | 5.53 | 9.57 | 1329.22 | 1.3368 |
+| 5 | move_xy | 290 | 29 | 19.695 | 32.06 | 55.53 | 939.03 | 1.1925 |
+| 6 | lower | 117 | 12 | 1.058 | 5.59 | 9.68 | 1984.45 | 1.0789 |
+| 7 | open | 82 | 9 | 0.024 | 3.00 | 5.19 | 5.77 | 0.6313 |
+| 8 | retract | 118 | 12 | 0.869 | 4.58 | 7.94 | 5.13 | 0.7350 |
+| 9 | return | 227 | 23 | 3.171 | 19.49 | 33.76 | 1156.50 | 0.7226 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 23.890 |
+| TCP position RMSE (mm, per-axis) | 13.43 |
+| EE position RMS L2 (mm) | 31.68 |
+| TCP rotvec (mrad) | 1196.11 |
+| W1 effort mean (A) | 0.8978 |
+| W1 effort per joint (A) | j0=0.1876, j1=1.4175, j2=1.5618, j3=0.8293, j4=0.2653, j5=1.1250 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00135 | -0.00402 | 0.00005 | 0.00424 | 85.907 |
+| 1 | 0.00183 | -0.00372 | -0.00001 | 0.00415 | 85.842 |
+| 2 | 0.00183 | -0.00372 | -0.00003 | 0.00414 | 85.834 |
+| 3 | 0.00195 | -0.00319 | -0.00093 | 0.00386 | 85.838 |
+| 4 | 0.00153 | -0.00380 | -0.00083 | 0.00418 | 85.893 |
+| 5 | 0.00158 | -0.00349 | -0.00265 | 0.00466 | 0.158 |
+| 6 | 0.00226 | -0.00397 | -0.00232 | 0.00513 | 0.122 |
+| 7 | 0.00204 | -0.00457 | -0.00138 | 0.00519 | 0.047 |
+| 8 | 0.00154 | -0.00416 | -0.00140 | 0.00465 | 0.045 |
+| 9 | -0.00019 | -0.00009 | -0.00028 | 0.00035 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_26e78eaa-cf99-4e6a-b611-77f0ae0fa077.md b/gap_reports/gap_26e78eaa-cf99-4e6a-b611-77f0ae0fa077.md
new file mode 100644
index 0000000000000000000000000000000000000000..9d214b6d58dd14b2c2aa9412e89d6b85f47fd655
--- /dev/null
+++ b/gap_reports/gap_26e78eaa-cf99-4e6a-b611-77f0ae0fa077.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/26e78eaa-cf99-4e6a-b611-77f0ae0fa077.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/26e78eaa-cf99-4e6a-b611-77f0ae0fa077.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1437 |
+| Sim rows | 147 |
+| Real episode_id | `26e78eaa-cf99-4e6a-b611-77f0ae0fa077` |
+| Sim episode_id | `26e78eaa-cf99-4e6a-b611-77f0ae0fa077` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 132 | 13 | 2.093 | 10.32 | 17.88 | 1025.74 | 0.7010 |
+| 1 | descend | 64 | 7 | 0.581 | 3.66 | 6.35 | 4.64 | 0.5723 |
+| 2 | settle | 30 | 4 | 0.021 | 2.90 | 5.03 | 4.86 | 0.5734 |
+| 3 | close | 328 | 33 | 0.133 | 3.44 | 5.96 | 3622.60 | 1.0032 |
+| 4 | lift | 63 | 7 | 0.254 | 3.34 | 5.79 | 3622.95 | 1.1864 |
+| 5 | move_xy | 178 | 18 | 7.271 | 29.58 | 51.23 | 1837.82 | 1.1064 |
+| 6 | lower | 63 | 7 | 8.191 | 3.08 | 5.34 | 320.50 | 1.1367 |
+| 7 | open | 285 | 28 | 8.169 | 2.21 | 3.83 | 319.73 | 0.6495 |
+| 8 | retract | 65 | 7 | 8.185 | 2.85 | 4.94 | 319.46 | 0.7333 |
+| 9 | return | 229 | 23 | 5.204 | 19.12 | 33.12 | 841.31 | 0.8272 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.344 |
+| TCP position RMSE (mm, per-axis) | 11.89 |
+| EE position RMS L2 (mm) | 23.38 |
+| TCP rotvec (mrad) | 1780.27 |
+| W1 effort mean (A) | 0.8396 |
+| W1 effort per joint (A) | j0=0.2383, j1=1.3859, j2=1.4706, j3=0.7654, j4=0.4684, j5=0.7088 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00187 | -0.00442 | -0.00050 | 0.00482 | 0.047 |
+| 1 | 0.00192 | -0.00461 | -0.00049 | 0.00501 | 0.057 |
+| 2 | 0.00196 | -0.00459 | -0.00066 | 0.00503 | 0.029 |
+| 3 | 0.00297 | -0.00459 | -0.00229 | 0.00593 | 0.232 |
+| 4 | 0.00231 | -0.00429 | -0.00269 | 0.00557 | 0.269 |
+| 5 | 0.00186 | -0.00262 | -0.00216 | 0.00387 | 20.047 |
+| 6 | 0.00199 | -0.00134 | -0.00284 | 0.00371 | 20.016 |
+| 7 | 0.00208 | -0.00319 | -0.00003 | 0.00380 | 20.015 |
+| 8 | 0.00188 | -0.00343 | -0.00020 | 0.00392 | 20.040 |
+| 9 | 0.00001 | -0.00015 | -0.00024 | 0.00028 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_271c4d66-1d20-4f6a-ae4a-398790027140.md b/gap_reports/gap_271c4d66-1d20-4f6a-ae4a-398790027140.md
new file mode 100644
index 0000000000000000000000000000000000000000..669a5ec05677199cff03bd4c682081103c8f56a1
--- /dev/null
+++ b/gap_reports/gap_271c4d66-1d20-4f6a-ae4a-398790027140.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/271c4d66-1d20-4f6a-ae4a-398790027140.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/271c4d66-1d20-4f6a-ae4a-398790027140.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1465 |
+| Sim rows | 149 |
+| Real episode_id | `271c4d66-1d20-4f6a-ae4a-398790027140` |
+| Sim episode_id | `271c4d66-1d20-4f6a-ae4a-398790027140` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.204 | 14.59 | 25.27 | 324.48 | 0.6603 |
+| 1 | descend | 75 | 8 | 0.935 | 4.35 | 7.53 | 3.79 | 0.6146 |
+| 2 | settle | 35 | 4 | 0.020 | 2.15 | 3.72 | 4.61 | 0.6973 |
+| 3 | close | 388 | 38 | 0.098 | 1.76 | 3.05 | 6.01 | 1.0709 |
+| 4 | lift | 77 | 9 | 0.966 | 4.19 | 7.26 | 5.16 | 1.0421 |
+| 5 | move_xy | 167 | 17 | 6.185 | 23.06 | 39.93 | 78.00 | 1.0896 |
+| 6 | lower | 78 | 8 | 0.857 | 4.11 | 7.12 | 4.66 | 0.9553 |
+| 7 | open | 88 | 9 | 0.025 | 2.54 | 4.40 | 4.88 | 0.6524 |
+| 8 | retract | 71 | 8 | 0.993 | 4.71 | 8.17 | 4.18 | 0.7028 |
+| 9 | return | 349 | 34 | 3.249 | 9.74 | 16.87 | 809.68 | 0.6969 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.502 |
+| TCP position RMSE (mm, per-axis) | 9.64 |
+| EE position RMS L2 (mm) | 18.03 |
+| TCP rotvec (mrad) | 276.97 |
+| W1 effort mean (A) | 0.8188 |
+| W1 effort per joint (A) | j0=0.1181, j1=1.4523, j2=1.6921, j3=0.7770, j4=0.3149, j5=0.5587 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00131 | -0.00341 | 0.00023 | 0.00366 | 0.053 |
+| 1 | 0.00206 | -0.00310 | 0.00031 | 0.00373 | 0.056 |
+| 2 | 0.00205 | -0.00309 | 0.00007 | 0.00371 | 0.036 |
+| 3 | 0.00211 | -0.00231 | -0.00049 | 0.00317 | 0.155 |
+| 4 | 0.00157 | -0.00272 | -0.00026 | 0.00315 | 0.150 |
+| 5 | 0.00043 | -0.00293 | -0.00007 | 0.00296 | 0.134 |
+| 6 | 0.00062 | -0.00328 | 0.00017 | 0.00334 | 0.160 |
+| 7 | 0.00188 | -0.00388 | -0.00091 | 0.00441 | 0.042 |
+| 8 | 0.00129 | -0.00358 | -0.00111 | 0.00396 | 0.061 |
+| 9 | -0.00008 | -0.00008 | -0.00022 | 0.00025 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_27240f14-ca93-4a92-96f9-f540fad3557d.md b/gap_reports/gap_27240f14-ca93-4a92-96f9-f540fad3557d.md
new file mode 100644
index 0000000000000000000000000000000000000000..4f3d20775afd5f1804272a0a2aaadb3da2e842da
--- /dev/null
+++ b/gap_reports/gap_27240f14-ca93-4a92-96f9-f540fad3557d.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/27240f14-ca93-4a92-96f9-f540fad3557d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/27240f14-ca93-4a92-96f9-f540fad3557d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1511 |
+| Sim rows | 155 |
+| Real episode_id | `27240f14-ca93-4a92-96f9-f540fad3557d` |
+| Sim episode_id | `27240f14-ca93-4a92-96f9-f540fad3557d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 151 | 15 | 2.815 | 13.45 | 23.30 | 668.01 | 0.7973 |
+| 1 | descend | 64 | 7 | 0.158 | 3.02 | 5.22 | 6.32 | 0.7638 |
+| 2 | settle | 20 | 3 | 0.027 | 2.99 | 5.17 | 6.65 | 0.8564 |
+| 3 | close | 395 | 39 | 0.126 | 3.60 | 6.24 | 11.98 | 1.3309 |
+| 4 | lift | 64 | 7 | 0.429 | 3.91 | 6.78 | 12.71 | 1.3797 |
+| 5 | move_xy | 151 | 16 | 3.763 | 11.79 | 20.41 | 94.25 | 1.3112 |
+| 6 | lower | 64 | 7 | 0.484 | 3.55 | 6.16 | 6.71 | 1.1577 |
+| 7 | open | 351 | 35 | 0.024 | 2.75 | 4.77 | 5.07 | 0.6185 |
+| 8 | retract | 65 | 7 | 0.316 | 3.13 | 5.42 | 4.59 | 0.7222 |
+| 9 | return | 186 | 19 | 2.790 | 12.72 | 22.04 | 903.27 | 0.8053 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.744 |
+| TCP position RMSE (mm, per-axis) | 7.47 |
+| EE position RMS L2 (mm) | 13.32 |
+| TCP rotvec (mrad) | 356.58 |
+| W1 effort mean (A) | 0.9682 |
+| W1 effort per joint (A) | j0=0.1950, j1=1.9327, j2=1.6522, j3=0.8092, j4=0.5261, j5=0.6940 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00234 | -0.00418 | -0.00098 | 0.00488 | 0.056 |
+| 1 | 0.00258 | -0.00433 | -0.00116 | 0.00517 | 0.051 |
+| 2 | 0.00257 | -0.00432 | -0.00126 | 0.00518 | 0.058 |
+| 3 | 0.00329 | -0.00491 | -0.00185 | 0.00619 | 0.220 |
+| 4 | 0.00286 | -0.00497 | -0.00191 | 0.00604 | 0.132 |
+| 5 | 0.00189 | -0.00405 | -0.00077 | 0.00453 | 0.189 |
+| 6 | 0.00223 | -0.00389 | -0.00044 | 0.00450 | 0.165 |
+| 7 | 0.00247 | -0.00404 | -0.00054 | 0.00477 | 0.052 |
+| 8 | 0.00217 | -0.00405 | -0.00076 | 0.00466 | 0.068 |
+| 9 | -0.00014 | -0.00017 | -0.00030 | 0.00037 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_272b4965-3da2-4c2f-8cbf-4b8372f8e76e.md b/gap_reports/gap_272b4965-3da2-4c2f-8cbf-4b8372f8e76e.md
new file mode 100644
index 0000000000000000000000000000000000000000..8445b9fa5924edb328c1486129cce466e8b08aa9
--- /dev/null
+++ b/gap_reports/gap_272b4965-3da2-4c2f-8cbf-4b8372f8e76e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/272b4965-3da2-4c2f-8cbf-4b8372f8e76e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/272b4965-3da2-4c2f-8cbf-4b8372f8e76e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2802 |
+| Sim rows | 250 |
+| Real episode_id | `272b4965-3da2-4c2f-8cbf-4b8372f8e76e` |
+| Sim episode_id | `272b4965-3da2-4c2f-8cbf-4b8372f8e76e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.219 | 14.41 | 24.97 | 1945.77 | 0.5816 |
+| 1 | descend | 360 | 32 | 1.042 | 6.90 | 11.96 | 3625.39 | 0.7348 |
+| 2 | settle | 354 | 31 | 0.024 | 0.77 | 1.34 | 3625.18 | 0.6808 |
+| 3 | close | 125 | 12 | 0.892 | 5.80 | 10.05 | 3507.50 | 1.0134 |
+| 4 | lift | 381 | 33 | 3.209 | 15.08 | 26.11 | 2386.03 | 1.0877 |
+| 5 | move_xy | 434 | 38 | 6.426 | 33.01 | 57.17 | 2811.57 | 0.8854 |
+| 6 | lower | 395 | 35 | 0.088 | 1.41 | 2.45 | 3481.14 | 1.1098 |
+| 7 | open | 130 | 12 | 0.848 | 5.43 | 9.41 | 3625.32 | 0.7622 |
+| 8 | retract | 380 | 33 | 3.191 | 15.10 | 26.15 | 2345.10 | 0.7278 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.882 |
+| TCP position RMSE (mm, per-axis) | 14.40 |
+| EE position RMS L2 (mm) | 27.82 |
+| TCP rotvec (mrad) | 3104.35 |
+| W1 effort mean (A) | 0.8290 |
+| W1 effort per joint (A) | j0=0.2498, j1=1.3862, j2=1.6512, j3=0.7714, j4=0.2920, j5=0.6236 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00063 | -0.00030 | -0.00073 | 0.00101 | 0.035 |
+| 1 | 0.00063 | -0.00065 | -0.00099 | 0.00134 | 0.047 |
+| 2 | 0.00065 | -0.00065 | -0.00098 | 0.00134 | 0.044 |
+| 3 | 0.00128 | -0.00032 | -0.00041 | 0.00138 | 0.106 |
+| 4 | 0.00015 | -0.00017 | -0.00018 | 0.00029 | 0.075 |
+| 5 | 0.00140 | -0.00085 | -0.00110 | 0.00197 | 0.105 |
+| 6 | 0.00169 | -0.00096 | -0.00296 | 0.00354 | 0.228 |
+| 7 | 0.00042 | -0.00033 | -0.00078 | 0.00095 | 0.039 |
+| 8 | -0.00010 | -0.00014 | -0.00017 | 0.00024 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_273f5f2e-69e5-40f0-b956-e81bdbfb37b6.md b/gap_reports/gap_273f5f2e-69e5-40f0-b956-e81bdbfb37b6.md
new file mode 100644
index 0000000000000000000000000000000000000000..401bbed67299d6812f64dbadd3cc1aea9ada1f3d
--- /dev/null
+++ b/gap_reports/gap_273f5f2e-69e5-40f0-b956-e81bdbfb37b6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/273f5f2e-69e5-40f0-b956-e81bdbfb37b6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/273f5f2e-69e5-40f0-b956-e81bdbfb37b6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2757 |
+| Sim rows | 245 |
+| Real episode_id | `273f5f2e-69e5-40f0-b956-e81bdbfb37b6` |
+| Sim episode_id | `273f5f2e-69e5-40f0-b956-e81bdbfb37b6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 215 | 19 | 3.387 | 16.83 | 29.15 | 1930.79 | 0.6337 |
+| 1 | descend | 348 | 31 | 0.980 | 7.11 | 12.31 | 3624.68 | 0.7358 |
+| 2 | settle | 358 | 32 | 0.026 | 1.02 | 1.76 | 3624.62 | 0.7365 |
+| 3 | close | 147 | 13 | 0.694 | 4.79 | 8.29 | 3625.53 | 0.9885 |
+| 4 | lift | 399 | 35 | 2.747 | 14.41 | 24.96 | 2380.21 | 1.1500 |
+| 5 | move_xy | 355 | 31 | 7.239 | 39.58 | 68.55 | 2747.93 | 0.9152 |
+| 6 | lower | 387 | 34 | 0.094 | 1.78 | 3.09 | 3624.97 | 1.0213 |
+| 7 | open | 147 | 13 | 0.768 | 5.22 | 9.05 | 3624.75 | 0.7344 |
+| 8 | retract | 401 | 35 | 2.524 | 13.60 | 23.55 | 2367.11 | 0.7615 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.978 |
+| TCP position RMSE (mm, per-axis) | 16.15 |
+| EE position RMS L2 (mm) | 29.51 |
+| TCP rotvec (mrad) | 3131.34 |
+| W1 effort mean (A) | 0.8460 |
+| W1 effort per joint (A) | j0=0.2373, j1=1.5946, j2=1.5797, j3=0.7630, j4=0.3158, j5=0.5857 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00111 | -0.00027 | -0.00071 | 0.00135 | 0.033 |
+| 1 | 0.00111 | -0.00062 | -0.00122 | 0.00176 | 0.058 |
+| 2 | 0.00115 | -0.00067 | -0.00117 | 0.00177 | 0.057 |
+| 3 | 0.00189 | -0.00033 | -0.00156 | 0.00247 | 0.109 |
+| 4 | 0.00014 | -0.00027 | -0.00027 | 0.00041 | 0.097 |
+| 5 | 0.00220 | -0.00081 | -0.00157 | 0.00282 | 0.125 |
+| 6 | 0.00182 | -0.00099 | -0.00118 | 0.00238 | 0.115 |
+| 7 | 0.00099 | -0.00029 | -0.00094 | 0.00140 | 0.041 |
+| 8 | -0.00012 | -0.00019 | -0.00020 | 0.00030 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_273f61cd-fdfb-4185-af0d-c513b78114e9.md b/gap_reports/gap_273f61cd-fdfb-4185-af0d-c513b78114e9.md
new file mode 100644
index 0000000000000000000000000000000000000000..675174c0a327be990bdb88fee91feddaed7e5f9b
--- /dev/null
+++ b/gap_reports/gap_273f61cd-fdfb-4185-af0d-c513b78114e9.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/273f61cd-fdfb-4185-af0d-c513b78114e9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/273f61cd-fdfb-4185-af0d-c513b78114e9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 972 |
+| Sim rows | 102 |
+| Real episode_id | `273f61cd-fdfb-4185-af0d-c513b78114e9` |
+| Sim episode_id | `273f61cd-fdfb-4185-af0d-c513b78114e9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 147 | 15 | 10.708 | 13.37 | 23.15 | 521.45 | 0.6750 |
+| 1 | descend | 81 | 9 | 19.280 | 3.79 | 6.57 | 743.51 | 0.7848 |
+| 2 | settle | 22 | 3 | 19.256 | 2.45 | 4.24 | 743.81 | 0.7724 |
+| 3 | close | 47 | 5 | 19.256 | 2.38 | 4.13 | 744.25 | 1.1119 |
+| 4 | lift | 82 | 9 | 19.278 | 3.93 | 6.81 | 743.82 | 1.2271 |
+| 5 | move_xy | 168 | 17 | 10.617 | 17.60 | 30.49 | 352.97 | 1.2224 |
+| 6 | lower | 76 | 9 | 0.806 | 4.61 | 7.98 | 6.21 | 1.0190 |
+| 7 | open | 89 | 9 | 0.021 | 2.75 | 4.77 | 5.32 | 0.6765 |
+| 8 | retract | 78 | 8 | 0.701 | 3.95 | 6.84 | 4.63 | 0.7313 |
+| 9 | return | 182 | 18 | 2.362 | 12.27 | 21.25 | 648.51 | 0.7085 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 13.111 |
+| TCP position RMSE (mm, per-axis) | 8.51 |
+| EE position RMS L2 (mm) | 18.60 |
+| TCP rotvec (mrad) | 550.49 |
+| W1 effort mean (A) | 0.8462 |
+| W1 effort per joint (A) | j0=0.1521, j1=1.5175, j2=1.5777, j3=0.7931, j4=0.2439, j5=0.7928 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00173 | -0.00378 | -0.00010 | 0.00416 | 47.219 |
+| 1 | 0.00220 | -0.00363 | -0.00003 | 0.00424 | 47.169 |
+| 2 | 0.00220 | -0.00363 | -0.00018 | 0.00425 | 47.166 |
+| 3 | 0.00235 | -0.00322 | -0.00115 | 0.00415 | 47.168 |
+| 4 | 0.00207 | -0.00349 | -0.00100 | 0.00418 | 47.222 |
+| 5 | 0.00190 | -0.00356 | -0.00185 | 0.00445 | 0.161 |
+| 6 | 0.00237 | -0.00353 | -0.00177 | 0.00461 | 0.115 |
+| 7 | 0.00236 | -0.00407 | -0.00082 | 0.00478 | 0.047 |
+| 8 | 0.00181 | -0.00387 | -0.00097 | 0.00438 | 0.055 |
+| 9 | -0.00015 | -0.00012 | -0.00026 | 0.00032 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2742cf26-8ba4-4612-bf08-b60c7a8b7cb2.md b/gap_reports/gap_2742cf26-8ba4-4612-bf08-b60c7a8b7cb2.md
new file mode 100644
index 0000000000000000000000000000000000000000..623a5b47e929f4e53b36ac8bbb75f3cd16ef383e
--- /dev/null
+++ b/gap_reports/gap_2742cf26-8ba4-4612-bf08-b60c7a8b7cb2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2742cf26-8ba4-4612-bf08-b60c7a8b7cb2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2742cf26-8ba4-4612-bf08-b60c7a8b7cb2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2574 |
+| Sim rows | 232 |
+| Real episode_id | `2742cf26-8ba4-4612-bf08-b60c7a8b7cb2` |
+| Sim episode_id | `2742cf26-8ba4-4612-bf08-b60c7a8b7cb2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 216 | 20 | 3.067 | 12.11 | 20.97 | 1926.89 | 0.5662 |
+| 1 | descend | 308 | 27 | 1.064 | 6.29 | 10.89 | 3625.97 | 0.6748 |
+| 2 | settle | 372 | 33 | 0.023 | 0.60 | 1.04 | 3626.01 | 0.7121 |
+| 3 | close | 115 | 11 | 0.785 | 4.71 | 8.15 | 1362.17 | 0.9215 |
+| 4 | lift | 337 | 30 | 3.163 | 12.94 | 22.41 | 1879.55 | 1.0719 |
+| 5 | move_xy | 373 | 33 | 7.322 | 32.55 | 56.38 | 2174.08 | 0.8985 |
+| 6 | lower | 402 | 35 | 0.083 | 1.14 | 1.98 | 1293.00 | 0.9257 |
+| 7 | open | 117 | 11 | 0.760 | 4.47 | 7.74 | 3626.24 | 0.5922 |
+| 8 | retract | 334 | 30 | 3.273 | 13.43 | 23.27 | 2279.38 | 0.6902 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.092 |
+| TCP position RMSE (mm, per-axis) | 13.49 |
+| EE position RMS L2 (mm) | 25.58 |
+| TCP rotvec (mrad) | 2585.01 |
+| W1 effort mean (A) | 0.7779 |
+| W1 effort per joint (A) | j0=0.2639, j1=1.1341, j2=1.5424, j3=0.7037, j4=0.4007, j5=0.6224 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00042 | -0.00033 | -0.00047 | 0.00071 | 0.026 |
+| 1 | 0.00042 | -0.00052 | -0.00081 | 0.00105 | 0.044 |
+| 2 | 0.00041 | -0.00055 | -0.00073 | 0.00101 | 0.034 |
+| 3 | 0.00130 | -0.00028 | -0.00116 | 0.00176 | 0.163 |
+| 4 | 0.00034 | 0.00011 | -0.00011 | 0.00038 | 0.074 |
+| 5 | 0.00107 | -0.00080 | -0.00149 | 0.00200 | 0.105 |
+| 6 | 0.00128 | -0.00075 | -0.00120 | 0.00190 | 0.118 |
+| 7 | 0.00024 | -0.00031 | -0.00056 | 0.00069 | 0.039 |
+| 8 | -0.00009 | -0.00011 | -0.00016 | 0.00021 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2749c211-5a08-4e00-9b25-f9ca0973a4c7.md b/gap_reports/gap_2749c211-5a08-4e00-9b25-f9ca0973a4c7.md
new file mode 100644
index 0000000000000000000000000000000000000000..8c79962467702aa0bcd0fa1a4baa5b734076d5fe
--- /dev/null
+++ b/gap_reports/gap_2749c211-5a08-4e00-9b25-f9ca0973a4c7.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2749c211-5a08-4e00-9b25-f9ca0973a4c7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2749c211-5a08-4e00-9b25-f9ca0973a4c7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2979 |
+| Sim rows | 264 |
+| Real episode_id | `2749c211-5a08-4e00-9b25-f9ca0973a4c7` |
+| Sim episode_id | `2749c211-5a08-4e00-9b25-f9ca0973a4c7` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 22 | 3.671 | 17.70 | 30.65 | 1906.70 | 0.6299 |
+| 1 | descend | 585 | 51 | 0.582 | 4.29 | 7.43 | 3624.70 | 0.8524 |
+| 2 | settle | 358 | 31 | 0.029 | 1.01 | 1.76 | 3624.60 | 0.6975 |
+| 3 | close | 118 | 11 | 0.703 | 4.90 | 8.48 | 3625.28 | 0.9900 |
+| 4 | lift | 361 | 32 | 3.213 | 17.03 | 29.49 | 2390.72 | 1.1770 |
+| 5 | move_xy | 428 | 37 | 7.709 | 42.39 | 73.41 | 2764.84 | 0.9490 |
+| 6 | lower | 395 | 35 | 0.096 | 1.78 | 3.08 | 3625.19 | 1.0776 |
+| 7 | open | 121 | 11 | 0.649 | 4.57 | 7.91 | 3624.73 | 0.7511 |
+| 8 | retract | 360 | 32 | 3.250 | 17.57 | 30.44 | 2409.03 | 0.7594 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.250 |
+| TCP position RMSE (mm, per-axis) | 17.56 |
+| EE position RMS L2 (mm) | 33.01 |
+| TCP rotvec (mrad) | 3135.78 |
+| W1 effort mean (A) | 0.8569 |
+| W1 effort per joint (A) | j0=0.2416, j1=1.5423, j2=1.6065, j3=0.8093, j4=0.3096, j5=0.6322 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00110 | -0.00026 | -0.00084 | 0.00141 | 0.036 |
+| 1 | 0.00111 | -0.00064 | -0.00117 | 0.00173 | 0.054 |
+| 2 | 0.00110 | -0.00065 | -0.00116 | 0.00172 | 0.055 |
+| 3 | 0.00217 | -0.00033 | -0.00187 | 0.00288 | 0.145 |
+| 4 | 0.00059 | 0.00004 | -0.00008 | 0.00059 | 0.164 |
+| 5 | 0.00204 | -0.00093 | -0.00068 | 0.00235 | 0.114 |
+| 6 | 0.00245 | -0.00092 | -0.00179 | 0.00317 | 0.159 |
+| 7 | 0.00094 | -0.00027 | -0.00094 | 0.00135 | 0.044 |
+| 8 | -0.00013 | -0.00021 | -0.00022 | 0.00033 | 0.037 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_274b5d3e-478e-4fa1-84de-9a5af898d7db.md b/gap_reports/gap_274b5d3e-478e-4fa1-84de-9a5af898d7db.md
new file mode 100644
index 0000000000000000000000000000000000000000..e288389e83105d4b4215c4178ee33284b2cde963
--- /dev/null
+++ b/gap_reports/gap_274b5d3e-478e-4fa1-84de-9a5af898d7db.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/274b5d3e-478e-4fa1-84de-9a5af898d7db.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/274b5d3e-478e-4fa1-84de-9a5af898d7db.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2496 |
+| Sim rows | 222 |
+| Real episode_id | `274b5d3e-478e-4fa1-84de-9a5af898d7db` |
+| Sim episode_id | `274b5d3e-478e-4fa1-84de-9a5af898d7db` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 189 | 17 | 2.134 | 9.64 | 16.70 | 2042.70 | 0.5850 |
+| 1 | descend | 429 | 38 | 1.110 | 7.18 | 12.44 | 3625.34 | 0.9947 |
+| 2 | settle | 370 | 32 | 0.022 | 0.73 | 1.27 | 3625.23 | 0.9784 |
+| 3 | close | 122 | 11 | 0.727 | 4.94 | 8.55 | 3625.64 | 1.2218 |
+| 4 | lift | 258 | 23 | 2.154 | 10.66 | 18.46 | 2234.64 | 1.2286 |
+| 5 | move_xy | 343 | 30 | 5.345 | 29.28 | 50.71 | 2742.38 | 1.0718 |
+| 6 | lower | 405 | 35 | 0.084 | 1.30 | 2.25 | 3480.94 | 1.4190 |
+| 7 | open | 123 | 11 | 0.706 | 4.56 | 7.89 | 3625.45 | 0.8633 |
+| 8 | retract | 257 | 23 | 2.280 | 11.55 | 20.00 | 2295.12 | 0.8597 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.242 |
+| TCP position RMSE (mm, per-axis) | 12.00 |
+| EE position RMS L2 (mm) | 22.03 |
+| TCP rotvec (mrad) | 3102.79 |
+| W1 effort mean (A) | 1.0455 |
+| W1 effort per joint (A) | j0=0.6988, j1=1.3219, j2=1.8083, j3=1.1291, j4=0.7451, j5=0.5700 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00040 | -0.00043 | -0.00075 | 0.00096 | 0.043 |
+| 1 | 0.00042 | -0.00073 | -0.00097 | 0.00128 | 0.042 |
+| 2 | 0.00040 | -0.00072 | -0.00094 | 0.00125 | 0.042 |
+| 3 | 0.00114 | -0.00037 | -0.00038 | 0.00126 | 0.117 |
+| 4 | 0.00007 | -0.00029 | -0.00014 | 0.00033 | 0.092 |
+| 5 | 0.00133 | -0.00103 | -0.00130 | 0.00213 | 0.128 |
+| 6 | 0.00111 | -0.00110 | -0.00184 | 0.00241 | 0.134 |
+| 7 | 0.00025 | -0.00045 | -0.00082 | 0.00097 | 0.048 |
+| 8 | -0.00013 | -0.00020 | -0.00019 | 0.00030 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2790d0ae-0a82-4347-aba8-294871db853e.md b/gap_reports/gap_2790d0ae-0a82-4347-aba8-294871db853e.md
new file mode 100644
index 0000000000000000000000000000000000000000..a694d933f937b75edf6463e8feb8d59ef51428ef
--- /dev/null
+++ b/gap_reports/gap_2790d0ae-0a82-4347-aba8-294871db853e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2790d0ae-0a82-4347-aba8-294871db853e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2790d0ae-0a82-4347-aba8-294871db853e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2474 |
+| Sim rows | 220 |
+| Real episode_id | `2790d0ae-0a82-4347-aba8-294871db853e` |
+| Sim episode_id | `2790d0ae-0a82-4347-aba8-294871db853e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 198 | 18 | 3.423 | 13.18 | 22.83 | 2029.02 | 0.5801 |
+| 1 | descend | 201 | 18 | 0.823 | 5.05 | 8.75 | 3626.07 | 0.6442 |
+| 2 | settle | 378 | 33 | 0.018 | 0.62 | 1.07 | 3626.07 | 0.7102 |
+| 3 | close | 98 | 9 | 0.421 | 2.82 | 4.88 | 2098.75 | 0.9496 |
+| 4 | lift | 386 | 34 | 3.862 | 16.38 | 28.37 | 1763.38 | 1.0597 |
+| 5 | move_xy | 332 | 29 | 7.935 | 34.10 | 59.06 | 2356.50 | 0.8552 |
+| 6 | lower | 393 | 34 | 0.082 | 1.19 | 2.05 | 2130.27 | 1.0397 |
+| 7 | open | 99 | 9 | 0.364 | 2.28 | 3.95 | 3626.12 | 0.6517 |
+| 8 | retract | 389 | 34 | 3.774 | 15.68 | 27.16 | 2288.65 | 0.6899 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.413 |
+| TCP position RMSE (mm, per-axis) | 14.50 |
+| EE position RMS L2 (mm) | 27.57 |
+| TCP rotvec (mrad) | 2716.32 |
+| W1 effort mean (A) | 0.8048 |
+| W1 effort per joint (A) | j0=0.2149, j1=1.2461, j2=1.6096, j3=0.8285, j4=0.3147, j5=0.6149 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00073 | -0.00031 | -0.00048 | 0.00092 | 0.040 |
+| 1 | 0.00065 | -0.00049 | -0.00071 | 0.00108 | 0.040 |
+| 2 | 0.00069 | -0.00050 | -0.00068 | 0.00109 | 0.036 |
+| 3 | 0.00104 | -0.00035 | -0.00131 | 0.00171 | 0.121 |
+| 4 | 0.00050 | 0.00004 | -0.00024 | 0.00056 | 0.097 |
+| 5 | 0.00126 | -0.00068 | -0.00073 | 0.00161 | 0.123 |
+| 6 | 0.00160 | -0.00057 | -0.00066 | 0.00183 | 0.157 |
+| 7 | 0.00051 | -0.00032 | -0.00055 | 0.00081 | 0.034 |
+| 8 | -0.00005 | -0.00007 | -0.00012 | 0.00014 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_27a134d3-cad4-4a59-a23b-64719644ac46.md b/gap_reports/gap_27a134d3-cad4-4a59-a23b-64719644ac46.md
new file mode 100644
index 0000000000000000000000000000000000000000..62cb577fb298d3b262309e0cca5e9780375bd08f
--- /dev/null
+++ b/gap_reports/gap_27a134d3-cad4-4a59-a23b-64719644ac46.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/27a134d3-cad4-4a59-a23b-64719644ac46.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/27a134d3-cad4-4a59-a23b-64719644ac46.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2580 |
+| Sim rows | 229 |
+| Real episode_id | `27a134d3-cad4-4a59-a23b-64719644ac46` |
+| Sim episode_id | `27a134d3-cad4-4a59-a23b-64719644ac46` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 213 | 19 | 2.249 | 12.87 | 22.30 | 1939.81 | 0.6142 |
+| 1 | descend | 386 | 34 | 0.466 | 3.29 | 5.70 | 3624.64 | 0.8366 |
+| 2 | settle | 389 | 34 | 0.027 | 0.97 | 1.68 | 3624.53 | 0.7674 |
+| 3 | close | 123 | 11 | 0.608 | 4.35 | 7.53 | 3625.10 | 0.9922 |
+| 4 | lift | 298 | 26 | 2.291 | 13.93 | 24.12 | 2291.03 | 1.1424 |
+| 5 | move_xy | 375 | 33 | 5.193 | 32.25 | 55.87 | 2782.89 | 0.9333 |
+| 6 | lower | 375 | 33 | 0.093 | 1.70 | 2.94 | 3624.75 | 1.1124 |
+| 7 | open | 123 | 11 | 0.510 | 3.56 | 6.17 | 3624.69 | 0.7477 |
+| 8 | retract | 298 | 26 | 2.337 | 14.25 | 24.69 | 2261.52 | 0.7419 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.201 |
+| TCP position RMSE (mm, per-axis) | 13.54 |
+| EE position RMS L2 (mm) | 25.36 |
+| TCP rotvec (mrad) | 3119.20 |
+| W1 effort mean (A) | 0.8636 |
+| W1 effort per joint (A) | j0=0.2080, j1=1.5979, j2=1.7150, j3=0.7786, j4=0.2911, j5=0.5911 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00081 | -0.00048 | -0.00077 | 0.00122 | 0.039 |
+| 1 | 0.00075 | -0.00087 | -0.00125 | 0.00170 | 0.059 |
+| 2 | 0.00077 | -0.00087 | -0.00121 | 0.00168 | 0.056 |
+| 3 | 0.00144 | -0.00058 | -0.00044 | 0.00161 | 0.097 |
+| 4 | 0.00027 | -0.00013 | -0.00021 | 0.00037 | 0.104 |
+| 5 | 0.00221 | -0.00127 | -0.00195 | 0.00321 | 0.197 |
+| 6 | 0.00217 | -0.00126 | -0.00165 | 0.00300 | 0.182 |
+| 7 | 0.00054 | -0.00062 | -0.00101 | 0.00130 | 0.047 |
+| 8 | -0.00014 | -0.00021 | -0.00021 | 0.00033 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_27cb6ce7-5c1e-4f91-bd1b-aa5873b1fd9a.md b/gap_reports/gap_27cb6ce7-5c1e-4f91-bd1b-aa5873b1fd9a.md
new file mode 100644
index 0000000000000000000000000000000000000000..37e7aea46b0fe2f40c5be2268a96274f61d91aa6
--- /dev/null
+++ b/gap_reports/gap_27cb6ce7-5c1e-4f91-bd1b-aa5873b1fd9a.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/27cb6ce7-5c1e-4f91-bd1b-aa5873b1fd9a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/27cb6ce7-5c1e-4f91-bd1b-aa5873b1fd9a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 530 |
+| Sim rows | 68 |
+| Real episode_id | `27cb6ce7-5c1e-4f91-bd1b-aa5873b1fd9a` |
+| Sim episode_id | `27cb6ce7-5c1e-4f91-bd1b-aa5873b1fd9a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 318 | 31 | 2.941 | 13.19 | 22.84 | 27.74 | 0.8117 |
+| 1 | descend | 212 | 21 | 0.464 | 3.64 | 6.31 | 18.78 | 0.8581 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.105 |
+| TCP position RMSE (mm, per-axis) | 9.67 |
+| EE position RMS L2 (mm) | 18.14 |
+| TCP rotvec (mrad) | 23.69 |
+| W1 effort mean (A) | 0.8302 |
+| W1 effort per joint (A) | j0=0.1733, j1=1.7652, j2=1.7805, j3=0.8919, j4=0.1728, j5=0.1976 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00602 | 0.00107 | 0.00052 | 0.00613 | 1.140 |
+| 1 | 0.00625 | 0.00109 | 0.00035 | 0.00635 | 1.133 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_27d7930d-b999-4c55-a4ef-fb3a63e37228.md b/gap_reports/gap_27d7930d-b999-4c55-a4ef-fb3a63e37228.md
new file mode 100644
index 0000000000000000000000000000000000000000..3f261a09b6b44f97def95b82f992875fe3525374
--- /dev/null
+++ b/gap_reports/gap_27d7930d-b999-4c55-a4ef-fb3a63e37228.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/27d7930d-b999-4c55-a4ef-fb3a63e37228.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/27d7930d-b999-4c55-a4ef-fb3a63e37228.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2633 |
+| Sim rows | 236 |
+| Real episode_id | `27d7930d-b999-4c55-a4ef-fb3a63e37228` |
+| Sim episode_id | `27d7930d-b999-4c55-a4ef-fb3a63e37228` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 17 | 3.417 | 12.12 | 20.99 | 1932.94 | 0.5898 |
+| 1 | descend | 364 | 32 | 1.425 | 8.62 | 14.92 | 3626.10 | 0.6761 |
+| 2 | settle | 378 | 33 | 0.025 | 0.67 | 1.16 | 3625.94 | 0.6095 |
+| 3 | close | 137 | 13 | 0.897 | 5.33 | 9.23 | 2181.59 | 0.9916 |
+| 4 | lift | 355 | 31 | 2.868 | 11.64 | 20.16 | 1595.26 | 1.0547 |
+| 5 | move_xy | 325 | 29 | 7.552 | 32.73 | 56.69 | 2289.63 | 0.8796 |
+| 6 | lower | 398 | 35 | 0.082 | 1.25 | 2.17 | 1995.89 | 0.9158 |
+| 7 | open | 138 | 13 | 1.229 | 6.98 | 12.09 | 3626.19 | 0.6027 |
+| 8 | retract | 355 | 31 | 2.852 | 11.59 | 20.07 | 2268.91 | 0.7101 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.152 |
+| TCP position RMSE (mm, per-axis) | 13.50 |
+| EE position RMS L2 (mm) | 24.09 |
+| TCP rotvec (mrad) | 2684.52 |
+| W1 effort mean (A) | 0.7584 |
+| W1 effort per joint (A) | j0=0.2580, j1=1.1905, j2=1.4151, j3=0.7020, j4=0.3826, j5=0.6025 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00061 | -0.00018 | -0.00040 | 0.00075 | 0.042 |
+| 1 | 0.00075 | -0.00058 | -0.00080 | 0.00124 | 0.042 |
+| 2 | 0.00069 | -0.00056 | -0.00076 | 0.00117 | 0.037 |
+| 3 | 0.00101 | -0.00025 | -0.00023 | 0.00107 | 0.087 |
+| 4 | 0.00047 | 0.00005 | -0.00009 | 0.00048 | 0.092 |
+| 5 | 0.00176 | -0.00061 | -0.00105 | 0.00214 | 0.147 |
+| 6 | 0.00140 | -0.00069 | -0.00121 | 0.00197 | 0.093 |
+| 7 | 0.00039 | -0.00029 | -0.00048 | 0.00068 | 0.037 |
+| 8 | -0.00009 | -0.00012 | -0.00014 | 0.00021 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_27f4368c-ddb8-4759-b63f-edea7a13f757.md b/gap_reports/gap_27f4368c-ddb8-4759-b63f-edea7a13f757.md
new file mode 100644
index 0000000000000000000000000000000000000000..6ee556240fd050dfbf81513c9e15ef8bcafd1ad9
--- /dev/null
+++ b/gap_reports/gap_27f4368c-ddb8-4759-b63f-edea7a13f757.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/27f4368c-ddb8-4759-b63f-edea7a13f757.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/27f4368c-ddb8-4759-b63f-edea7a13f757.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2787 |
+| Sim rows | 248 |
+| Real episode_id | `27f4368c-ddb8-4759-b63f-edea7a13f757` |
+| Sim episode_id | `27f4368c-ddb8-4759-b63f-edea7a13f757` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 217 | 19 | 3.079 | 14.40 | 24.95 | 1968.79 | 0.5820 |
+| 1 | descend | 270 | 24 | 1.207 | 7.96 | 13.79 | 3625.31 | 0.7108 |
+| 2 | settle | 380 | 33 | 0.024 | 0.77 | 1.33 | 3625.24 | 0.7229 |
+| 3 | close | 126 | 12 | 0.555 | 3.73 | 6.45 | 3221.87 | 0.9844 |
+| 4 | lift | 449 | 39 | 3.033 | 14.42 | 24.97 | 2263.51 | 1.1032 |
+| 5 | move_xy | 359 | 32 | 6.070 | 31.52 | 54.60 | 2634.71 | 0.8784 |
+| 6 | lower | 408 | 36 | 0.083 | 1.34 | 2.32 | 3485.22 | 0.9968 |
+| 7 | open | 126 | 12 | 0.547 | 3.54 | 6.14 | 3625.49 | 0.6284 |
+| 8 | retract | 452 | 39 | 3.070 | 14.74 | 25.54 | 2262.13 | 0.7060 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.729 |
+| TCP position RMSE (mm, per-axis) | 13.82 |
+| EE position RMS L2 (mm) | 25.73 |
+| TCP rotvec (mrad) | 3037.09 |
+| W1 effort mean (A) | 0.8156 |
+| W1 effort per joint (A) | j0=0.2152, j1=1.3478, j2=1.6287, j3=0.7538, j4=0.3259, j5=0.6225 |
+
+## Phase-end anchor (sim - 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 | -0.00041 | -0.00078 | 0.00110 | 0.039 |
+| 1 | 0.00062 | -0.00064 | -0.00103 | 0.00136 | 0.051 |
+| 2 | 0.00063 | -0.00065 | -0.00097 | 0.00133 | 0.045 |
+| 3 | 0.00162 | -0.00056 | -0.00125 | 0.00212 | 0.140 |
+| 4 | 0.00025 | -0.00014 | -0.00037 | 0.00046 | 0.085 |
+| 5 | 0.00204 | -0.00084 | -0.00077 | 0.00234 | 0.188 |
+| 6 | 0.00141 | -0.00081 | -0.00184 | 0.00245 | 0.115 |
+| 7 | 0.00045 | -0.00043 | -0.00080 | 0.00102 | 0.039 |
+| 8 | -0.00007 | -0.00010 | -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.
diff --git a/gap_reports/gap_28169569-fe47-4d9b-94b5-8158b58dd44c.md b/gap_reports/gap_28169569-fe47-4d9b-94b5-8158b58dd44c.md
new file mode 100644
index 0000000000000000000000000000000000000000..374f2c222e610e5dbdc4ccd8821d88c304d91165
--- /dev/null
+++ b/gap_reports/gap_28169569-fe47-4d9b-94b5-8158b58dd44c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/28169569-fe47-4d9b-94b5-8158b58dd44c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/28169569-fe47-4d9b-94b5-8158b58dd44c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2755 |
+| Sim rows | 245 |
+| Real episode_id | `28169569-fe47-4d9b-94b5-8158b58dd44c` |
+| Sim episode_id | `28169569-fe47-4d9b-94b5-8158b58dd44c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 252 | 22 | 2.660 | 13.37 | 23.15 | 2016.88 | 0.5661 |
+| 1 | descend | 412 | 36 | 0.388 | 2.65 | 4.58 | 3625.32 | 0.7211 |
+| 2 | settle | 373 | 33 | 0.024 | 0.74 | 1.29 | 3625.22 | 0.6922 |
+| 3 | close | 117 | 11 | 0.436 | 3.02 | 5.23 | 3625.81 | 1.0043 |
+| 4 | lift | 330 | 29 | 2.493 | 12.76 | 22.09 | 2222.40 | 1.0993 |
+| 5 | move_xy | 432 | 38 | 5.140 | 28.91 | 50.07 | 2779.89 | 0.8916 |
+| 6 | lower | 391 | 34 | 0.085 | 1.29 | 2.24 | 3476.59 | 0.9966 |
+| 7 | open | 118 | 11 | 0.537 | 3.47 | 6.01 | 3625.40 | 0.7061 |
+| 8 | retract | 330 | 29 | 2.491 | 12.79 | 22.15 | 2222.20 | 0.7073 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.274 |
+| TCP position RMSE (mm, per-axis) | 12.34 |
+| EE position RMS L2 (mm) | 23.79 |
+| TCP rotvec (mrad) | 3097.22 |
+| W1 effort mean (A) | 0.7998 |
+| W1 effort per joint (A) | j0=0.2123, j1=1.3315, j2=1.6335, j3=0.7816, j4=0.3091, j5=0.5307 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00046 | -0.00052 | -0.00075 | 0.00103 | 0.029 |
+| 1 | 0.00040 | -0.00070 | -0.00099 | 0.00128 | 0.045 |
+| 2 | 0.00042 | -0.00072 | -0.00097 | 0.00128 | 0.046 |
+| 3 | 0.00138 | -0.00074 | -0.00200 | 0.00253 | 0.169 |
+| 4 | -0.00007 | -0.00072 | -0.00074 | 0.00104 | 0.125 |
+| 5 | 0.00112 | -0.00095 | -0.00124 | 0.00193 | 0.095 |
+| 6 | 0.00104 | -0.00117 | -0.00285 | 0.00325 | 0.227 |
+| 7 | 0.00025 | -0.00052 | -0.00085 | 0.00103 | 0.041 |
+| 8 | -0.00011 | -0.00016 | -0.00015 | 0.00025 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_287cf2d3-d3a0-4c9f-a33a-491f846f8a5d.md b/gap_reports/gap_287cf2d3-d3a0-4c9f-a33a-491f846f8a5d.md
new file mode 100644
index 0000000000000000000000000000000000000000..37232fa1a43900d2e6b9427184726fbcbbf6f354
--- /dev/null
+++ b/gap_reports/gap_287cf2d3-d3a0-4c9f-a33a-491f846f8a5d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/287cf2d3-d3a0-4c9f-a33a-491f846f8a5d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/287cf2d3-d3a0-4c9f-a33a-491f846f8a5d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2485 |
+| Sim rows | 219 |
+| Real episode_id | `287cf2d3-d3a0-4c9f-a33a-491f846f8a5d` |
+| Sim episode_id | `287cf2d3-d3a0-4c9f-a33a-491f846f8a5d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 198 | 18 | 2.452 | 9.69 | 16.79 | 1996.02 | 0.5623 |
+| 1 | descend | 313 | 27 | 0.904 | 5.32 | 9.22 | 3626.10 | 0.7109 |
+| 2 | settle | 375 | 33 | 0.018 | 0.51 | 0.88 | 3626.03 | 0.7305 |
+| 3 | close | 135 | 12 | 0.586 | 3.59 | 6.21 | 1792.78 | 0.9281 |
+| 4 | lift | 298 | 26 | 2.643 | 10.92 | 18.92 | 2022.35 | 1.0751 |
+| 5 | move_xy | 348 | 30 | 4.971 | 22.96 | 39.76 | 2175.01 | 0.8827 |
+| 6 | lower | 384 | 33 | 0.076 | 0.92 | 1.59 | 1045.67 | 0.9922 |
+| 7 | open | 135 | 12 | 0.734 | 4.27 | 7.40 | 3626.11 | 0.6090 |
+| 8 | retract | 299 | 26 | 2.555 | 10.62 | 18.40 | 2238.88 | 0.6917 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.259 |
+| TCP position RMSE (mm, per-axis) | 10.08 |
+| EE position RMS L2 (mm) | 18.54 |
+| TCP rotvec (mrad) | 2615.55 |
+| W1 effort mean (A) | 0.7972 |
+| W1 effort per joint (A) | j0=0.2207, j1=1.1841, j2=1.6362, j3=0.8805, j4=0.2555, j5=0.6063 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00015 | -0.00040 | -0.00046 | 0.00063 | 0.025 |
+| 1 | 0.00011 | -0.00053 | -0.00069 | 0.00088 | 0.035 |
+| 2 | 0.00015 | -0.00053 | -0.00069 | 0.00088 | 0.033 |
+| 3 | 0.00050 | -0.00047 | -0.00050 | 0.00085 | 0.095 |
+| 4 | 0.00040 | 0.00012 | 0.00002 | 0.00042 | 0.071 |
+| 5 | 0.00091 | -0.00066 | -0.00085 | 0.00141 | 0.123 |
+| 6 | 0.00059 | -0.00065 | -0.00091 | 0.00127 | 0.068 |
+| 7 | -0.00001 | -0.00038 | -0.00055 | 0.00067 | 0.037 |
+| 8 | -0.00007 | -0.00010 | -0.00013 | 0.00018 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2881fe41-aba9-462a-8d4d-1f1bb2d2d33f.md b/gap_reports/gap_2881fe41-aba9-462a-8d4d-1f1bb2d2d33f.md
new file mode 100644
index 0000000000000000000000000000000000000000..88176287706dde52c2cb9afc43ec7a7b671af393
--- /dev/null
+++ b/gap_reports/gap_2881fe41-aba9-462a-8d4d-1f1bb2d2d33f.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2881fe41-aba9-462a-8d4d-1f1bb2d2d33f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2881fe41-aba9-462a-8d4d-1f1bb2d2d33f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 592 |
+| Sim rows | 74 |
+| Real episode_id | `2881fe41-aba9-462a-8d4d-1f1bb2d2d33f` |
+| Sim episode_id | `2881fe41-aba9-462a-8d4d-1f1bb2d2d33f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 383 | 37 | 2.682 | 14.48 | 25.08 | 1001.45 | 0.7093 |
+| 1 | descend | 209 | 21 | 0.022 | 0.49 | 0.85 | 2.05 | 0.6288 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.897 |
+| TCP position RMSE (mm, per-axis) | 10.24 |
+| EE position RMS L2 (mm) | 20.18 |
+| TCP rotvec (mrad) | 708.14 |
+| W1 effort mean (A) | 0.6808 |
+| W1 effort per joint (A) | j0=0.1091, j1=1.4594, j2=1.4083, j3=0.8597, j4=0.1067, j5=0.1418 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00031 | -0.00052 | 0.00058 | 0.00084 | 0.054 |
+| 1 | -0.00021 | -0.00049 | 0.00066 | 0.00085 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_28822d83-42c7-4e76-958b-eb85717be254.md b/gap_reports/gap_28822d83-42c7-4e76-958b-eb85717be254.md
new file mode 100644
index 0000000000000000000000000000000000000000..65c8dbbabf3bdb14e42ffbeb92d6686ca284e7f2
--- /dev/null
+++ b/gap_reports/gap_28822d83-42c7-4e76-958b-eb85717be254.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/28822d83-42c7-4e76-958b-eb85717be254.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/28822d83-42c7-4e76-958b-eb85717be254.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2649 |
+| Sim rows | 234 |
+| Real episode_id | `28822d83-42c7-4e76-958b-eb85717be254` |
+| Sim episode_id | `28822d83-42c7-4e76-958b-eb85717be254` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 215 | 19 | 2.796 | 14.58 | 25.25 | 1850.02 | 0.6204 |
+| 1 | descend | 355 | 31 | 0.811 | 5.75 | 9.97 | 3624.75 | 0.7400 |
+| 2 | settle | 393 | 34 | 0.026 | 0.96 | 1.66 | 3624.58 | 0.7280 |
+| 3 | close | 168 | 15 | 0.895 | 6.23 | 10.79 | 3624.82 | 1.0792 |
+| 4 | lift | 285 | 25 | 2.754 | 15.14 | 26.23 | 2438.94 | 1.1431 |
+| 5 | move_xy | 389 | 34 | 6.656 | 38.49 | 66.67 | 2787.31 | 0.9364 |
+| 6 | lower | 392 | 34 | 0.101 | 1.79 | 3.10 | 3551.18 | 1.0563 |
+| 7 | open | 167 | 15 | 0.693 | 4.86 | 8.43 | 3624.71 | 0.7665 |
+| 8 | retract | 285 | 25 | 2.755 | 15.22 | 26.37 | 2429.30 | 0.7598 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.774 |
+| TCP position RMSE (mm, per-axis) | 15.83 |
+| EE position RMS L2 (mm) | 29.67 |
+| TCP rotvec (mrad) | 3130.61 |
+| W1 effort mean (A) | 0.8530 |
+| W1 effort per joint (A) | j0=0.2297, j1=1.5452, j2=1.6781, j3=0.7640, j4=0.3245, j5=0.5764 |
+
+## Phase-end anchor (sim - 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 | -0.00037 | -0.00074 | 0.00123 | 0.027 |
+| 1 | 0.00090 | -0.00077 | -0.00117 | 0.00167 | 0.057 |
+| 2 | 0.00092 | -0.00076 | -0.00118 | 0.00168 | 0.055 |
+| 3 | 0.00200 | -0.00050 | -0.00189 | 0.00279 | 0.147 |
+| 4 | 0.00027 | -0.00024 | -0.00032 | 0.00048 | 0.110 |
+| 5 | 0.00224 | -0.00112 | -0.00161 | 0.00298 | 0.164 |
+| 6 | 0.00209 | -0.00106 | -0.00211 | 0.00315 | 0.171 |
+| 7 | 0.00077 | -0.00038 | -0.00100 | 0.00132 | 0.049 |
+| 8 | -0.00013 | -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.
diff --git a/gap_reports/gap_2883666b-3b75-43e2-b069-40cd50d0174f.md b/gap_reports/gap_2883666b-3b75-43e2-b069-40cd50d0174f.md
new file mode 100644
index 0000000000000000000000000000000000000000..6ceafb1482315a18df58ac5605622f98664faed9
--- /dev/null
+++ b/gap_reports/gap_2883666b-3b75-43e2-b069-40cd50d0174f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2883666b-3b75-43e2-b069-40cd50d0174f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2883666b-3b75-43e2-b069-40cd50d0174f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2888 |
+| Sim rows | 257 |
+| Real episode_id | `2883666b-3b75-43e2-b069-40cd50d0174f` |
+| Sim episode_id | `2883666b-3b75-43e2-b069-40cd50d0174f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 281 | 25 | 4.104 | 19.89 | 34.46 | 2028.52 | 0.6347 |
+| 1 | descend | 365 | 32 | 1.311 | 9.06 | 15.70 | 3624.77 | 0.7637 |
+| 2 | settle | 363 | 32 | 0.026 | 1.01 | 1.75 | 3624.60 | 0.7177 |
+| 3 | close | 161 | 15 | 0.963 | 6.80 | 11.79 | 3625.31 | 0.9996 |
+| 4 | lift | 330 | 29 | 3.293 | 17.24 | 29.86 | 2468.62 | 1.1556 |
+| 5 | move_xy | 507 | 44 | 8.509 | 46.70 | 80.88 | 2888.82 | 0.9264 |
+| 6 | lower | 385 | 34 | 0.084 | 1.65 | 2.86 | 3625.27 | 1.0290 |
+| 7 | open | 164 | 15 | 0.802 | 5.64 | 9.77 | 3624.78 | 0.7421 |
+| 8 | retract | 332 | 29 | 3.026 | 15.98 | 27.67 | 2492.82 | 0.7689 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.536 |
+| TCP position RMSE (mm, per-axis) | 19.13 |
+| EE position RMS L2 (mm) | 38.73 |
+| TCP rotvec (mrad) | 3170.52 |
+| W1 effort mean (A) | 0.8434 |
+| W1 effort per joint (A) | j0=0.2400, j1=1.5686, j2=1.5745, j3=0.7864, j4=0.2714, j5=0.6192 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00104 | -0.00021 | -0.00079 | 0.00133 | 0.035 |
+| 1 | 0.00107 | -0.00065 | -0.00117 | 0.00171 | 0.056 |
+| 2 | 0.00115 | -0.00066 | -0.00117 | 0.00177 | 0.053 |
+| 3 | 0.00151 | -0.00020 | -0.00064 | 0.00165 | 0.092 |
+| 4 | 0.00034 | -0.00006 | -0.00023 | 0.00041 | 0.080 |
+| 5 | 0.00258 | -0.00096 | -0.00140 | 0.00309 | 0.183 |
+| 6 | 0.00244 | -0.00093 | -0.00156 | 0.00304 | 0.164 |
+| 7 | 0.00085 | -0.00022 | -0.00099 | 0.00132 | 0.062 |
+| 8 | -0.00014 | -0.00022 | -0.00020 | 0.00033 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_28a4853c-192c-4bdf-a1ef-4a14d410ccd5.md b/gap_reports/gap_28a4853c-192c-4bdf-a1ef-4a14d410ccd5.md
new file mode 100644
index 0000000000000000000000000000000000000000..85cbba1757574113e89a6f11bf63bb657a75cfb1
--- /dev/null
+++ b/gap_reports/gap_28a4853c-192c-4bdf-a1ef-4a14d410ccd5.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/28a4853c-192c-4bdf-a1ef-4a14d410ccd5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/28a4853c-192c-4bdf-a1ef-4a14d410ccd5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1404 |
+| Sim rows | 144 |
+| Real episode_id | `28a4853c-192c-4bdf-a1ef-4a14d410ccd5` |
+| Sim episode_id | `28a4853c-192c-4bdf-a1ef-4a14d410ccd5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 148 | 15 | 11.244 | 15.20 | 26.33 | 477.65 | 0.6768 |
+| 1 | descend | 74 | 8 | 20.332 | 3.80 | 6.58 | 783.14 | 0.7905 |
+| 2 | settle | 24 | 3 | 20.308 | 2.30 | 3.99 | 783.38 | 0.8635 |
+| 3 | close | 321 | 32 | 20.306 | 2.42 | 4.19 | 782.94 | 1.2375 |
+| 4 | lift | 72 | 8 | 20.330 | 4.12 | 7.14 | 782.63 | 1.3516 |
+| 5 | move_xy | 171 | 17 | 12.234 | 23.92 | 41.42 | 380.92 | 1.3059 |
+| 6 | lower | 73 | 8 | 0.866 | 4.69 | 8.12 | 6.12 | 1.1713 |
+| 7 | open | 281 | 28 | 0.023 | 2.80 | 4.85 | 4.86 | 0.5480 |
+| 8 | retract | 73 | 8 | 0.972 | 4.48 | 7.76 | 4.15 | 0.6477 |
+| 9 | return | 167 | 17 | 2.241 | 11.65 | 20.18 | 632.96 | 0.6726 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 13.908 |
+| TCP position RMSE (mm, per-axis) | 10.15 |
+| EE position RMS L2 (mm) | 18.73 |
+| TCP rotvec (mrad) | 568.02 |
+| W1 effort mean (A) | 0.8990 |
+| W1 effort per joint (A) | j0=0.1884, j1=1.5222, j2=1.5833, j3=0.9499, j4=0.1857, j5=0.9647 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00166 | -0.00359 | 0.00013 | 0.00396 | 49.785 |
+| 1 | 0.00206 | -0.00345 | 0.00015 | 0.00402 | 49.747 |
+| 2 | 0.00208 | -0.00338 | -0.00009 | 0.00397 | 49.742 |
+| 3 | 0.00201 | -0.00372 | -0.00019 | 0.00424 | 49.739 |
+| 4 | 0.00173 | -0.00400 | -0.00041 | 0.00438 | 49.799 |
+| 5 | 0.00234 | -0.00498 | -0.00074 | 0.00556 | 0.205 |
+| 6 | 0.00287 | -0.00499 | -0.00085 | 0.00582 | 0.133 |
+| 7 | 0.00218 | -0.00430 | -0.00062 | 0.00486 | 0.035 |
+| 8 | 0.00167 | -0.00395 | -0.00084 | 0.00437 | 0.063 |
+| 9 | -0.00017 | -0.00009 | -0.00024 | 0.00031 | 0.035 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_28b0e2cd-af84-43f9-94e6-7a9b15331159.md b/gap_reports/gap_28b0e2cd-af84-43f9-94e6-7a9b15331159.md
new file mode 100644
index 0000000000000000000000000000000000000000..0ddc5151be777bb7fbcafe445cab5c0289042a02
--- /dev/null
+++ b/gap_reports/gap_28b0e2cd-af84-43f9-94e6-7a9b15331159.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/28b0e2cd-af84-43f9-94e6-7a9b15331159.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/28b0e2cd-af84-43f9-94e6-7a9b15331159.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2916 |
+| Sim rows | 260 |
+| Real episode_id | `28b0e2cd-af84-43f9-94e6-7a9b15331159` |
+| Sim episode_id | `28b0e2cd-af84-43f9-94e6-7a9b15331159` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 265 | 24 | 3.297 | 15.14 | 26.22 | 1954.16 | 0.5691 |
+| 1 | descend | 564 | 49 | 0.420 | 2.86 | 4.95 | 3625.37 | 0.6687 |
+| 2 | settle | 387 | 34 | 0.025 | 0.77 | 1.34 | 3625.24 | 0.7062 |
+| 3 | close | 128 | 12 | 0.676 | 4.46 | 7.72 | 3221.67 | 1.0010 |
+| 4 | lift | 293 | 26 | 2.968 | 14.27 | 24.71 | 2154.32 | 1.1163 |
+| 5 | move_xy | 479 | 42 | 6.643 | 34.40 | 59.58 | 2840.33 | 0.8794 |
+| 6 | lower | 379 | 33 | 0.083 | 1.33 | 2.31 | 3508.61 | 0.9897 |
+| 7 | open | 128 | 12 | 0.654 | 4.21 | 7.30 | 3625.51 | 0.6277 |
+| 8 | retract | 293 | 26 | 3.049 | 14.63 | 25.33 | 2320.11 | 0.7248 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.871 |
+| TCP position RMSE (mm, per-axis) | 14.45 |
+| EE position RMS L2 (mm) | 27.96 |
+| TCP rotvec (mrad) | 3055.59 |
+| W1 effort mean (A) | 0.7770 |
+| W1 effort per joint (A) | j0=0.2304, j1=1.2975, j2=1.5917, j3=0.7093, j4=0.2697, j5=0.5633 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00065 | -0.00033 | -0.00079 | 0.00108 | 0.042 |
+| 1 | 0.00062 | -0.00064 | -0.00097 | 0.00132 | 0.045 |
+| 2 | 0.00064 | -0.00064 | -0.00100 | 0.00135 | 0.047 |
+| 3 | 0.00124 | -0.00030 | -0.00143 | 0.00192 | 0.113 |
+| 4 | 0.00014 | -0.00018 | -0.00012 | 0.00025 | 0.088 |
+| 5 | 0.00183 | -0.00101 | -0.00102 | 0.00233 | 0.174 |
+| 6 | 0.00201 | -0.00084 | -0.00189 | 0.00288 | 0.192 |
+| 7 | 0.00042 | -0.00033 | -0.00081 | 0.00097 | 0.050 |
+| 8 | -0.00013 | -0.00021 | -0.00022 | 0.00033 | 0.035 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_28bef1c8-e9ad-46cb-8216-e34129d35013.md b/gap_reports/gap_28bef1c8-e9ad-46cb-8216-e34129d35013.md
new file mode 100644
index 0000000000000000000000000000000000000000..648978c6e6abe9f4eac45dbc0f55335cb07ebb09
--- /dev/null
+++ b/gap_reports/gap_28bef1c8-e9ad-46cb-8216-e34129d35013.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/28bef1c8-e9ad-46cb-8216-e34129d35013.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/28bef1c8-e9ad-46cb-8216-e34129d35013.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 936 |
+| Sim rows | 97 |
+| Real episode_id | `28bef1c8-e9ad-46cb-8216-e34129d35013` |
+| Sim episode_id | `28bef1c8-e9ad-46cb-8216-e34129d35013` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 150 | 15 | 2.588 | 13.26 | 22.96 | 288.29 | 0.6798 |
+| 1 | descend | 78 | 8 | 0.668 | 3.75 | 6.50 | 4.32 | 0.6687 |
+| 2 | settle | 26 | 3 | 0.022 | 2.21 | 3.82 | 5.00 | 0.6696 |
+| 3 | close | 47 | 5 | 0.068 | 2.32 | 4.03 | 4.83 | 1.0754 |
+| 4 | lift | 80 | 9 | 0.728 | 4.04 | 7.00 | 4.57 | 1.0591 |
+| 5 | move_xy | 161 | 16 | 2.491 | 17.47 | 30.26 | 40.46 | 1.1462 |
+| 6 | lower | 78 | 8 | 0.726 | 4.49 | 7.78 | 6.08 | 1.1038 |
+| 7 | open | 81 | 9 | 0.026 | 2.72 | 4.70 | 4.94 | 0.6306 |
+| 8 | retract | 78 | 8 | 0.768 | 4.10 | 7.09 | 4.38 | 0.6992 |
+| 9 | return | 157 | 16 | 1.855 | 9.70 | 16.80 | 1227.35 | 0.6988 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.358 |
+| TCP position RMSE (mm, per-axis) | 8.13 |
+| EE position RMS L2 (mm) | 17.59 |
+| TCP rotvec (mrad) | 398.91 |
+| W1 effort mean (A) | 0.8116 |
+| W1 effort per joint (A) | j0=0.1750, j1=1.5006, j2=1.5366, j3=0.8569, j4=0.2984, j5=0.5024 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00173 | -0.00323 | -0.00001 | 0.00366 | 0.047 |
+| 1 | 0.00233 | -0.00303 | -0.00001 | 0.00382 | 0.046 |
+| 2 | 0.00230 | -0.00305 | -0.00017 | 0.00383 | 0.048 |
+| 3 | 0.00250 | -0.00289 | -0.00093 | 0.00393 | 0.137 |
+| 4 | 0.00232 | -0.00346 | -0.00129 | 0.00436 | 0.209 |
+| 5 | 0.00266 | -0.00452 | -0.00115 | 0.00537 | 0.151 |
+| 6 | 0.00305 | -0.00461 | -0.00086 | 0.00560 | 0.134 |
+| 7 | 0.00237 | -0.00404 | -0.00063 | 0.00472 | 0.043 |
+| 8 | 0.00181 | -0.00391 | -0.00074 | 0.00438 | 0.052 |
+| 9 | -0.00013 | -0.00016 | -0.00029 | 0.00036 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_28d2ea7e-2f43-4122-a50d-adb44070404d.md b/gap_reports/gap_28d2ea7e-2f43-4122-a50d-adb44070404d.md
new file mode 100644
index 0000000000000000000000000000000000000000..2329bd1168f374d57b7ae41b9b12e2cf135333b7
--- /dev/null
+++ b/gap_reports/gap_28d2ea7e-2f43-4122-a50d-adb44070404d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/28d2ea7e-2f43-4122-a50d-adb44070404d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/28d2ea7e-2f43-4122-a50d-adb44070404d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2840 |
+| Sim rows | 253 |
+| Real episode_id | `28d2ea7e-2f43-4122-a50d-adb44070404d` |
+| Sim episode_id | `28d2ea7e-2f43-4122-a50d-adb44070404d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 195 | 18 | 2.998 | 12.58 | 21.80 | 2011.01 | 0.5763 |
+| 1 | descend | 252 | 23 | 1.095 | 7.15 | 12.38 | 3625.40 | 0.6859 |
+| 2 | settle | 431 | 38 | 0.023 | 0.76 | 1.31 | 3625.22 | 0.6648 |
+| 3 | close | 144 | 13 | 0.867 | 5.80 | 10.04 | 3420.29 | 0.9246 |
+| 4 | lift | 447 | 39 | 3.107 | 14.42 | 24.97 | 2211.83 | 1.0955 |
+| 5 | move_xy | 345 | 30 | 6.950 | 35.50 | 61.48 | 2712.93 | 0.8920 |
+| 6 | lower | 434 | 38 | 0.083 | 1.31 | 2.26 | 3283.89 | 0.9916 |
+| 7 | open | 145 | 13 | 0.803 | 5.17 | 8.95 | 3625.38 | 0.6880 |
+| 8 | retract | 447 | 39 | 3.091 | 14.44 | 25.02 | 2319.62 | 0.7027 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.965 |
+| TCP position RMSE (mm, per-axis) | 14.71 |
+| EE position RMS L2 (mm) | 26.69 |
+| TCP rotvec (mrad) | 3047.56 |
+| W1 effort mean (A) | 0.8073 |
+| W1 effort per joint (A) | j0=0.2028, j1=1.3225, j2=1.6645, j3=0.7575, j4=0.2914, j5=0.6052 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00065 | -0.00031 | -0.00068 | 0.00099 | 0.040 |
+| 1 | 0.00058 | -0.00067 | -0.00097 | 0.00132 | 0.051 |
+| 2 | 0.00061 | -0.00066 | -0.00094 | 0.00130 | 0.045 |
+| 3 | 0.00113 | -0.00044 | -0.00099 | 0.00157 | 0.104 |
+| 4 | 0.00020 | -0.00028 | -0.00052 | 0.00062 | 0.081 |
+| 5 | 0.00185 | -0.00094 | -0.00155 | 0.00259 | 0.182 |
+| 6 | 0.00148 | -0.00088 | -0.00120 | 0.00210 | 0.116 |
+| 7 | 0.00048 | -0.00036 | -0.00073 | 0.00095 | 0.042 |
+| 8 | -0.00007 | -0.00009 | -0.00012 | 0.00016 | 0.019 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_28e9714a-9393-4a13-a6a4-7a7c3af75a6f.md b/gap_reports/gap_28e9714a-9393-4a13-a6a4-7a7c3af75a6f.md
new file mode 100644
index 0000000000000000000000000000000000000000..5524fbf0e003c8bb951f2a9cd52b9afc7ea15458
--- /dev/null
+++ b/gap_reports/gap_28e9714a-9393-4a13-a6a4-7a7c3af75a6f.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/28e9714a-9393-4a13-a6a4-7a7c3af75a6f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/28e9714a-9393-4a13-a6a4-7a7c3af75a6f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1621 |
+| Sim rows | 164 |
+| Real episode_id | `28e9714a-9393-4a13-a6a4-7a7c3af75a6f` |
+| Sim episode_id | `28e9714a-9393-4a13-a6a4-7a7c3af75a6f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 159 | 16 | 2.862 | 14.55 | 25.20 | 411.34 | 0.6970 |
+| 1 | descend | 78 | 8 | 0.609 | 3.67 | 6.35 | 4.60 | 0.6847 |
+| 2 | settle | 36 | 4 | 0.025 | 2.28 | 3.95 | 5.18 | 0.6792 |
+| 3 | close | 374 | 37 | 0.097 | 2.05 | 3.56 | 6.92 | 1.1088 |
+| 4 | lift | 75 | 8 | 0.627 | 3.51 | 6.08 | 6.28 | 1.2199 |
+| 5 | move_xy | 194 | 20 | 2.749 | 17.30 | 29.97 | 75.29 | 1.1970 |
+| 6 | lower | 76 | 8 | 0.596 | 4.16 | 7.21 | 8.30 | 1.1085 |
+| 7 | open | 359 | 36 | 0.037 | 3.15 | 5.46 | 6.17 | 0.7031 |
+| 8 | retract | 77 | 8 | 0.677 | 4.31 | 7.46 | 5.56 | 0.7755 |
+| 9 | return | 193 | 19 | 2.470 | 16.02 | 27.75 | 326.52 | 0.7695 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.531 |
+| TCP position RMSE (mm, per-axis) | 9.21 |
+| EE position RMS L2 (mm) | 16.73 |
+| TCP rotvec (mrad) | 167.86 |
+| W1 effort mean (A) | 0.8832 |
+| W1 effort per joint (A) | j0=0.1367, j1=1.8441, j2=1.6480, j3=0.8402, j4=0.2351, j5=0.5949 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00200 | -0.00320 | 0.00003 | 0.00377 | 0.054 |
+| 1 | 0.00248 | -0.00307 | -0.00016 | 0.00395 | 0.043 |
+| 2 | 0.00248 | -0.00308 | -0.00030 | 0.00396 | 0.054 |
+| 3 | 0.00254 | -0.00234 | -0.00066 | 0.00351 | 0.170 |
+| 4 | 0.00240 | -0.00264 | -0.00073 | 0.00364 | 0.168 |
+| 5 | 0.00281 | -0.00495 | -0.00113 | 0.00580 | 0.190 |
+| 6 | 0.00333 | -0.00495 | -0.00240 | 0.00643 | 0.197 |
+| 7 | 0.00217 | -0.00488 | -0.00125 | 0.00549 | 0.060 |
+| 8 | 0.00171 | -0.00476 | -0.00141 | 0.00525 | 0.069 |
+| 9 | -0.00019 | -0.00014 | -0.00029 | 0.00037 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_29022812-afa4-4bcc-ae2f-c54b2dcc2d7c.md b/gap_reports/gap_29022812-afa4-4bcc-ae2f-c54b2dcc2d7c.md
new file mode 100644
index 0000000000000000000000000000000000000000..5528da19cf043ea1eb07d677ef5c4ff62b2026cc
--- /dev/null
+++ b/gap_reports/gap_29022812-afa4-4bcc-ae2f-c54b2dcc2d7c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/29022812-afa4-4bcc-ae2f-c54b2dcc2d7c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/29022812-afa4-4bcc-ae2f-c54b2dcc2d7c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2928 |
+| Sim rows | 261 |
+| Real episode_id | `29022812-afa4-4bcc-ae2f-c54b2dcc2d7c` |
+| Sim episode_id | `29022812-afa4-4bcc-ae2f-c54b2dcc2d7c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 231 | 21 | 3.647 | 13.85 | 23.99 | 1952.78 | 0.5764 |
+| 1 | descend | 366 | 32 | 1.128 | 6.79 | 11.77 | 3626.00 | 0.6664 |
+| 2 | settle | 373 | 33 | 0.020 | 0.68 | 1.17 | 3625.98 | 0.6626 |
+| 3 | close | 119 | 12 | 0.776 | 4.78 | 8.27 | 1115.34 | 0.9251 |
+| 4 | lift | 457 | 40 | 3.798 | 15.71 | 27.20 | 1925.14 | 1.0852 |
+| 5 | move_xy | 390 | 34 | 8.056 | 34.91 | 60.47 | 2195.70 | 0.8584 |
+| 6 | lower | 406 | 35 | 0.080 | 1.21 | 2.10 | 1761.19 | 0.8909 |
+| 7 | open | 126 | 12 | 0.736 | 4.33 | 7.49 | 3626.22 | 0.5787 |
+| 8 | retract | 460 | 40 | 3.680 | 15.32 | 26.54 | 2305.54 | 0.6893 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.474 |
+| TCP position RMSE (mm, per-axis) | 14.84 |
+| EE position RMS L2 (mm) | 27.96 |
+| TCP rotvec (mrad) | 2612.94 |
+| W1 effort mean (A) | 0.7685 |
+| W1 effort per joint (A) | j0=0.2375, j1=1.1786, j2=1.5023, j3=0.6814, j4=0.3979, j5=0.6136 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00070 | -0.00030 | -0.00050 | 0.00092 | 0.035 |
+| 1 | 0.00068 | -0.00057 | -0.00074 | 0.00115 | 0.034 |
+| 2 | 0.00070 | -0.00058 | -0.00073 | 0.00116 | 0.034 |
+| 3 | 0.00122 | -0.00047 | -0.00022 | 0.00133 | 0.102 |
+| 4 | 0.00010 | -0.00045 | -0.00052 | 0.00070 | 0.088 |
+| 5 | 0.00140 | -0.00078 | -0.00142 | 0.00214 | 0.112 |
+| 6 | 0.00194 | -0.00062 | -0.00191 | 0.00279 | 0.165 |
+| 7 | 0.00054 | -0.00030 | -0.00055 | 0.00082 | 0.036 |
+| 8 | -0.00005 | -0.00007 | -0.00012 | 0.00015 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_29064868-519f-4617-aa57-6502b1f3bad9.md b/gap_reports/gap_29064868-519f-4617-aa57-6502b1f3bad9.md
new file mode 100644
index 0000000000000000000000000000000000000000..1fd719d0b78c3354d557b85f181e7edf28219310
--- /dev/null
+++ b/gap_reports/gap_29064868-519f-4617-aa57-6502b1f3bad9.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/29064868-519f-4617-aa57-6502b1f3bad9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/29064868-519f-4617-aa57-6502b1f3bad9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 554 |
+| Sim rows | 71 |
+| Real episode_id | `29064868-519f-4617-aa57-6502b1f3bad9` |
+| Sim episode_id | `29064868-519f-4617-aa57-6502b1f3bad9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 344 | 34 | 2.788 | 13.75 | 23.81 | 991.62 | 0.8198 |
+| 1 | descend | 210 | 21 | 0.020 | 6.80 | 11.78 | 2.21 | 0.8058 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.972 |
+| TCP position RMSE (mm, per-axis) | 10.84 |
+| EE position RMS L2 (mm) | 20.12 |
+| TCP rotvec (mrad) | 701.18 |
+| W1 effort mean (A) | 0.8144 |
+| W1 effort per joint (A) | j0=0.1997, j1=1.7785, j2=1.6238, j3=0.9275, j4=0.1680, j5=0.1889 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00709 | 0.00953 | -0.00062 | 0.01190 | 0.039 |
+| 1 | -0.00693 | 0.00948 | -0.00062 | 0.01176 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_290eef09-16fa-4927-999e-e5bfba1a825a.md b/gap_reports/gap_290eef09-16fa-4927-999e-e5bfba1a825a.md
new file mode 100644
index 0000000000000000000000000000000000000000..43e814ff75cfc1cab76dd14ee3c9be042185842b
--- /dev/null
+++ b/gap_reports/gap_290eef09-16fa-4927-999e-e5bfba1a825a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/290eef09-16fa-4927-999e-e5bfba1a825a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/290eef09-16fa-4927-999e-e5bfba1a825a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2600 |
+| Sim rows | 233 |
+| Real episode_id | `290eef09-16fa-4927-999e-e5bfba1a825a` |
+| Sim episode_id | `290eef09-16fa-4927-999e-e5bfba1a825a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 17 | 2.761 | 10.30 | 17.83 | 1969.70 | 0.5836 |
+| 1 | descend | 315 | 28 | 0.732 | 4.50 | 7.79 | 3626.00 | 0.7146 |
+| 2 | settle | 395 | 35 | 0.021 | 0.60 | 1.03 | 3625.95 | 0.7338 |
+| 3 | close | 137 | 13 | 0.792 | 4.94 | 8.56 | 1592.28 | 0.9586 |
+| 4 | lift | 375 | 33 | 3.336 | 13.97 | 24.19 | 1932.95 | 1.0594 |
+| 5 | move_xy | 317 | 28 | 6.232 | 28.10 | 48.66 | 2163.71 | 0.8717 |
+| 6 | lower | 380 | 33 | 0.080 | 1.10 | 1.91 | 1116.21 | 0.9676 |
+| 7 | open | 125 | 11 | 0.660 | 3.87 | 6.71 | 3626.23 | 0.5746 |
+| 8 | retract | 373 | 33 | 3.174 | 13.28 | 23.01 | 2213.38 | 0.6921 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.774 |
+| TCP position RMSE (mm, per-axis) | 12.15 |
+| EE position RMS L2 (mm) | 22.03 |
+| TCP rotvec (mrad) | 2591.07 |
+| W1 effort mean (A) | 0.7874 |
+| W1 effort per joint (A) | j0=0.2349, j1=1.2137, j2=1.6077, j3=0.6995, j4=0.3446, 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 | 0.00046 | -0.00033 | -0.00049 | 0.00075 | 0.036 |
+| 1 | 0.00039 | -0.00054 | -0.00077 | 0.00102 | 0.036 |
+| 2 | 0.00042 | -0.00055 | -0.00076 | 0.00103 | 0.037 |
+| 3 | 0.00095 | -0.00039 | -0.00111 | 0.00151 | 0.107 |
+| 4 | 0.00029 | -0.00015 | -0.00027 | 0.00043 | 0.095 |
+| 5 | 0.00141 | -0.00064 | -0.00074 | 0.00172 | 0.134 |
+| 6 | 0.00132 | -0.00068 | -0.00057 | 0.00159 | 0.124 |
+| 7 | 0.00024 | -0.00033 | -0.00060 | 0.00072 | 0.040 |
+| 8 | -0.00009 | -0.00010 | -0.00014 | 0.00019 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_292cf2ee-4e2b-404d-abeb-69fd62205d66.md b/gap_reports/gap_292cf2ee-4e2b-404d-abeb-69fd62205d66.md
new file mode 100644
index 0000000000000000000000000000000000000000..cd14d4b3263286afb931537534db842a2d2aba50
--- /dev/null
+++ b/gap_reports/gap_292cf2ee-4e2b-404d-abeb-69fd62205d66.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/292cf2ee-4e2b-404d-abeb-69fd62205d66.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/292cf2ee-4e2b-404d-abeb-69fd62205d66.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2226 |
+| Sim rows | 223 |
+| Real episode_id | `292cf2ee-4e2b-404d-abeb-69fd62205d66` |
+| Sim episode_id | `292cf2ee-4e2b-404d-abeb-69fd62205d66` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 210 | 21 | 15.154 | 15.96 | 27.64 | 639.69 | 0.6895 |
+| 1 | descend | 114 | 12 | 26.984 | 4.65 | 8.06 | 1032.55 | 0.8574 |
+| 2 | settle | 37 | 5 | 26.956 | 2.45 | 4.25 | 1032.80 | 0.8863 |
+| 3 | close | 379 | 37 | 26.954 | 2.39 | 4.14 | 1033.16 | 1.2503 |
+| 4 | lift | 114 | 12 | 26.984 | 5.00 | 8.67 | 1032.86 | 1.4061 |
+| 5 | move_xy | 309 | 31 | 16.391 | 31.87 | 55.20 | 478.33 | 1.2775 |
+| 6 | lower | 114 | 12 | 1.031 | 4.86 | 8.41 | 4.08 | 1.0695 |
+| 7 | open | 370 | 36 | 0.019 | 2.53 | 4.38 | 4.80 | 0.5321 |
+| 8 | retract | 114 | 12 | 0.940 | 4.28 | 7.42 | 4.17 | 0.6703 |
+| 9 | return | 465 | 45 | 5.967 | 18.32 | 31.73 | 1059.63 | 0.6810 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 18.561 |
+| TCP position RMSE (mm, per-axis) | 13.09 |
+| EE position RMS L2 (mm) | 26.93 |
+| TCP rotvec (mrad) | 776.40 |
+| W1 effort mean (A) | 0.8654 |
+| W1 effort per joint (A) | j0=0.1497, j1=1.4899, j2=1.5493, j3=0.8617, j4=0.1936, j5=0.9483 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00176 | -0.00389 | -0.00010 | 0.00427 | 66.090 |
+| 1 | 0.00214 | -0.00366 | -0.00017 | 0.00425 | 66.030 |
+| 2 | 0.00216 | -0.00366 | -0.00024 | 0.00426 | 66.028 |
+| 3 | 0.00235 | -0.00315 | -0.00106 | 0.00407 | 66.022 |
+| 4 | 0.00196 | -0.00367 | -0.00109 | 0.00430 | 66.094 |
+| 5 | 0.00118 | -0.00332 | -0.00148 | 0.00383 | 0.085 |
+| 6 | 0.00165 | -0.00383 | -0.00135 | 0.00438 | 0.079 |
+| 7 | 0.00155 | -0.00398 | -0.00097 | 0.00438 | 0.040 |
+| 8 | 0.00119 | -0.00353 | -0.00106 | 0.00387 | 0.041 |
+| 9 | -0.00003 | -0.00004 | -0.00019 | 0.00019 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_29693f6f-70d3-4173-b9db-3efa09f9b08e.md b/gap_reports/gap_29693f6f-70d3-4173-b9db-3efa09f9b08e.md
new file mode 100644
index 0000000000000000000000000000000000000000..54eb93399e7d176b6c84a04cfa2b87be70c6ce5e
--- /dev/null
+++ b/gap_reports/gap_29693f6f-70d3-4173-b9db-3efa09f9b08e.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/29693f6f-70d3-4173-b9db-3efa09f9b08e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/29693f6f-70d3-4173-b9db-3efa09f9b08e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 675 |
+| Sim rows | 83 |
+| Real episode_id | `29693f6f-70d3-4173-b9db-3efa09f9b08e` |
+| Sim episode_id | `29693f6f-70d3-4173-b9db-3efa09f9b08e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 466 | 46 | 3.362 | 19.73 | 34.18 | 860.16 | 0.7804 |
+| 1 | descend | 209 | 21 | 0.023 | 2.11 | 3.65 | 2.05 | 0.8676 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.377 |
+| TCP position RMSE (mm, per-axis) | 14.03 |
+| EE position RMS L2 (mm) | 28.47 |
+| TCP rotvec (mrad) | 608.22 |
+| W1 effort mean (A) | 0.8074 |
+| W1 effort per joint (A) | j0=0.2119, j1=1.6847, j2=1.7719, j3=0.8443, j4=0.1386, j5=0.1930 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00213 | -0.00296 | 0.00055 | 0.00369 | 0.034 |
+| 1 | -0.00203 | -0.00297 | 0.00051 | 0.00363 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_296a4603-8ff8-4b8f-9c46-744725d0d9f2.md b/gap_reports/gap_296a4603-8ff8-4b8f-9c46-744725d0d9f2.md
new file mode 100644
index 0000000000000000000000000000000000000000..b0eadb627ebf2c2b237079006f2a9973c6fe9f94
--- /dev/null
+++ b/gap_reports/gap_296a4603-8ff8-4b8f-9c46-744725d0d9f2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/296a4603-8ff8-4b8f-9c46-744725d0d9f2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/296a4603-8ff8-4b8f-9c46-744725d0d9f2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2921 |
+| Sim rows | 258 |
+| Real episode_id | `296a4603-8ff8-4b8f-9c46-744725d0d9f2` |
+| Sim episode_id | `296a4603-8ff8-4b8f-9c46-744725d0d9f2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 201 | 18 | 2.279 | 11.19 | 19.39 | 1930.62 | 0.5646 |
+| 1 | descend | 618 | 53 | 0.345 | 2.33 | 4.04 | 3625.36 | 0.6990 |
+| 2 | settle | 364 | 32 | 0.023 | 0.74 | 1.28 | 3625.23 | 0.6553 |
+| 3 | close | 135 | 12 | 0.790 | 5.12 | 8.88 | 3088.54 | 0.9633 |
+| 4 | lift | 351 | 31 | 2.560 | 12.54 | 21.72 | 2322.37 | 1.0835 |
+| 5 | move_xy | 373 | 33 | 4.937 | 27.02 | 46.80 | 2834.52 | 0.8909 |
+| 6 | lower | 395 | 34 | 0.087 | 1.33 | 2.30 | 3476.38 | 1.0047 |
+| 7 | open | 134 | 12 | 0.808 | 5.21 | 9.03 | 3625.47 | 0.6690 |
+| 8 | retract | 350 | 31 | 2.581 | 12.71 | 22.02 | 2317.30 | 0.7199 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.216 |
+| TCP position RMSE (mm, per-axis) | 11.72 |
+| EE position RMS L2 (mm) | 20.79 |
+| TCP rotvec (mrad) | 3047.39 |
+| W1 effort mean (A) | 0.7862 |
+| W1 effort per joint (A) | j0=0.2410, j1=1.3219, j2=1.5939, j3=0.6904, j4=0.3316, j5=0.5381 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00046 | -0.00042 | -0.00074 | 0.00096 | 0.038 |
+| 1 | 0.00039 | -0.00070 | -0.00100 | 0.00128 | 0.045 |
+| 2 | 0.00042 | -0.00071 | -0.00096 | 0.00127 | 0.043 |
+| 3 | 0.00104 | -0.00047 | -0.00064 | 0.00131 | 0.109 |
+| 4 | 0.00003 | -0.00042 | -0.00034 | 0.00054 | 0.090 |
+| 5 | 0.00172 | -0.00114 | -0.00185 | 0.00277 | 0.180 |
+| 6 | 0.00129 | -0.00096 | -0.00140 | 0.00213 | 0.116 |
+| 7 | 0.00025 | -0.00045 | -0.00074 | 0.00091 | 0.041 |
+| 8 | -0.00008 | -0.00013 | -0.00016 | 0.00022 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_296e22ff-ba8a-4666-8341-64d2597b2704.md b/gap_reports/gap_296e22ff-ba8a-4666-8341-64d2597b2704.md
new file mode 100644
index 0000000000000000000000000000000000000000..b8e9f4acb38057e7b8444005231838844a67d0ef
--- /dev/null
+++ b/gap_reports/gap_296e22ff-ba8a-4666-8341-64d2597b2704.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/296e22ff-ba8a-4666-8341-64d2597b2704.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/296e22ff-ba8a-4666-8341-64d2597b2704.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 757 |
+| Sim rows | 90 |
+| Real episode_id | `296e22ff-ba8a-4666-8341-64d2597b2704` |
+| Sim episode_id | `296e22ff-ba8a-4666-8341-64d2597b2704` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 547 | 53 | 4.687 | 21.21 | 36.73 | 917.20 | 0.7585 |
+| 1 | descend | 210 | 21 | 0.026 | 5.71 | 9.89 | 1.91 | 0.7185 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.314 |
+| TCP position RMSE (mm, per-axis) | 15.53 |
+| EE position RMS L2 (mm) | 31.65 |
+| TCP rotvec (mrad) | 648.56 |
+| W1 effort mean (A) | 0.7473 |
+| W1 effort per joint (A) | j0=0.1634, j1=1.6169, j2=1.6751, j3=0.7476, j4=0.1342, j5=0.1468 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00110 | -0.00982 | -0.00019 | 0.00989 | 0.043 |
+| 1 | 0.00118 | -0.00984 | -0.00029 | 0.00992 | 0.051 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_29718a4e-c3dc-4694-9ac7-bfd2e5abc638.md b/gap_reports/gap_29718a4e-c3dc-4694-9ac7-bfd2e5abc638.md
new file mode 100644
index 0000000000000000000000000000000000000000..47996a5c2651a38f968324a3a31ee70d018c428e
--- /dev/null
+++ b/gap_reports/gap_29718a4e-c3dc-4694-9ac7-bfd2e5abc638.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/29718a4e-c3dc-4694-9ac7-bfd2e5abc638.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/29718a4e-c3dc-4694-9ac7-bfd2e5abc638.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2605 |
+| Sim rows | 234 |
+| Real episode_id | `29718a4e-c3dc-4694-9ac7-bfd2e5abc638` |
+| Sim episode_id | `29718a4e-c3dc-4694-9ac7-bfd2e5abc638` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.090 | 11.18 | 19.37 | 1968.16 | 0.6208 |
+| 1 | descend | 436 | 38 | 0.847 | 5.85 | 10.13 | 3624.67 | 0.7494 |
+| 2 | settle | 377 | 33 | 0.027 | 0.97 | 1.68 | 3624.53 | 0.7796 |
+| 3 | close | 113 | 11 | 0.639 | 4.64 | 8.04 | 3625.08 | 1.0990 |
+| 4 | lift | 348 | 31 | 2.441 | 14.50 | 25.12 | 2177.72 | 1.1191 |
+| 5 | move_xy | 305 | 27 | 5.620 | 34.41 | 59.59 | 2685.62 | 0.9411 |
+| 6 | lower | 386 | 34 | 0.100 | 1.76 | 3.05 | 3551.20 | 1.0907 |
+| 7 | open | 115 | 11 | 0.715 | 4.98 | 8.62 | 3624.71 | 0.7376 |
+| 8 | retract | 352 | 31 | 2.404 | 14.27 | 24.71 | 2318.44 | 0.7396 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.342 |
+| TCP position RMSE (mm, per-axis) | 14.17 |
+| EE position RMS L2 (mm) | 25.15 |
+| TCP rotvec (mrad) | 3097.85 |
+| W1 effort mean (A) | 0.8565 |
+| W1 effort per joint (A) | j0=0.2266, j1=1.6077, j2=1.7292, j3=0.7215, j4=0.2668, j5=0.5869 |
+
+## Phase-end anchor (sim - 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 | -0.00047 | -0.00074 | 0.00118 | 0.036 |
+| 1 | 0.00078 | -0.00087 | -0.00122 | 0.00169 | 0.053 |
+| 2 | 0.00078 | -0.00088 | -0.00123 | 0.00170 | 0.059 |
+| 3 | 0.00146 | -0.00063 | -0.00073 | 0.00175 | 0.100 |
+| 4 | 0.00051 | -0.00006 | -0.00022 | 0.00056 | 0.150 |
+| 5 | 0.00175 | -0.00130 | -0.00214 | 0.00306 | 0.141 |
+| 6 | 0.00162 | -0.00140 | -0.00263 | 0.00340 | 0.205 |
+| 7 | 0.00056 | -0.00057 | -0.00101 | 0.00129 | 0.045 |
+| 8 | -0.00014 | -0.00019 | -0.00018 | 0.00029 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_29742bd7-e8fc-478c-a425-8b34ae6d4ced.md b/gap_reports/gap_29742bd7-e8fc-478c-a425-8b34ae6d4ced.md
new file mode 100644
index 0000000000000000000000000000000000000000..ca59f6c8e911a9c64600b5c42cfc6002077ac9cb
--- /dev/null
+++ b/gap_reports/gap_29742bd7-e8fc-478c-a425-8b34ae6d4ced.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/29742bd7-e8fc-478c-a425-8b34ae6d4ced.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/29742bd7-e8fc-478c-a425-8b34ae6d4ced.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2909 |
+| Sim rows | 258 |
+| Real episode_id | `29742bd7-e8fc-478c-a425-8b34ae6d4ced` |
+| Sim episode_id | `29742bd7-e8fc-478c-a425-8b34ae6d4ced` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 287 | 25 | 3.438 | 16.67 | 28.88 | 1937.52 | 0.6235 |
+| 1 | descend | 303 | 27 | 0.710 | 5.10 | 8.83 | 3624.66 | 0.7488 |
+| 2 | settle | 379 | 33 | 0.026 | 1.01 | 1.75 | 3624.58 | 0.7490 |
+| 3 | close | 105 | 10 | 0.491 | 3.73 | 6.46 | 3625.11 | 1.0531 |
+| 4 | lift | 425 | 37 | 3.479 | 18.30 | 31.70 | 2391.79 | 1.1303 |
+| 5 | move_xy | 483 | 42 | 8.076 | 44.50 | 77.07 | 2764.80 | 0.9168 |
+| 6 | lower | 396 | 35 | 0.094 | 1.76 | 3.05 | 3625.12 | 1.0062 |
+| 7 | open | 105 | 10 | 0.519 | 3.76 | 6.51 | 3624.68 | 0.7665 |
+| 8 | retract | 426 | 37 | 3.384 | 17.93 | 31.05 | 2407.97 | 0.7520 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.360 |
+| TCP position RMSE (mm, per-axis) | 18.17 |
+| EE position RMS L2 (mm) | 37.00 |
+| TCP rotvec (mrad) | 3137.84 |
+| W1 effort mean (A) | 0.8447 |
+| W1 effort per joint (A) | j0=0.2190, j1=1.5212, j2=1.6117, j3=0.8169, j4=0.2740, j5=0.6253 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00114 | -0.00036 | -0.00077 | 0.00142 | 0.024 |
+| 1 | 0.00117 | -0.00063 | -0.00121 | 0.00180 | 0.057 |
+| 2 | 0.00113 | -0.00064 | -0.00118 | 0.00175 | 0.055 |
+| 3 | 0.00188 | -0.00033 | -0.00065 | 0.00202 | 0.104 |
+| 4 | 0.00006 | -0.00039 | -0.00042 | 0.00057 | 0.105 |
+| 5 | 0.00213 | -0.00092 | -0.00150 | 0.00276 | 0.126 |
+| 6 | 0.00264 | -0.00092 | -0.00173 | 0.00329 | 0.185 |
+| 7 | 0.00087 | -0.00034 | -0.00097 | 0.00135 | 0.045 |
+| 8 | -0.00009 | -0.00011 | -0.00016 | 0.00021 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_29909a2c-e58a-486b-ba02-c95175541de4.md b/gap_reports/gap_29909a2c-e58a-486b-ba02-c95175541de4.md
new file mode 100644
index 0000000000000000000000000000000000000000..23eac23e8f1f15ae51aa2a895562094dbe5e5b4a
--- /dev/null
+++ b/gap_reports/gap_29909a2c-e58a-486b-ba02-c95175541de4.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/29909a2c-e58a-486b-ba02-c95175541de4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/29909a2c-e58a-486b-ba02-c95175541de4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 449 |
+| Sim rows | 61 |
+| Real episode_id | `29909a2c-e58a-486b-ba02-c95175541de4` |
+| Sim episode_id | `29909a2c-e58a-486b-ba02-c95175541de4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 24 | 1.816 | 7.37 | 12.76 | 415.00 | 0.8198 |
+| 1 | descend | 211 | 21 | 0.022 | 3.58 | 6.20 | 2.06 | 0.7580 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.284 |
+| TCP position RMSE (mm, per-axis) | 5.79 |
+| EE position RMS L2 (mm) | 10.22 |
+| TCP rotvec (mrad) | 293.45 |
+| W1 effort mean (A) | 0.7907 |
+| W1 effort per joint (A) | j0=0.1549, j1=1.8022, j2=1.5948, j3=0.9415, j4=0.1538, j5=0.0968 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00321 | 0.00543 | 0.00022 | 0.00631 | 0.041 |
+| 1 | -0.00307 | 0.00538 | 0.00028 | 0.00620 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2994308a-d5ae-4764-b237-11ffd8540fcf.md b/gap_reports/gap_2994308a-d5ae-4764-b237-11ffd8540fcf.md
new file mode 100644
index 0000000000000000000000000000000000000000..540a4d008ba935bcabae835b6ed5c8ee5b9d666e
--- /dev/null
+++ b/gap_reports/gap_2994308a-d5ae-4764-b237-11ffd8540fcf.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2994308a-d5ae-4764-b237-11ffd8540fcf.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2994308a-d5ae-4764-b237-11ffd8540fcf.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2545 |
+| Sim rows | 229 |
+| Real episode_id | `2994308a-d5ae-4764-b237-11ffd8540fcf` |
+| Sim episode_id | `2994308a-d5ae-4764-b237-11ffd8540fcf` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 190 | 17 | 2.329 | 12.66 | 21.93 | 1967.98 | 0.6399 |
+| 1 | descend | 292 | 26 | 1.215 | 8.32 | 14.42 | 3624.70 | 1.0817 |
+| 2 | settle | 361 | 32 | 0.028 | 0.98 | 1.70 | 3624.55 | 1.1819 |
+| 3 | close | 149 | 14 | 1.073 | 7.25 | 12.56 | 3625.29 | 1.2212 |
+| 4 | lift | 325 | 29 | 2.405 | 13.67 | 23.67 | 2351.86 | 1.2659 |
+| 5 | move_xy | 341 | 30 | 4.314 | 26.03 | 45.08 | 2722.77 | 1.0868 |
+| 6 | lower | 411 | 36 | 0.104 | 1.80 | 3.13 | 3625.02 | 1.4922 |
+| 7 | open | 150 | 14 | 1.051 | 7.22 | 12.50 | 3624.71 | 0.9663 |
+| 8 | retract | 326 | 29 | 2.385 | 13.67 | 23.68 | 2400.82 | 0.9005 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.088 |
+| TCP position RMSE (mm, per-axis) | 12.43 |
+| EE position RMS L2 (mm) | 22.27 |
+| TCP rotvec (mrad) | 3131.91 |
+| W1 effort mean (A) | 1.1200 |
+| W1 effort per joint (A) | j0=0.6971, j1=1.6260, j2=1.9201, j3=1.1532, j4=0.7052, j5=0.6184 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00076 | -0.00039 | -0.00063 | 0.00107 | 0.030 |
+| 1 | 0.00080 | -0.00086 | -0.00124 | 0.00171 | 0.058 |
+| 2 | 0.00078 | -0.00087 | -0.00123 | 0.00169 | 0.058 |
+| 3 | 0.00133 | -0.00048 | -0.00112 | 0.00180 | 0.074 |
+| 4 | 0.00047 | -0.00020 | -0.00037 | 0.00063 | 0.156 |
+| 5 | 0.00226 | -0.00125 | -0.00220 | 0.00340 | 0.204 |
+| 6 | 0.00197 | -0.00117 | -0.00153 | 0.00276 | 0.160 |
+| 7 | 0.00061 | -0.00053 | -0.00098 | 0.00127 | 0.060 |
+| 8 | -0.00013 | -0.00019 | -0.00018 | 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.
diff --git a/gap_reports/gap_29c5e79b-7491-4ae9-aba0-1a4f50ac6539.md b/gap_reports/gap_29c5e79b-7491-4ae9-aba0-1a4f50ac6539.md
new file mode 100644
index 0000000000000000000000000000000000000000..851b44436d4c0c31bfcde1a348cd97bab41d2513
--- /dev/null
+++ b/gap_reports/gap_29c5e79b-7491-4ae9-aba0-1a4f50ac6539.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/29c5e79b-7491-4ae9-aba0-1a4f50ac6539.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/29c5e79b-7491-4ae9-aba0-1a4f50ac6539.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1526 |
+| Sim rows | 157 |
+| Real episode_id | `29c5e79b-7491-4ae9-aba0-1a4f50ac6539` |
+| Sim episode_id | `29c5e79b-7491-4ae9-aba0-1a4f50ac6539` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 139 | 14 | 3.536 | 15.25 | 26.41 | 711.30 | 0.6800 |
+| 1 | descend | 61 | 7 | 2.002 | 2.94 | 5.10 | 79.52 | 0.6339 |
+| 2 | settle | 39 | 5 | 1.951 | 2.34 | 4.05 | 79.79 | 0.6272 |
+| 3 | close | 367 | 36 | 1.952 | 2.25 | 3.89 | 80.30 | 1.0263 |
+| 4 | lift | 61 | 7 | 2.024 | 3.09 | 5.36 | 79.92 | 1.0608 |
+| 5 | move_xy | 187 | 19 | 9.533 | 30.37 | 52.60 | 106.75 | 1.1081 |
+| 6 | lower | 58 | 7 | 0.404 | 2.82 | 4.89 | 4.63 | 0.9941 |
+| 7 | open | 71 | 8 | 0.018 | 2.54 | 4.41 | 4.94 | 0.5830 |
+| 8 | retract | 60 | 7 | 0.238 | 2.59 | 4.48 | 4.45 | 0.6445 |
+| 9 | return | 483 | 47 | 5.652 | 19.74 | 34.19 | 958.67 | 0.6651 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.889 |
+| TCP position RMSE (mm, per-axis) | 12.63 |
+| EE position RMS L2 (mm) | 27.95 |
+| TCP rotvec (mrad) | 382.36 |
+| W1 effort mean (A) | 0.7708 |
+| W1 effort per joint (A) | j0=0.1369, j1=1.4265, j2=1.5348, j3=0.8008, j4=0.1771, j5=0.5487 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00174 | -0.00350 | 0.00013 | 0.00391 | 4.807 |
+| 1 | 0.00225 | -0.00338 | 0.00006 | 0.00406 | 4.778 |
+| 2 | 0.00225 | -0.00338 | -0.00009 | 0.00406 | 4.778 |
+| 3 | 0.00237 | -0.00294 | -0.00106 | 0.00392 | 4.777 |
+| 4 | 0.00214 | -0.00322 | -0.00110 | 0.00402 | 4.807 |
+| 5 | 0.00157 | -0.00361 | -0.00137 | 0.00416 | 0.106 |
+| 6 | 0.00144 | -0.00388 | -0.00082 | 0.00422 | 0.043 |
+| 7 | 0.00150 | -0.00406 | -0.00089 | 0.00442 | 0.028 |
+| 8 | 0.00136 | -0.00369 | -0.00109 | 0.00408 | 0.051 |
+| 9 | -0.00007 | -0.00004 | -0.00023 | 0.00024 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_29cb1341-c237-4c56-9f13-42d804db9bb0.md b/gap_reports/gap_29cb1341-c237-4c56-9f13-42d804db9bb0.md
new file mode 100644
index 0000000000000000000000000000000000000000..caa5caa78044930bce08d5d33059e0c336edc12e
--- /dev/null
+++ b/gap_reports/gap_29cb1341-c237-4c56-9f13-42d804db9bb0.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/29cb1341-c237-4c56-9f13-42d804db9bb0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/29cb1341-c237-4c56-9f13-42d804db9bb0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3173 |
+| Sim rows | 280 |
+| Real episode_id | `29cb1341-c237-4c56-9f13-42d804db9bb0` |
+| Sim episode_id | `29cb1341-c237-4c56-9f13-42d804db9bb0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 211 | 19 | 3.011 | 13.62 | 23.59 | 1933.24 | 0.5839 |
+| 1 | descend | 641 | 55 | 0.518 | 3.56 | 6.17 | 3625.47 | 0.7299 |
+| 2 | settle | 367 | 32 | 0.022 | 0.70 | 1.22 | 3625.33 | 0.6923 |
+| 3 | close | 163 | 15 | 0.861 | 5.38 | 9.33 | 3118.49 | 0.9782 |
+| 4 | lift | 426 | 37 | 3.100 | 14.25 | 24.68 | 2211.38 | 1.1098 |
+| 5 | move_xy | 386 | 34 | 7.281 | 37.02 | 64.12 | 2834.64 | 0.9074 |
+| 6 | lower | 385 | 34 | 0.081 | 1.26 | 2.17 | 3260.29 | 0.9882 |
+| 7 | open | 168 | 15 | 0.724 | 4.57 | 7.92 | 3625.48 | 0.6703 |
+| 8 | retract | 426 | 37 | 3.159 | 14.66 | 25.39 | 2369.65 | 0.7258 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.041 |
+| TCP position RMSE (mm, per-axis) | 15.05 |
+| EE position RMS L2 (mm) | 26.86 |
+| TCP rotvec (mrad) | 3019.63 |
+| W1 effort mean (A) | 0.8025 |
+| W1 effort per joint (A) | j0=0.2371, j1=1.3286, j2=1.6301, j3=0.7373, j4=0.2794, j5=0.6023 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00059 | -0.00023 | -0.00066 | 0.00092 | 0.037 |
+| 1 | 0.00061 | -0.00059 | -0.00087 | 0.00122 | 0.041 |
+| 2 | 0.00061 | -0.00057 | -0.00087 | 0.00121 | 0.037 |
+| 3 | 0.00149 | -0.00029 | -0.00080 | 0.00172 | 0.145 |
+| 4 | 0.00045 | 0.00017 | -0.00008 | 0.00048 | 0.073 |
+| 5 | 0.00159 | -0.00077 | -0.00110 | 0.00208 | 0.148 |
+| 6 | 0.00181 | -0.00065 | -0.00090 | 0.00213 | 0.170 |
+| 7 | 0.00054 | -0.00035 | -0.00072 | 0.00097 | 0.043 |
+| 8 | -0.00005 | -0.00009 | -0.00014 | 0.00018 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_29dff9ac-a790-4441-b1ea-3c87524d8e51.md b/gap_reports/gap_29dff9ac-a790-4441-b1ea-3c87524d8e51.md
new file mode 100644
index 0000000000000000000000000000000000000000..7fc6b5224e1c5596d84421a71c7d6b3f62c12888
--- /dev/null
+++ b/gap_reports/gap_29dff9ac-a790-4441-b1ea-3c87524d8e51.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/29dff9ac-a790-4441-b1ea-3c87524d8e51.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/29dff9ac-a790-4441-b1ea-3c87524d8e51.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2590 |
+| Sim rows | 230 |
+| Real episode_id | `29dff9ac-a790-4441-b1ea-3c87524d8e51` |
+| Sim episode_id | `29dff9ac-a790-4441-b1ea-3c87524d8e51` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 199 | 18 | 2.288 | 10.48 | 18.15 | 2039.85 | 0.5658 |
+| 1 | descend | 323 | 28 | 0.767 | 4.93 | 8.54 | 3625.36 | 0.6984 |
+| 2 | settle | 387 | 34 | 0.022 | 0.72 | 1.26 | 3625.23 | 0.6939 |
+| 3 | close | 126 | 12 | 0.943 | 6.20 | 10.74 | 3159.69 | 1.0099 |
+| 4 | lift | 324 | 28 | 2.465 | 11.87 | 20.57 | 1949.37 | 1.0700 |
+| 5 | move_xy | 384 | 33 | 5.090 | 27.86 | 48.25 | 2787.61 | 0.9189 |
+| 6 | lower | 396 | 35 | 0.085 | 1.31 | 2.28 | 3554.07 | 1.0098 |
+| 7 | open | 126 | 12 | 0.933 | 5.96 | 10.32 | 3625.50 | 0.6416 |
+| 8 | retract | 325 | 28 | 2.705 | 13.29 | 23.02 | 2275.19 | 0.7187 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.283 |
+| TCP position RMSE (mm, per-axis) | 12.04 |
+| EE position RMS L2 (mm) | 22.60 |
+| TCP rotvec (mrad) | 3035.95 |
+| W1 effort mean (A) | 0.8077 |
+| W1 effort per joint (A) | j0=0.2198, j1=1.3862, j2=1.5654, j3=0.7398, j4=0.3456, j5=0.5894 |
+
+## Phase-end anchor (sim - 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 | -0.00039 | -0.00072 | 0.00092 | 0.045 |
+| 1 | 0.00039 | -0.00069 | -0.00102 | 0.00130 | 0.048 |
+| 2 | 0.00042 | -0.00070 | -0.00095 | 0.00125 | 0.041 |
+| 3 | 0.00126 | -0.00046 | -0.00128 | 0.00185 | 0.136 |
+| 4 | 0.00046 | -0.00034 | -0.00072 | 0.00091 | 0.151 |
+| 5 | 0.00141 | -0.00107 | -0.00175 | 0.00249 | 0.138 |
+| 6 | 0.00107 | -0.00118 | -0.00235 | 0.00284 | 0.196 |
+| 7 | 0.00024 | -0.00043 | -0.00075 | 0.00090 | 0.039 |
+| 8 | -0.00010 | -0.00014 | -0.00015 | 0.00023 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2a071c4b-997c-4ca8-869a-804f2fe9e466.md b/gap_reports/gap_2a071c4b-997c-4ca8-869a-804f2fe9e466.md
new file mode 100644
index 0000000000000000000000000000000000000000..cae4a558c1aa05731177983b8d07597aeccc5419
--- /dev/null
+++ b/gap_reports/gap_2a071c4b-997c-4ca8-869a-804f2fe9e466.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2a071c4b-997c-4ca8-869a-804f2fe9e466.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2a071c4b-997c-4ca8-869a-804f2fe9e466.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1742 |
+| Sim rows | 174 |
+| Real episode_id | `2a071c4b-997c-4ca8-869a-804f2fe9e466` |
+| Sim episode_id | `2a071c4b-997c-4ca8-869a-804f2fe9e466` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 208 | 21 | 3.015 | 17.91 | 31.02 | 625.27 | 0.7287 |
+| 1 | descend | 87 | 9 | 0.543 | 4.27 | 7.39 | 6.50 | 0.7486 |
+| 2 | settle | 36 | 4 | 0.029 | 3.36 | 5.81 | 6.76 | 0.7230 |
+| 3 | close | 383 | 37 | 0.148 | 4.20 | 7.28 | 11.80 | 1.1706 |
+| 4 | lift | 87 | 9 | 0.462 | 4.51 | 7.81 | 11.58 | 1.2904 |
+| 5 | move_xy | 224 | 22 | 4.099 | 21.94 | 38.01 | 171.03 | 1.2577 |
+| 6 | lower | 85 | 9 | 0.560 | 3.18 | 5.50 | 6.23 | 1.0335 |
+| 7 | open | 368 | 36 | 0.019 | 2.33 | 4.04 | 4.42 | 0.5569 |
+| 8 | retract | 84 | 9 | 0.573 | 3.23 | 5.60 | 4.00 | 0.6444 |
+| 9 | return | 180 | 18 | 2.835 | 11.68 | 20.22 | 730.82 | 0.7351 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.874 |
+| TCP position RMSE (mm, per-axis) | 10.16 |
+| EE position RMS L2 (mm) | 19.17 |
+| TCP rotvec (mrad) | 308.99 |
+| W1 effort mean (A) | 0.8697 |
+| W1 effort per joint (A) | j0=0.1849, j1=1.6391, j2=1.5605, j3=0.8082, j4=0.5041, j5=0.5216 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00202 | -0.00494 | -0.00114 | 0.00546 | 0.044 |
+| 1 | 0.00232 | -0.00511 | -0.00144 | 0.00580 | 0.058 |
+| 2 | 0.00229 | -0.00515 | -0.00144 | 0.00582 | 0.061 |
+| 3 | 0.00322 | -0.00526 | -0.00388 | 0.00728 | 0.240 |
+| 4 | 0.00252 | -0.00518 | -0.00401 | 0.00702 | 0.258 |
+| 5 | 0.00151 | -0.00295 | -0.00191 | 0.00382 | 0.204 |
+| 6 | 0.00243 | -0.00262 | -0.00156 | 0.00390 | 0.207 |
+| 7 | 0.00215 | -0.00340 | -0.00018 | 0.00403 | 0.034 |
+| 8 | 0.00180 | -0.00341 | -0.00025 | 0.00386 | 0.043 |
+| 9 | -0.00009 | -0.00018 | -0.00026 | 0.00033 | 0.035 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2a21e5aa-5b5e-4201-b0f2-ffd8485b6eb2.md b/gap_reports/gap_2a21e5aa-5b5e-4201-b0f2-ffd8485b6eb2.md
new file mode 100644
index 0000000000000000000000000000000000000000..63a236795b6193e5045fcdfc63b11c50b3cd1a27
--- /dev/null
+++ b/gap_reports/gap_2a21e5aa-5b5e-4201-b0f2-ffd8485b6eb2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2a21e5aa-5b5e-4201-b0f2-ffd8485b6eb2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2a21e5aa-5b5e-4201-b0f2-ffd8485b6eb2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2598 |
+| Sim rows | 230 |
+| Real episode_id | `2a21e5aa-5b5e-4201-b0f2-ffd8485b6eb2` |
+| Sim episode_id | `2a21e5aa-5b5e-4201-b0f2-ffd8485b6eb2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 252 | 22 | 3.005 | 14.35 | 24.85 | 1883.00 | 0.6270 |
+| 1 | descend | 294 | 26 | 0.925 | 6.77 | 11.72 | 3624.76 | 0.7255 |
+| 2 | settle | 382 | 33 | 0.024 | 0.93 | 1.62 | 3624.64 | 0.7299 |
+| 3 | close | 109 | 10 | 0.548 | 4.06 | 7.03 | 3625.20 | 1.0199 |
+| 4 | lift | 338 | 30 | 2.914 | 15.69 | 27.17 | 2374.46 | 1.1548 |
+| 5 | move_xy | 394 | 34 | 7.659 | 41.12 | 71.23 | 2601.83 | 0.9178 |
+| 6 | lower | 382 | 33 | 0.091 | 1.68 | 2.91 | 3625.13 | 1.0140 |
+| 7 | open | 109 | 10 | 0.492 | 3.52 | 6.10 | 3624.75 | 0.7284 |
+| 8 | retract | 338 | 30 | 2.912 | 15.65 | 27.12 | 2382.39 | 0.7608 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.093 |
+| TCP position RMSE (mm, per-axis) | 16.55 |
+| EE position RMS L2 (mm) | 32.28 |
+| TCP rotvec (mrad) | 3114.99 |
+| W1 effort mean (A) | 0.8384 |
+| W1 effort per joint (A) | j0=0.1887, j1=1.5897, j2=1.6033, j3=0.7644, j4=0.2802, j5=0.6038 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00111 | -0.00025 | -0.00073 | 0.00135 | 0.037 |
+| 1 | 0.00108 | -0.00056 | -0.00107 | 0.00162 | 0.046 |
+| 2 | 0.00109 | -0.00058 | -0.00107 | 0.00163 | 0.052 |
+| 3 | 0.00202 | -0.00039 | -0.00038 | 0.00209 | 0.140 |
+| 4 | 0.00007 | -0.00042 | -0.00066 | 0.00079 | 0.107 |
+| 5 | 0.00251 | -0.00087 | -0.00180 | 0.00321 | 0.171 |
+| 6 | 0.00195 | -0.00075 | -0.00097 | 0.00230 | 0.103 |
+| 7 | 0.00092 | -0.00028 | -0.00096 | 0.00136 | 0.042 |
+| 8 | -0.00017 | -0.00026 | -0.00024 | 0.00039 | 0.045 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2a294f42-e6dc-4c5b-b547-a6219958e203.md b/gap_reports/gap_2a294f42-e6dc-4c5b-b547-a6219958e203.md
new file mode 100644
index 0000000000000000000000000000000000000000..34605f3d0f3d316107af3f51b01a1a3058a3b587
--- /dev/null
+++ b/gap_reports/gap_2a294f42-e6dc-4c5b-b547-a6219958e203.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2a294f42-e6dc-4c5b-b547-a6219958e203.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2a294f42-e6dc-4c5b-b547-a6219958e203.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2662 |
+| Sim rows | 236 |
+| Real episode_id | `2a294f42-e6dc-4c5b-b547-a6219958e203` |
+| Sim episode_id | `2a294f42-e6dc-4c5b-b547-a6219958e203` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 158 | 14 | 2.352 | 9.60 | 16.63 | 1998.53 | 0.5734 |
+| 1 | descend | 348 | 31 | 1.416 | 8.41 | 14.57 | 3626.02 | 0.7477 |
+| 2 | settle | 359 | 31 | 0.023 | 0.57 | 0.98 | 3625.94 | 0.6651 |
+| 3 | close | 151 | 14 | 1.170 | 6.50 | 11.25 | 1918.52 | 0.9453 |
+| 4 | lift | 392 | 34 | 2.691 | 10.98 | 19.02 | 1682.69 | 1.0835 |
+| 5 | move_xy | 330 | 29 | 6.228 | 29.34 | 50.81 | 2164.92 | 0.9252 |
+| 6 | lower | 387 | 34 | 0.087 | 1.10 | 1.90 | 1544.07 | 0.9921 |
+| 7 | open | 146 | 13 | 1.037 | 6.01 | 10.41 | 3626.16 | 0.6023 |
+| 8 | retract | 391 | 34 | 2.760 | 11.31 | 19.59 | 2268.17 | 0.6886 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.659 |
+| TCP position RMSE (mm, per-axis) | 12.26 |
+| EE position RMS L2 (mm) | 22.08 |
+| TCP rotvec (mrad) | 2628.19 |
+| W1 effort mean (A) | 0.7981 |
+| W1 effort per joint (A) | j0=0.2505, j1=1.1820, j2=1.5733, j3=0.7102, j4=0.4551, 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 | 0.00010 | -0.00034 | -0.00043 | 0.00056 | 0.030 |
+| 1 | 0.00015 | -0.00057 | -0.00078 | 0.00098 | 0.035 |
+| 2 | 0.00015 | -0.00057 | -0.00077 | 0.00097 | 0.035 |
+| 3 | 0.00076 | -0.00030 | -0.00046 | 0.00094 | 0.116 |
+| 4 | 0.00027 | -0.00005 | -0.00011 | 0.00030 | 0.111 |
+| 5 | 0.00136 | -0.00090 | -0.00111 | 0.00197 | 0.172 |
+| 6 | 0.00149 | -0.00079 | -0.00062 | 0.00180 | 0.185 |
+| 7 | -0.00005 | -0.00038 | -0.00056 | 0.00068 | 0.036 |
+| 8 | -0.00008 | -0.00009 | -0.00013 | 0.00017 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2a3d0cc2-f88e-4a0d-aac0-7f62e2ab54db.md b/gap_reports/gap_2a3d0cc2-f88e-4a0d-aac0-7f62e2ab54db.md
new file mode 100644
index 0000000000000000000000000000000000000000..50f3e7db1c76b98dcd098cd28852c8f3d0b1d569
--- /dev/null
+++ b/gap_reports/gap_2a3d0cc2-f88e-4a0d-aac0-7f62e2ab54db.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2a3d0cc2-f88e-4a0d-aac0-7f62e2ab54db.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2a3d0cc2-f88e-4a0d-aac0-7f62e2ab54db.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1259 |
+| Sim rows | 131 |
+| Real episode_id | `2a3d0cc2-f88e-4a0d-aac0-7f62e2ab54db` |
+| Sim episode_id | `2a3d0cc2-f88e-4a0d-aac0-7f62e2ab54db` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 147 | 15 | 2.883 | 8.51 | 14.74 | 869.18 | 0.7370 |
+| 1 | descend | 81 | 9 | 0.796 | 4.10 | 7.11 | 4.05 | 0.6026 |
+| 2 | settle | 34 | 4 | 0.023 | 2.51 | 4.34 | 4.64 | 0.6321 |
+| 3 | close | 23 | 3 | 0.147 | 1.85 | 3.21 | 6.46 | 1.0917 |
+| 4 | lift | 101 | 11 | 1.205 | 5.26 | 9.12 | 6.33 | 1.0820 |
+| 5 | move_xy | 273 | 27 | 13.005 | 16.93 | 29.33 | 431.99 | 0.9658 |
+| 6 | lower | 114 | 12 | 23.850 | 5.13 | 8.89 | 916.20 | 1.1274 |
+| 7 | open | 82 | 9 | 23.814 | 2.58 | 4.47 | 915.92 | 0.8422 |
+| 8 | retract | 114 | 12 | 23.845 | 4.98 | 8.63 | 915.48 | 0.8812 |
+| 9 | return | 290 | 29 | 12.603 | 9.64 | 16.69 | 1176.97 | 0.8525 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 14.293 |
+| TCP position RMSE (mm, per-axis) | 7.51 |
+| EE position RMS L2 (mm) | 17.37 |
+| TCP rotvec (mrad) | 695.98 |
+| W1 effort mean (A) | 0.8684 |
+| W1 effort per joint (A) | j0=0.2085, j1=1.4067, j2=1.6137, j3=0.7116, j4=0.2285, j5=1.0413 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00156 | -0.00345 | -0.00052 | 0.00382 | 0.030 |
+| 1 | 0.00208 | -0.00377 | -0.00041 | 0.00432 | 0.050 |
+| 2 | 0.00208 | -0.00379 | -0.00059 | 0.00436 | 0.037 |
+| 3 | 0.00118 | -0.00271 | -0.00063 | 0.00302 | 0.366 |
+| 4 | 0.00064 | -0.00246 | -0.00069 | 0.00264 | 0.323 |
+| 5 | 0.00191 | -0.00360 | -0.00065 | 0.00413 | 58.377 |
+| 6 | 0.00237 | -0.00354 | -0.00068 | 0.00431 | 58.334 |
+| 7 | 0.00206 | -0.00395 | -0.00027 | 0.00446 | 58.331 |
+| 8 | 0.00157 | -0.00411 | -0.00035 | 0.00441 | 58.394 |
+| 9 | -0.00004 | -0.00011 | -0.00024 | 0.00027 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2a43a9ad-a161-4907-aba0-4d6d346c9237.md b/gap_reports/gap_2a43a9ad-a161-4907-aba0-4d6d346c9237.md
new file mode 100644
index 0000000000000000000000000000000000000000..b5bc907d5ef61edf362fd23b572f2895740803d4
--- /dev/null
+++ b/gap_reports/gap_2a43a9ad-a161-4907-aba0-4d6d346c9237.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2a43a9ad-a161-4907-aba0-4d6d346c9237.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2a43a9ad-a161-4907-aba0-4d6d346c9237.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1701 |
+| Sim rows | 173 |
+| Real episode_id | `2a43a9ad-a161-4907-aba0-4d6d346c9237` |
+| Sim episode_id | `2a43a9ad-a161-4907-aba0-4d6d346c9237` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 153 | 16 | 3.152 | 16.25 | 28.15 | 654.29 | 0.6710 |
+| 1 | descend | 81 | 9 | 0.865 | 4.31 | 7.47 | 4.02 | 0.6247 |
+| 2 | settle | 36 | 4 | 0.020 | 2.19 | 3.79 | 4.74 | 0.6377 |
+| 3 | close | 394 | 39 | 0.103 | 1.84 | 3.18 | 6.37 | 1.1147 |
+| 4 | lift | 82 | 9 | 0.845 | 3.99 | 6.90 | 5.38 | 1.2232 |
+| 5 | move_xy | 202 | 20 | 5.872 | 27.12 | 46.97 | 141.67 | 1.2006 |
+| 6 | lower | 85 | 9 | 0.837 | 4.70 | 8.15 | 7.79 | 1.1001 |
+| 7 | open | 375 | 37 | 0.038 | 3.00 | 5.19 | 5.63 | 0.5143 |
+| 8 | retract | 82 | 9 | 0.883 | 4.44 | 7.69 | 4.96 | 0.6919 |
+| 9 | return | 211 | 21 | 2.802 | 19.38 | 33.56 | 643.52 | 0.7025 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.350 |
+| TCP position RMSE (mm, per-axis) | 12.12 |
+| EE position RMS L2 (mm) | 22.20 |
+| TCP rotvec (mrad) | 293.69 |
+| W1 effort mean (A) | 0.8326 |
+| W1 effort per joint (A) | j0=0.1570, j1=1.4281, j2=1.5585, j3=0.8439, j4=0.4390, j5=0.5693 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00154 | -0.00338 | 0.00005 | 0.00371 | 0.038 |
+| 1 | 0.00219 | -0.00311 | 0.00012 | 0.00381 | 0.047 |
+| 2 | 0.00218 | -0.00310 | -0.00005 | 0.00379 | 0.043 |
+| 3 | 0.00197 | -0.00237 | -0.00059 | 0.00314 | 0.187 |
+| 4 | 0.00176 | -0.00275 | -0.00036 | 0.00329 | 0.151 |
+| 5 | 0.00201 | -0.00448 | -0.00129 | 0.00507 | 0.215 |
+| 6 | 0.00233 | -0.00503 | -0.00146 | 0.00573 | 0.176 |
+| 7 | 0.00150 | -0.00486 | -0.00105 | 0.00520 | 0.039 |
+| 8 | 0.00116 | -0.00438 | -0.00122 | 0.00469 | 0.059 |
+| 9 | -0.00020 | -0.00008 | -0.00026 | 0.00034 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2a46f9a0-5acb-4dc4-9cf5-a02f68ae49af.md b/gap_reports/gap_2a46f9a0-5acb-4dc4-9cf5-a02f68ae49af.md
new file mode 100644
index 0000000000000000000000000000000000000000..7cf56c62e427e816d7aed0dff8c7a2545c9c62d2
--- /dev/null
+++ b/gap_reports/gap_2a46f9a0-5acb-4dc4-9cf5-a02f68ae49af.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2a46f9a0-5acb-4dc4-9cf5-a02f68ae49af.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2a46f9a0-5acb-4dc4-9cf5-a02f68ae49af.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 717 |
+| Sim rows | 87 |
+| Real episode_id | `2a46f9a0-5acb-4dc4-9cf5-a02f68ae49af` |
+| Sim episode_id | `2a46f9a0-5acb-4dc4-9cf5-a02f68ae49af` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 509 | 50 | 3.648 | 15.99 | 27.70 | 1116.93 | 0.7632 |
+| 1 | descend | 208 | 21 | 0.022 | 1.25 | 2.16 | 2.00 | 0.8069 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.580 |
+| TCP position RMSE (mm, per-axis) | 11.34 |
+| EE position RMS L2 (mm) | 23.36 |
+| TCP rotvec (mrad) | 789.79 |
+| W1 effort mean (A) | 0.7742 |
+| W1 effort per joint (A) | j0=0.1969, j1=1.5572, j2=1.7582, j3=0.8314, j4=0.1244, j5=0.1771 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00203 | -0.00046 | 0.00081 | 0.00224 | 0.021 |
+| 1 | -0.00200 | -0.00047 | 0.00058 | 0.00214 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2a54e21e-0c81-46eb-bdd0-3a7bb7a95257.md b/gap_reports/gap_2a54e21e-0c81-46eb-bdd0-3a7bb7a95257.md
new file mode 100644
index 0000000000000000000000000000000000000000..eabf6fae06e18e5bf41e6bb5551daa01bed017c2
--- /dev/null
+++ b/gap_reports/gap_2a54e21e-0c81-46eb-bdd0-3a7bb7a95257.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2a54e21e-0c81-46eb-bdd0-3a7bb7a95257.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2a54e21e-0c81-46eb-bdd0-3a7bb7a95257.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1700 |
+| Sim rows | 172 |
+| Real episode_id | `2a54e21e-0c81-46eb-bdd0-3a7bb7a95257` |
+| Sim episode_id | `2a54e21e-0c81-46eb-bdd0-3a7bb7a95257` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 184 | 18 | 3.534 | 20.35 | 35.25 | 1541.52 | 0.7789 |
+| 1 | descend | 79 | 9 | 0.581 | 4.11 | 7.13 | 5.53 | 0.6793 |
+| 2 | settle | 17 | 2 | 0.027 | 3.08 | 5.33 | 6.05 | 0.7176 |
+| 3 | close | 393 | 38 | 0.100 | 3.27 | 5.67 | 2998.57 | 1.1773 |
+| 4 | lift | 79 | 9 | 0.401 | 3.70 | 6.40 | 3622.37 | 1.2067 |
+| 5 | move_xy | 220 | 22 | 8.075 | 39.30 | 68.06 | 2043.46 | 1.0683 |
+| 6 | lower | 79 | 9 | 1.728 | 3.66 | 6.33 | 67.04 | 1.0464 |
+| 7 | open | 378 | 37 | 1.594 | 2.36 | 4.08 | 66.05 | 0.6640 |
+| 8 | retract | 79 | 9 | 1.722 | 3.58 | 6.20 | 65.58 | 0.7042 |
+| 9 | return | 192 | 19 | 3.373 | 15.56 | 26.96 | 584.67 | 0.8015 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.132 |
+| TCP position RMSE (mm, per-axis) | 15.11 |
+| EE position RMS L2 (mm) | 28.90 |
+| TCP rotvec (mrad) | 1703.53 |
+| W1 effort mean (A) | 0.8983 |
+| W1 effort per joint (A) | j0=0.2269, j1=1.6060, j2=1.5821, j3=0.8505, j4=0.5025, j5=0.6217 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00163 | -0.00457 | -0.00127 | 0.00502 | 0.042 |
+| 1 | 0.00183 | -0.00485 | -0.00126 | 0.00534 | 0.035 |
+| 2 | 0.00182 | -0.00487 | -0.00132 | 0.00536 | 0.037 |
+| 3 | 0.00245 | -0.00449 | -0.00329 | 0.00609 | 0.203 |
+| 4 | 0.00180 | -0.00420 | -0.00278 | 0.00535 | 0.180 |
+| 5 | 0.00209 | -0.00287 | -0.00177 | 0.00396 | 3.943 |
+| 6 | 0.00258 | -0.00185 | -0.00210 | 0.00380 | 3.903 |
+| 7 | 0.00221 | -0.00342 | -0.00005 | 0.00408 | 3.905 |
+| 8 | 0.00182 | -0.00359 | -0.00018 | 0.00403 | 3.937 |
+| 9 | -0.00002 | -0.00016 | -0.00027 | 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.
diff --git a/gap_reports/gap_2a6534e6-59e6-42b3-a213-afb28d939808.md b/gap_reports/gap_2a6534e6-59e6-42b3-a213-afb28d939808.md
new file mode 100644
index 0000000000000000000000000000000000000000..69c9fde32eebed0015faf025cdc3254bc4cd8418
--- /dev/null
+++ b/gap_reports/gap_2a6534e6-59e6-42b3-a213-afb28d939808.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2a6534e6-59e6-42b3-a213-afb28d939808.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2a6534e6-59e6-42b3-a213-afb28d939808.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 946 |
+| Sim rows | 100 |
+| Real episode_id | `2a6534e6-59e6-42b3-a213-afb28d939808` |
+| Sim episode_id | `2a6534e6-59e6-42b3-a213-afb28d939808` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 132 | 14 | 3.746 | 15.73 | 27.24 | 1685.94 | 0.7663 |
+| 1 | descend | 76 | 8 | 0.980 | 4.69 | 8.12 | 4.11 | 0.5953 |
+| 2 | settle | 19 | 3 | 0.031 | 2.71 | 4.70 | 4.88 | 0.5450 |
+| 3 | close | 32 | 4 | 0.128 | 1.86 | 3.23 | 5.94 | 1.0289 |
+| 4 | lift | 98 | 10 | 1.138 | 4.81 | 8.34 | 5.63 | 1.1335 |
+| 5 | move_xy | 178 | 18 | 5.578 | 22.32 | 38.66 | 47.06 | 1.0054 |
+| 6 | lower | 87 | 9 | 1.510 | 4.53 | 7.84 | 49.60 | 0.9277 |
+| 7 | open | 68 | 7 | 1.148 | 2.35 | 4.07 | 48.73 | 0.6769 |
+| 8 | retract | 87 | 9 | 1.479 | 4.49 | 7.77 | 48.12 | 0.6932 |
+| 9 | return | 169 | 18 | 2.876 | 13.15 | 22.77 | 437.13 | 0.7918 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.479 |
+| TCP position RMSE (mm, per-axis) | 10.10 |
+| EE position RMS L2 (mm) | 22.43 |
+| TCP rotvec (mrad) | 551.63 |
+| W1 effort mean (A) | 0.8309 |
+| W1 effort per joint (A) | j0=0.2692, j1=1.2723, j2=1.5650, j3=0.7948, j4=0.4338, j5=0.6503 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00166 | -0.00376 | -0.00068 | 0.00417 | 0.036 |
+| 1 | 0.00200 | -0.00420 | -0.00064 | 0.00470 | 0.058 |
+| 2 | 0.00201 | -0.00421 | -0.00083 | 0.00474 | 0.034 |
+| 3 | 0.00117 | -0.00274 | -0.00017 | 0.00298 | 0.314 |
+| 4 | 0.00101 | -0.00265 | -0.00052 | 0.00288 | 0.149 |
+| 5 | 0.00193 | -0.00283 | -0.00011 | 0.00343 | 2.758 |
+| 6 | 0.00258 | -0.00265 | -0.00043 | 0.00372 | 2.813 |
+| 7 | 0.00217 | -0.00343 | -0.00004 | 0.00406 | 2.813 |
+| 8 | 0.00166 | -0.00369 | -0.00012 | 0.00405 | 2.848 |
+| 9 | -0.00001 | -0.00011 | -0.00022 | 0.00025 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2a6d9e2e-a623-41ce-afec-29aeb3a1df91.md b/gap_reports/gap_2a6d9e2e-a623-41ce-afec-29aeb3a1df91.md
new file mode 100644
index 0000000000000000000000000000000000000000..58237f8b4d1471a8459190b18d9950d6e2dcd099
--- /dev/null
+++ b/gap_reports/gap_2a6d9e2e-a623-41ce-afec-29aeb3a1df91.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2a6d9e2e-a623-41ce-afec-29aeb3a1df91.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2a6d9e2e-a623-41ce-afec-29aeb3a1df91.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 997 |
+| Sim rows | 103 |
+| Real episode_id | `2a6d9e2e-a623-41ce-afec-29aeb3a1df91` |
+| Sim episode_id | `2a6d9e2e-a623-41ce-afec-29aeb3a1df91` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 5.007 | 12.08 | 20.92 | 917.20 | 0.7874 |
+| 1 | descend | 78 | 8 | 1.144 | 4.42 | 7.65 | 4.40 | 0.4887 |
+| 2 | settle | 22 | 3 | 0.047 | 2.44 | 4.22 | 5.10 | 0.4559 |
+| 3 | close | 37 | 4 | 0.079 | 2.05 | 3.54 | 3.36 | 0.7579 |
+| 4 | lift | 100 | 10 | 1.853 | 6.62 | 11.47 | 3.15 | 0.8586 |
+| 5 | move_xy | 189 | 19 | 11.103 | 31.05 | 53.79 | 103.89 | 0.8734 |
+| 6 | lower | 68 | 7 | 0.554 | 3.66 | 6.35 | 9.28 | 1.0786 |
+| 7 | open | 75 | 8 | 0.027 | 2.42 | 4.18 | 5.55 | 0.7226 |
+| 8 | retract | 67 | 7 | 0.459 | 3.30 | 5.71 | 5.05 | 0.7825 |
+| 9 | return | 216 | 22 | 3.298 | 20.89 | 36.19 | 946.74 | 0.7519 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.056 |
+| TCP position RMSE (mm, per-axis) | 12.85 |
+| EE position RMS L2 (mm) | 30.34 |
+| TCP rotvec (mrad) | 418.16 |
+| W1 effort mean (A) | 0.7600 |
+| W1 effort per joint (A) | j0=0.2640, j1=1.3186, j2=1.4823, j3=0.8005, j4=0.1989, j5=0.4958 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00146 | -0.00329 | -0.00026 | 0.00361 | 0.075 |
+| 1 | 0.00147 | -0.00395 | -0.00011 | 0.00422 | 0.069 |
+| 2 | 0.00151 | -0.00392 | -0.00029 | 0.00421 | 0.025 |
+| 3 | 0.00067 | -0.00338 | 0.00052 | 0.00348 | 0.145 |
+| 4 | 0.00083 | -0.00282 | -0.00006 | 0.00294 | 0.116 |
+| 5 | 0.00266 | -0.00227 | -0.00237 | 0.00422 | 0.400 |
+| 6 | 0.00301 | -0.00204 | -0.00213 | 0.00422 | 0.266 |
+| 7 | 0.00271 | -0.00318 | -0.00040 | 0.00419 | 0.060 |
+| 8 | 0.00250 | -0.00339 | -0.00061 | 0.00426 | 0.074 |
+| 9 | -0.00006 | -0.00020 | -0.00037 | 0.00042 | 0.043 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2a723e7c-81d7-421c-9cb0-2ab3dabbe64e.md b/gap_reports/gap_2a723e7c-81d7-421c-9cb0-2ab3dabbe64e.md
new file mode 100644
index 0000000000000000000000000000000000000000..123a7616b2d9d97df40953c4df02e2e06f3ebbbf
--- /dev/null
+++ b/gap_reports/gap_2a723e7c-81d7-421c-9cb0-2ab3dabbe64e.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2a723e7c-81d7-421c-9cb0-2ab3dabbe64e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2a723e7c-81d7-421c-9cb0-2ab3dabbe64e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1082 |
+| Sim rows | 115 |
+| Real episode_id | `2a723e7c-81d7-421c-9cb0-2ab3dabbe64e` |
+| Sim episode_id | `2a723e7c-81d7-421c-9cb0-2ab3dabbe64e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 158 | 16 | 3.069 | 16.40 | 28.40 | 451.36 | 0.6941 |
+| 1 | descend | 82 | 9 | 0.867 | 4.45 | 7.70 | 4.48 | 0.6745 |
+| 2 | settle | 39 | 5 | 0.027 | 2.03 | 3.51 | 5.12 | 0.7240 |
+| 3 | close | 40 | 5 | 0.088 | 1.96 | 3.40 | 8.32 | 1.3581 |
+| 4 | lift | 82 | 9 | 0.767 | 4.08 | 7.07 | 7.31 | 1.3500 |
+| 5 | move_xy | 183 | 19 | 4.314 | 29.36 | 50.85 | 182.03 | 1.2744 |
+| 6 | lower | 86 | 9 | 3.966 | 5.07 | 8.78 | 153.01 | 1.3041 |
+| 7 | open | 83 | 9 | 3.833 | 3.22 | 5.58 | 152.76 | 0.8865 |
+| 8 | retract | 81 | 9 | 3.927 | 4.52 | 7.83 | 152.66 | 0.8786 |
+| 9 | return | 248 | 25 | 3.215 | 14.03 | 24.30 | 566.35 | 0.6858 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.925 |
+| TCP position RMSE (mm, per-axis) | 11.95 |
+| EE position RMS L2 (mm) | 26.70 |
+| TCP rotvec (mrad) | 250.57 |
+| W1 effort mean (A) | 0.9180 |
+| W1 effort per joint (A) | j0=0.2044, j1=1.8486, j2=1.5079, j3=0.9899, j4=0.3871, j5=0.5698 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00161 | -0.00311 | 0.00010 | 0.00350 | 0.044 |
+| 1 | 0.00211 | -0.00279 | -0.00001 | 0.00350 | 0.050 |
+| 2 | 0.00209 | -0.00281 | -0.00021 | 0.00351 | 0.057 |
+| 3 | 0.00224 | -0.00272 | -0.00015 | 0.00353 | 0.150 |
+| 4 | 0.00190 | -0.00293 | -0.00016 | 0.00349 | 0.151 |
+| 5 | 0.00235 | -0.00485 | -0.00102 | 0.00549 | 9.499 |
+| 6 | 0.00275 | -0.00462 | -0.00128 | 0.00552 | 9.391 |
+| 7 | 0.00263 | -0.00479 | -0.00119 | 0.00559 | 9.384 |
+| 8 | 0.00218 | -0.00492 | -0.00143 | 0.00557 | 9.491 |
+| 9 | -0.00013 | -0.00012 | -0.00030 | 0.00035 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2a76f0f2-63e2-4b32-b187-871bd11b23ed.md b/gap_reports/gap_2a76f0f2-63e2-4b32-b187-871bd11b23ed.md
new file mode 100644
index 0000000000000000000000000000000000000000..0c2cccd81e3c17621f5143d963777744f6072da4
--- /dev/null
+++ b/gap_reports/gap_2a76f0f2-63e2-4b32-b187-871bd11b23ed.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2a76f0f2-63e2-4b32-b187-871bd11b23ed.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2a76f0f2-63e2-4b32-b187-871bd11b23ed.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3802 |
+| Sim rows | 190 |
+| Real episode_id | `2a76f0f2-63e2-4b32-b187-871bd11b23ed` |
+| Sim episode_id | `2a76f0f2-63e2-4b32-b187-871bd11b23ed` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 458 | 23 | 19.469 | 17.13 | 29.67 | 1438.12 | 0.7214 |
+| 1 | descend | 228 | 12 | 33.854 | 5.05 | 8.75 | 1284.28 | 0.9550 |
+| 2 | settle | 78 | 5 | 33.818 | 2.39 | 4.14 | 1284.30 | 0.9214 |
+| 3 | close | 762 | 37 | 33.817 | 2.49 | 4.32 | 1283.93 | 1.2753 |
+| 4 | lift | 238 | 12 | 33.847 | 4.78 | 8.28 | 1283.83 | 1.4289 |
+| 5 | move_xy | 590 | 29 | 20.949 | 38.13 | 66.04 | 615.98 | 1.1774 |
+| 6 | lower | 238 | 12 | 1.383 | 6.19 | 10.73 | 5.91 | 0.8851 |
+| 7 | open | 192 | 10 | 0.013 | 2.59 | 4.48 | 4.76 | 0.5387 |
+| 8 | retract | 232 | 12 | 1.059 | 4.38 | 7.58 | 4.10 | 0.6184 |
+| 9 | return | 786 | 38 | 5.832 | 20.90 | 36.20 | 974.50 | 0.6575 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 23.311 |
+| TCP position RMSE (mm, per-axis) | 15.19 |
+| EE position RMS L2 (mm) | 32.84 |
+| TCP rotvec (mrad) | 999.64 |
+| W1 effort mean (A) | 0.9055 |
+| W1 effort per joint (A) | j0=0.1690, j1=1.4516, j2=1.5759, j3=0.8456, j4=0.1415, j5=1.2496 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00200 | -0.00362 | -0.00009 | 0.00414 | 82.930 |
+| 1 | 0.00221 | -0.00348 | -0.00029 | 0.00413 | 82.843 |
+| 2 | 0.00219 | -0.00350 | -0.00033 | 0.00414 | 82.832 |
+| 3 | 0.00204 | -0.00396 | -0.00004 | 0.00445 | 82.834 |
+| 4 | 0.00198 | -0.00401 | -0.00083 | 0.00455 | 82.929 |
+| 5 | 0.00190 | -0.00431 | -0.00095 | 0.00480 | 0.136 |
+| 6 | 0.00231 | -0.00475 | -0.00163 | 0.00553 | 0.172 |
+| 7 | 0.00165 | -0.00410 | -0.00077 | 0.00448 | 0.025 |
+| 8 | 0.00141 | -0.00347 | -0.00091 | 0.00386 | 0.050 |
+| 9 | -0.00009 | -0.00007 | -0.00022 | 0.00025 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2a777547-79ac-4cfc-ab0c-dd4347c22ba4.md b/gap_reports/gap_2a777547-79ac-4cfc-ab0c-dd4347c22ba4.md
new file mode 100644
index 0000000000000000000000000000000000000000..f4453bc5462afc8f836c590d27bd2513f3c7600f
--- /dev/null
+++ b/gap_reports/gap_2a777547-79ac-4cfc-ab0c-dd4347c22ba4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2a777547-79ac-4cfc-ab0c-dd4347c22ba4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2a777547-79ac-4cfc-ab0c-dd4347c22ba4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2792 |
+| Sim rows | 247 |
+| Real episode_id | `2a777547-79ac-4cfc-ab0c-dd4347c22ba4` |
+| Sim episode_id | `2a777547-79ac-4cfc-ab0c-dd4347c22ba4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 271 | 24 | 3.753 | 13.50 | 23.38 | 2006.67 | 0.5749 |
+| 1 | descend | 278 | 24 | 1.150 | 6.73 | 11.66 | 3626.09 | 0.6487 |
+| 2 | settle | 369 | 32 | 0.019 | 0.62 | 1.07 | 3626.04 | 0.7157 |
+| 3 | close | 118 | 11 | 0.831 | 4.78 | 8.29 | 2111.55 | 0.9191 |
+| 4 | lift | 389 | 34 | 3.113 | 12.40 | 21.48 | 2079.64 | 1.1296 |
+| 5 | move_xy | 462 | 40 | 8.730 | 37.09 | 64.24 | 2311.47 | 0.8633 |
+| 6 | lower | 398 | 35 | 0.078 | 1.13 | 1.96 | 1439.92 | 0.9676 |
+| 7 | open | 118 | 11 | 0.850 | 4.80 | 8.31 | 3626.11 | 0.6354 |
+| 8 | retract | 389 | 34 | 2.971 | 12.09 | 20.94 | 2244.04 | 0.7162 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.521 |
+| TCP position RMSE (mm, per-axis) | 14.72 |
+| EE position RMS L2 (mm) | 29.69 |
+| TCP rotvec (mrad) | 2681.37 |
+| W1 effort mean (A) | 0.7971 |
+| W1 effort per joint (A) | j0=0.2411, j1=1.1860, j2=1.5614, j3=0.8045, j4=0.3400, j5=0.6498 |
+
+## Phase-end anchor (sim - 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 | -0.00018 | -0.00050 | 0.00083 | 0.032 |
+| 1 | 0.00061 | -0.00050 | -0.00070 | 0.00106 | 0.039 |
+| 2 | 0.00066 | -0.00048 | -0.00070 | 0.00108 | 0.032 |
+| 3 | 0.00106 | -0.00022 | -0.00068 | 0.00128 | 0.083 |
+| 4 | 0.00008 | -0.00045 | -0.00045 | 0.00064 | 0.107 |
+| 5 | 0.00142 | -0.00060 | -0.00150 | 0.00215 | 0.116 |
+| 6 | 0.00193 | -0.00063 | -0.00114 | 0.00233 | 0.187 |
+| 7 | 0.00041 | -0.00026 | -0.00052 | 0.00071 | 0.034 |
+| 8 | -0.00010 | -0.00012 | -0.00014 | 0.00021 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2a78e42f-c247-400e-8bc7-1458e061df38.md b/gap_reports/gap_2a78e42f-c247-400e-8bc7-1458e061df38.md
new file mode 100644
index 0000000000000000000000000000000000000000..ea6faec900180987b556845cf293daa27c47a43e
--- /dev/null
+++ b/gap_reports/gap_2a78e42f-c247-400e-8bc7-1458e061df38.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2a78e42f-c247-400e-8bc7-1458e061df38.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2a78e42f-c247-400e-8bc7-1458e061df38.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2808 |
+| Sim rows | 248 |
+| Real episode_id | `2a78e42f-c247-400e-8bc7-1458e061df38` |
+| Sim episode_id | `2a78e42f-c247-400e-8bc7-1458e061df38` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 192 | 17 | 2.783 | 11.07 | 19.17 | 2.94 | 0.5780 |
+| 1 | descend | 465 | 40 | 0.810 | 5.06 | 8.76 | 4.28 | 0.7479 |
+| 2 | settle | 380 | 33 | 0.025 | 0.80 | 1.38 | 4.43 | 0.6316 |
+| 3 | close | 116 | 11 | 0.787 | 4.66 | 8.08 | 5.96 | 0.8752 |
+| 4 | lift | 407 | 35 | 3.363 | 13.94 | 24.14 | 4.54 | 1.0998 |
+| 5 | move_xy | 337 | 30 | 6.353 | 28.62 | 49.57 | 5.22 | 0.9015 |
+| 6 | lower | 388 | 34 | 0.088 | 1.35 | 2.34 | 6.68 | 0.9844 |
+| 7 | open | 116 | 11 | 0.751 | 4.38 | 7.58 | 4.61 | 0.6185 |
+| 8 | retract | 407 | 35 | 3.321 | 13.81 | 23.92 | 3.09 | 0.6926 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.834 |
+| TCP position RMSE (mm, per-axis) | 12.45 |
+| EE position RMS L2 (mm) | 22.50 |
+| TCP rotvec (mrad) | 4.77 |
+| W1 effort mean (A) | 0.7805 |
+| W1 effort per joint (A) | j0=0.3081, j1=1.1141, j2=1.4724, j3=0.6719, j4=0.5374, j5=0.5789 |
+
+## Phase-end anchor (sim - 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 | -0.00061 | -0.00044 | 0.00102 | 0.033 |
+| 1 | 0.00071 | -0.00085 | -0.00074 | 0.00133 | 0.036 |
+| 2 | 0.00073 | -0.00088 | -0.00072 | 0.00135 | 0.032 |
+| 3 | 0.00121 | -0.00056 | -0.00148 | 0.00199 | 0.124 |
+| 4 | 0.00008 | -0.00030 | -0.00031 | 0.00044 | 0.117 |
+| 5 | 0.00148 | -0.00108 | -0.00146 | 0.00235 | 0.114 |
+| 6 | 0.00169 | -0.00094 | -0.00071 | 0.00206 | 0.136 |
+| 7 | 0.00047 | -0.00058 | -0.00060 | 0.00096 | 0.042 |
+| 8 | -0.00007 | -0.00009 | -0.00011 | 0.00017 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2a834b64-8dcb-4ee0-a9ae-39521d4e0bf5.md b/gap_reports/gap_2a834b64-8dcb-4ee0-a9ae-39521d4e0bf5.md
new file mode 100644
index 0000000000000000000000000000000000000000..ebe1c82892d373a41dfd26465623f9eafaa7bd18
--- /dev/null
+++ b/gap_reports/gap_2a834b64-8dcb-4ee0-a9ae-39521d4e0bf5.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2a834b64-8dcb-4ee0-a9ae-39521d4e0bf5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2a834b64-8dcb-4ee0-a9ae-39521d4e0bf5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1650 |
+| Sim rows | 166 |
+| Real episode_id | `2a834b64-8dcb-4ee0-a9ae-39521d4e0bf5` |
+| Sim episode_id | `2a834b64-8dcb-4ee0-a9ae-39521d4e0bf5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 124 | 13 | 2.214 | 10.24 | 17.73 | 826.04 | 0.6866 |
+| 1 | descend | 76 | 8 | 0.652 | 3.87 | 6.70 | 4.68 | 0.6636 |
+| 2 | settle | 31 | 4 | 0.021 | 2.50 | 4.32 | 5.20 | 0.7286 |
+| 3 | close | 374 | 37 | 0.088 | 2.93 | 5.08 | 9.22 | 1.2303 |
+| 4 | lift | 76 | 8 | 0.644 | 4.06 | 7.03 | 8.67 | 1.3074 |
+| 5 | move_xy | 161 | 16 | 2.869 | 16.43 | 28.46 | 8.38 | 1.2754 |
+| 6 | lower | 77 | 8 | 0.752 | 4.69 | 8.12 | 9.11 | 1.1774 |
+| 7 | open | 360 | 35 | 0.021 | 2.74 | 4.74 | 5.10 | 0.5773 |
+| 8 | retract | 76 | 8 | 0.656 | 3.75 | 6.50 | 4.49 | 0.7193 |
+| 9 | return | 295 | 29 | 4.302 | 18.70 | 32.40 | 1275.87 | 0.6990 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.830 |
+| TCP position RMSE (mm, per-axis) | 9.02 |
+| EE position RMS L2 (mm) | 17.63 |
+| TCP rotvec (mrad) | 480.69 |
+| W1 effort mean (A) | 0.8662 |
+| W1 effort per joint (A) | j0=0.1194, j1=1.6439, j2=1.5439, j3=0.7910, j4=0.4991, j5=0.6001 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00192 | -0.00337 | -0.00029 | 0.00389 | 0.040 |
+| 1 | 0.00241 | -0.00357 | -0.00017 | 0.00431 | 0.043 |
+| 2 | 0.00245 | -0.00353 | -0.00049 | 0.00432 | 0.049 |
+| 3 | 0.00309 | -0.00374 | -0.00050 | 0.00488 | 0.126 |
+| 4 | 0.00289 | -0.00390 | -0.00099 | 0.00495 | 0.167 |
+| 5 | 0.00199 | -0.00491 | -0.00145 | 0.00550 | 0.198 |
+| 6 | 0.00259 | -0.00538 | -0.00158 | 0.00617 | 0.218 |
+| 7 | 0.00199 | -0.00415 | -0.00106 | 0.00472 | 0.042 |
+| 8 | 0.00157 | -0.00383 | -0.00122 | 0.00432 | 0.056 |
+| 9 | -0.00012 | -0.00008 | -0.00024 | 0.00028 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2a8f2d6e-49ec-4ec5-886d-e889a3527fce.md b/gap_reports/gap_2a8f2d6e-49ec-4ec5-886d-e889a3527fce.md
new file mode 100644
index 0000000000000000000000000000000000000000..a762236fcd1afbc138037ac6f6f3c7245cbf1666
--- /dev/null
+++ b/gap_reports/gap_2a8f2d6e-49ec-4ec5-886d-e889a3527fce.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2a8f2d6e-49ec-4ec5-886d-e889a3527fce.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2a8f2d6e-49ec-4ec5-886d-e889a3527fce.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1647 |
+| Sim rows | 167 |
+| Real episode_id | `2a8f2d6e-49ec-4ec5-886d-e889a3527fce` |
+| Sim episode_id | `2a8f2d6e-49ec-4ec5-886d-e889a3527fce` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 164 | 17 | 5.074 | 13.33 | 23.09 | 535.86 | 0.6351 |
+| 1 | descend | 75 | 8 | 8.286 | 3.39 | 5.87 | 322.97 | 0.6692 |
+| 2 | settle | 38 | 5 | 8.259 | 2.39 | 4.14 | 323.28 | 0.6435 |
+| 3 | close | 369 | 36 | 8.258 | 2.24 | 3.88 | 324.06 | 1.0124 |
+| 4 | lift | 74 | 8 | 8.276 | 3.06 | 5.29 | 323.71 | 1.1118 |
+| 5 | move_xy | 204 | 21 | 5.786 | 20.23 | 35.05 | 1162.06 | 1.1645 |
+| 6 | lower | 76 | 8 | 0.420 | 3.49 | 6.04 | 1392.54 | 1.2161 |
+| 7 | open | 381 | 37 | 0.024 | 2.87 | 4.97 | 5.76 | 0.6928 |
+| 8 | retract | 77 | 8 | 0.418 | 3.37 | 5.84 | 5.35 | 0.7687 |
+| 9 | return | 189 | 19 | 3.304 | 17.41 | 30.16 | 1198.63 | 0.7378 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.865 |
+| TCP position RMSE (mm, per-axis) | 9.77 |
+| EE position RMS L2 (mm) | 18.03 |
+| TCP rotvec (mrad) | 737.03 |
+| W1 effort mean (A) | 0.8375 |
+| W1 effort per joint (A) | j0=0.1387, j1=1.6091, j2=1.4980, j3=0.7971, j4=0.2417, j5=0.7406 |
+
+## Phase-end anchor (sim - 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 | -0.00372 | 0.00013 | 0.00409 | 20.258 |
+| 1 | 0.00215 | -0.00347 | 0.00005 | 0.00409 | 20.232 |
+| 2 | 0.00214 | -0.00355 | 0.00001 | 0.00415 | 20.232 |
+| 3 | 0.00237 | -0.00285 | -0.00107 | 0.00385 | 20.228 |
+| 4 | 0.00210 | -0.00324 | -0.00171 | 0.00422 | 20.254 |
+| 5 | 0.00171 | -0.00309 | -0.00260 | 0.00438 | 0.218 |
+| 6 | 0.00208 | -0.00299 | -0.00240 | 0.00436 | 0.247 |
+| 7 | 0.00226 | -0.00426 | -0.00119 | 0.00497 | 0.052 |
+| 8 | 0.00187 | -0.00412 | -0.00130 | 0.00471 | 0.065 |
+| 9 | -0.00021 | -0.00012 | -0.00032 | 0.00040 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2ac442c5-4aec-46e0-9de6-68f816f620de.md b/gap_reports/gap_2ac442c5-4aec-46e0-9de6-68f816f620de.md
new file mode 100644
index 0000000000000000000000000000000000000000..ad15c59ec2ab1ce328bd1e7c563b3fc91396b40d
--- /dev/null
+++ b/gap_reports/gap_2ac442c5-4aec-46e0-9de6-68f816f620de.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2ac442c5-4aec-46e0-9de6-68f816f620de.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2ac442c5-4aec-46e0-9de6-68f816f620de.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2781 |
+| Sim rows | 248 |
+| Real episode_id | `2ac442c5-4aec-46e0-9de6-68f816f620de` |
+| Sim episode_id | `2ac442c5-4aec-46e0-9de6-68f816f620de` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 254 | 23 | 2.648 | 12.36 | 21.41 | 1969.98 | 0.5577 |
+| 1 | descend | 395 | 35 | 1.028 | 6.64 | 11.50 | 3625.39 | 0.7560 |
+| 2 | settle | 383 | 33 | 0.025 | 0.74 | 1.28 | 3625.24 | 0.6399 |
+| 3 | close | 129 | 12 | 1.022 | 6.58 | 11.39 | 3625.82 | 1.0058 |
+| 4 | lift | 306 | 27 | 2.051 | 9.76 | 16.90 | 2187.06 | 1.1118 |
+| 5 | move_xy | 471 | 41 | 5.417 | 29.02 | 50.26 | 2702.16 | 0.8949 |
+| 6 | lower | 407 | 36 | 0.084 | 1.30 | 2.25 | 3556.19 | 0.9892 |
+| 7 | open | 130 | 12 | 1.048 | 6.74 | 11.67 | 3625.50 | 0.6688 |
+| 8 | retract | 306 | 27 | 2.333 | 11.20 | 19.40 | 2317.17 | 0.7291 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.338 |
+| TCP position RMSE (mm, per-axis) | 12.25 |
+| EE position RMS L2 (mm) | 23.97 |
+| TCP rotvec (mrad) | 3101.22 |
+| W1 effort mean (A) | 0.8005 |
+| W1 effort per joint (A) | j0=0.2219, j1=1.3257, j2=1.5705, j3=0.7681, j4=0.3260, j5=0.5908 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00042 | -0.00039 | -0.00073 | 0.00093 | 0.037 |
+| 1 | 0.00039 | -0.00070 | -0.00095 | 0.00125 | 0.043 |
+| 2 | 0.00041 | -0.00071 | -0.00097 | 0.00127 | 0.046 |
+| 3 | 0.00122 | -0.00042 | -0.00092 | 0.00158 | 0.138 |
+| 4 | 0.00030 | 0.00024 | -0.00010 | 0.00039 | 0.085 |
+| 5 | 0.00098 | -0.00119 | -0.00238 | 0.00284 | 0.200 |
+| 6 | 0.00119 | -0.00090 | -0.00069 | 0.00164 | 0.098 |
+| 7 | 0.00020 | -0.00048 | -0.00078 | 0.00093 | 0.055 |
+| 8 | -0.00011 | -0.00018 | -0.00018 | 0.00028 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2acc0624-39bc-40ab-bbbb-1a6b6e1d1889.md b/gap_reports/gap_2acc0624-39bc-40ab-bbbb-1a6b6e1d1889.md
new file mode 100644
index 0000000000000000000000000000000000000000..91c6862094f1a20c7ed22e6511e56526caee9e4f
--- /dev/null
+++ b/gap_reports/gap_2acc0624-39bc-40ab-bbbb-1a6b6e1d1889.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2acc0624-39bc-40ab-bbbb-1a6b6e1d1889.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2acc0624-39bc-40ab-bbbb-1a6b6e1d1889.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2513 |
+| Sim rows | 226 |
+| Real episode_id | `2acc0624-39bc-40ab-bbbb-1a6b6e1d1889` |
+| Sim episode_id | `2acc0624-39bc-40ab-bbbb-1a6b6e1d1889` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 208 | 19 | 2.927 | 13.35 | 23.12 | 2026.61 | 0.5864 |
+| 1 | descend | 309 | 28 | 0.914 | 6.03 | 10.44 | 3625.36 | 0.7524 |
+| 2 | settle | 352 | 31 | 0.023 | 0.76 | 1.32 | 3625.25 | 0.7279 |
+| 3 | close | 168 | 15 | 0.767 | 5.03 | 8.72 | 3449.99 | 1.0044 |
+| 4 | lift | 283 | 25 | 3.042 | 14.57 | 25.23 | 2137.39 | 1.1078 |
+| 5 | move_xy | 359 | 32 | 6.280 | 32.32 | 55.97 | 2792.52 | 0.8828 |
+| 6 | lower | 383 | 34 | 0.090 | 1.43 | 2.47 | 3551.90 | 1.0232 |
+| 7 | open | 170 | 15 | 0.776 | 4.96 | 8.59 | 3625.48 | 0.6591 |
+| 8 | retract | 281 | 25 | 2.891 | 13.81 | 23.92 | 2329.34 | 0.7292 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.742 |
+| TCP position RMSE (mm, per-axis) | 13.80 |
+| EE position RMS L2 (mm) | 25.54 |
+| TCP rotvec (mrad) | 3088.47 |
+| W1 effort mean (A) | 0.8193 |
+| W1 effort per joint (A) | j0=0.2162, j1=1.3647, j2=1.6495, j3=0.7845, j4=0.3248, j5=0.5762 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00065 | -0.00031 | -0.00068 | 0.00099 | 0.037 |
+| 1 | 0.00060 | -0.00064 | -0.00098 | 0.00131 | 0.049 |
+| 2 | 0.00063 | -0.00066 | -0.00096 | 0.00132 | 0.045 |
+| 3 | 0.00172 | -0.00035 | -0.00129 | 0.00218 | 0.155 |
+| 4 | 0.00024 | -0.00028 | -0.00035 | 0.00051 | 0.153 |
+| 5 | 0.00150 | -0.00089 | -0.00114 | 0.00208 | 0.112 |
+| 6 | 0.00138 | -0.00087 | -0.00183 | 0.00245 | 0.123 |
+| 7 | 0.00052 | -0.00038 | -0.00069 | 0.00095 | 0.033 |
+| 8 | -0.00012 | -0.00018 | -0.00020 | 0.00029 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2adfb6a7-03d9-4cc9-8e3d-84f7cd6c0ca6.md b/gap_reports/gap_2adfb6a7-03d9-4cc9-8e3d-84f7cd6c0ca6.md
new file mode 100644
index 0000000000000000000000000000000000000000..5b0b4b0a49cf69458beeefb731893d496dee72e8
--- /dev/null
+++ b/gap_reports/gap_2adfb6a7-03d9-4cc9-8e3d-84f7cd6c0ca6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2adfb6a7-03d9-4cc9-8e3d-84f7cd6c0ca6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2adfb6a7-03d9-4cc9-8e3d-84f7cd6c0ca6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2758 |
+| Sim rows | 245 |
+| Real episode_id | `2adfb6a7-03d9-4cc9-8e3d-84f7cd6c0ca6` |
+| Sim episode_id | `2adfb6a7-03d9-4cc9-8e3d-84f7cd6c0ca6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 220 | 20 | 3.857 | 14.62 | 25.32 | 2045.28 | 0.5870 |
+| 1 | descend | 391 | 34 | 1.519 | 9.03 | 15.64 | 3626.06 | 0.6409 |
+| 2 | settle | 386 | 34 | 0.023 | 0.68 | 1.18 | 3625.97 | 0.6210 |
+| 3 | close | 158 | 14 | 0.986 | 5.58 | 9.66 | 1311.02 | 0.9142 |
+| 4 | lift | 327 | 29 | 3.900 | 15.82 | 27.41 | 1902.60 | 1.1085 |
+| 5 | move_xy | 416 | 36 | 8.709 | 37.97 | 65.77 | 2050.27 | 0.8794 |
+| 6 | lower | 375 | 33 | 0.089 | 1.31 | 2.26 | 2159.02 | 0.9224 |
+| 7 | open | 158 | 14 | 1.257 | 7.26 | 12.57 | 3626.23 | 0.5921 |
+| 8 | retract | 327 | 29 | 3.890 | 15.93 | 27.59 | 2397.79 | 0.7194 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.741 |
+| TCP position RMSE (mm, per-axis) | 16.08 |
+| EE position RMS L2 (mm) | 30.54 |
+| TCP rotvec (mrad) | 2657.94 |
+| W1 effort mean (A) | 0.7520 |
+| W1 effort per joint (A) | j0=0.2527, j1=1.1662, j2=1.3984, j3=0.6873, j4=0.3933, j5=0.6138 |
+
+## Phase-end anchor (sim - 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 | -0.00012 | -0.00046 | 0.00079 | 0.037 |
+| 1 | 0.00072 | -0.00055 | -0.00077 | 0.00118 | 0.037 |
+| 2 | 0.00070 | -0.00057 | -0.00076 | 0.00118 | 0.042 |
+| 3 | 0.00139 | -0.00007 | -0.00123 | 0.00186 | 0.140 |
+| 4 | 0.00041 | 0.00009 | -0.00020 | 0.00046 | 0.093 |
+| 5 | 0.00137 | -0.00077 | -0.00060 | 0.00169 | 0.123 |
+| 6 | 0.00139 | -0.00067 | -0.00179 | 0.00237 | 0.149 |
+| 7 | 0.00046 | -0.00022 | -0.00052 | 0.00073 | 0.042 |
+| 8 | -0.00009 | -0.00014 | -0.00017 | 0.00023 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2b026710-572f-4725-aa49-aed64fc0a202.md b/gap_reports/gap_2b026710-572f-4725-aa49-aed64fc0a202.md
new file mode 100644
index 0000000000000000000000000000000000000000..b815ff9bb68be3c98642e09c7d377aac82194f45
--- /dev/null
+++ b/gap_reports/gap_2b026710-572f-4725-aa49-aed64fc0a202.md
@@ -0,0 +1,63 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2b026710-572f-4725-aa49-aed64fc0a202.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2b026710-572f-4725-aa49-aed64fc0a202.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 132 |
+| Sim rows | 29 |
+| Real episode_id | `2b026710-572f-4725-aa49-aed64fc0a202` |
+| Sim episode_id | `2b026710-572f-4725-aa49-aed64fc0a202` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 7 | 2 | 20.959 | 0.39 | 0.67 | 3532.02 | 0.6561 |
+| 1 | descend | 8 | 2 | 20.959 | 0.39 | 0.68 | 3532.03 | 0.6540 |
+| 2 | settle | 39 | 5 | 20.960 | 0.40 | 0.69 | 3532.02 | 0.6600 |
+| 3 | close | 78 | 8 | 20.958 | 0.92 | 1.60 | 3532.08 | 1.1657 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 20.959 |
+| TCP position RMSE (mm, per-axis) | 0.57 |
+| EE position RMS L2 (mm) | 1.30 |
+| TCP rotvec (mrad) | 3532.04 |
+| W1 effort mean (A) | 0.9583 |
+| W1 effort per joint (A) | j0=0.1882, j1=1.7043, j2=1.1843, j3=0.7018, j4=0.3113, j5=1.6597 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00003 | 0.00007 | -0.00068 | 0.00068 | 51.339 |
+| 1 | 0.00003 | 0.00007 | -0.00069 | 0.00069 | 51.342 |
+| 2 | 0.00003 | 0.00006 | -0.00067 | 0.00068 | 51.340 |
+| 3 | 0.00020 | 0.00036 | -0.00168 | 0.00173 | 51.338 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2b0cd16e-433c-4272-8f66-8c4d4cd4f371.md b/gap_reports/gap_2b0cd16e-433c-4272-8f66-8c4d4cd4f371.md
new file mode 100644
index 0000000000000000000000000000000000000000..10693692040273601a883f9efbb8208eaedee2b8
--- /dev/null
+++ b/gap_reports/gap_2b0cd16e-433c-4272-8f66-8c4d4cd4f371.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2b0cd16e-433c-4272-8f66-8c4d4cd4f371.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2b0cd16e-433c-4272-8f66-8c4d4cd4f371.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1291 |
+| Sim rows | 133 |
+| Real episode_id | `2b0cd16e-433c-4272-8f66-8c4d4cd4f371` |
+| Sim episode_id | `2b0cd16e-433c-4272-8f66-8c4d4cd4f371` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 214 | 21 | 3.061 | 17.82 | 30.87 | 1202.59 | 0.7457 |
+| 1 | descend | 81 | 9 | 0.484 | 3.97 | 6.88 | 6.04 | 0.6553 |
+| 2 | settle | 32 | 4 | 0.022 | 3.19 | 5.52 | 6.36 | 0.6696 |
+| 3 | close | 27 | 3 | 0.071 | 3.48 | 6.02 | 7.37 | 1.1357 |
+| 4 | lift | 103 | 11 | 0.676 | 4.60 | 7.97 | 930.90 | 1.0641 |
+| 5 | move_xy | 299 | 30 | 5.934 | 30.11 | 52.15 | 133.85 | 0.9693 |
+| 6 | lower | 115 | 12 | 0.905 | 4.49 | 7.77 | 6.14 | 1.0026 |
+| 7 | open | 73 | 8 | 0.020 | 2.09 | 3.61 | 4.73 | 0.6503 |
+| 8 | retract | 118 | 12 | 0.978 | 4.73 | 8.20 | 4.06 | 0.7126 |
+| 9 | return | 229 | 23 | 3.324 | 20.68 | 35.81 | 1153.29 | 0.7856 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.410 |
+| TCP position RMSE (mm, per-axis) | 13.26 |
+| EE position RMS L2 (mm) | 32.21 |
+| TCP rotvec (mrad) | 605.06 |
+| W1 effort mean (A) | 0.8202 |
+| W1 effort per joint (A) | j0=0.2740, j1=1.4516, j2=1.5678, j3=0.7171, j4=0.3322, j5=0.5787 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00159 | -0.00481 | -0.00131 | 0.00524 | 0.049 |
+| 1 | 0.00175 | -0.00505 | -0.00130 | 0.00550 | 0.032 |
+| 2 | 0.00175 | -0.00505 | -0.00145 | 0.00553 | 0.054 |
+| 3 | 0.00228 | -0.00522 | -0.00144 | 0.00588 | 0.138 |
+| 4 | 0.00192 | -0.00506 | -0.00165 | 0.00566 | 0.122 |
+| 5 | 0.00178 | -0.00277 | -0.00113 | 0.00348 | 0.168 |
+| 6 | 0.00202 | -0.00242 | -0.00083 | 0.00325 | 0.133 |
+| 7 | 0.00206 | -0.00297 | -0.00005 | 0.00361 | 0.044 |
+| 8 | 0.00171 | -0.00323 | -0.00011 | 0.00365 | 0.043 |
+| 9 | -0.00001 | -0.00012 | -0.00025 | 0.00028 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2b17c11b-e14d-4fe2-9d70-d40092a5e156.md b/gap_reports/gap_2b17c11b-e14d-4fe2-9d70-d40092a5e156.md
new file mode 100644
index 0000000000000000000000000000000000000000..8a3809d443390b4071f86c0dadd889f3217f5aea
--- /dev/null
+++ b/gap_reports/gap_2b17c11b-e14d-4fe2-9d70-d40092a5e156.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2b17c11b-e14d-4fe2-9d70-d40092a5e156.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2b17c11b-e14d-4fe2-9d70-d40092a5e156.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2820 |
+| Sim rows | 250 |
+| Real episode_id | `2b17c11b-e14d-4fe2-9d70-d40092a5e156` |
+| Sim episode_id | `2b17c11b-e14d-4fe2-9d70-d40092a5e156` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 200 | 18 | 2.829 | 14.29 | 24.75 | 1812.51 | 0.6278 |
+| 1 | descend | 456 | 40 | 0.591 | 4.42 | 7.66 | 3624.84 | 0.7844 |
+| 2 | settle | 363 | 32 | 0.027 | 0.91 | 1.58 | 3624.63 | 0.6603 |
+| 3 | close | 142 | 13 | 0.692 | 5.12 | 8.88 | 3625.40 | 0.9882 |
+| 4 | lift | 366 | 32 | 2.601 | 13.86 | 24.00 | 2456.21 | 1.1649 |
+| 5 | move_xy | 376 | 33 | 7.297 | 41.80 | 72.39 | 2810.27 | 0.9838 |
+| 6 | lower | 407 | 35 | 0.087 | 1.57 | 2.73 | 3625.19 | 1.0080 |
+| 7 | open | 143 | 13 | 0.937 | 6.36 | 11.01 | 3624.76 | 0.7356 |
+| 8 | retract | 367 | 32 | 2.575 | 13.82 | 23.93 | 2467.19 | 0.7590 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.913 |
+| TCP position RMSE (mm, per-axis) | 16.41 |
+| EE position RMS L2 (mm) | 30.21 |
+| TCP rotvec (mrad) | 3144.74 |
+| W1 effort mean (A) | 0.8455 |
+| W1 effort per joint (A) | j0=0.2232, j1=1.5114, j2=1.6575, j3=0.7571, j4=0.3345, j5=0.5894 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00084 | -0.00026 | -0.00073 | 0.00114 | 0.028 |
+| 1 | 0.00092 | -0.00069 | -0.00111 | 0.00159 | 0.052 |
+| 2 | 0.00089 | -0.00066 | -0.00113 | 0.00158 | 0.051 |
+| 3 | 0.00142 | -0.00033 | -0.00066 | 0.00160 | 0.078 |
+| 4 | 0.00038 | -0.00013 | -0.00057 | 0.00069 | 0.128 |
+| 5 | 0.00231 | -0.00089 | -0.00132 | 0.00281 | 0.191 |
+| 6 | 0.00164 | -0.00093 | -0.00155 | 0.00244 | 0.105 |
+| 7 | 0.00071 | -0.00036 | -0.00098 | 0.00126 | 0.061 |
+| 8 | -0.00012 | -0.00018 | -0.00019 | 0.00029 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2b1f364f-e6b6-4436-ab5c-c55b7a061ba2.md b/gap_reports/gap_2b1f364f-e6b6-4436-ab5c-c55b7a061ba2.md
new file mode 100644
index 0000000000000000000000000000000000000000..b1df37faea533dab6807a3a82998802fd7e5de22
--- /dev/null
+++ b/gap_reports/gap_2b1f364f-e6b6-4436-ab5c-c55b7a061ba2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2b1f364f-e6b6-4436-ab5c-c55b7a061ba2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2b1f364f-e6b6-4436-ab5c-c55b7a061ba2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2542 |
+| Sim rows | 227 |
+| Real episode_id | `2b1f364f-e6b6-4436-ab5c-c55b7a061ba2` |
+| Sim episode_id | `2b1f364f-e6b6-4436-ab5c-c55b7a061ba2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 210 | 19 | 3.415 | 13.06 | 22.62 | 1970.18 | 0.5803 |
+| 1 | descend | 331 | 29 | 0.637 | 3.97 | 6.87 | 3626.02 | 0.6597 |
+| 2 | settle | 365 | 32 | 0.020 | 0.67 | 1.17 | 3625.87 | 0.6370 |
+| 3 | close | 105 | 10 | 0.489 | 3.02 | 5.24 | 982.05 | 0.9628 |
+| 4 | lift | 332 | 29 | 3.450 | 14.69 | 25.44 | 1621.45 | 1.0350 |
+| 5 | move_xy | 362 | 32 | 7.987 | 34.89 | 60.43 | 2321.34 | 0.8570 |
+| 6 | lower | 402 | 35 | 0.081 | 1.23 | 2.13 | 1686.38 | 0.9879 |
+| 7 | open | 104 | 10 | 0.450 | 2.73 | 4.74 | 3625.98 | 0.6798 |
+| 8 | retract | 331 | 29 | 3.416 | 14.64 | 25.36 | 2245.88 | 0.6951 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.332 |
+| TCP position RMSE (mm, per-axis) | 14.35 |
+| EE position RMS L2 (mm) | 27.20 |
+| TCP rotvec (mrad) | 2586.17 |
+| W1 effort mean (A) | 0.7811 |
+| W1 effort per joint (A) | j0=0.2012, j1=1.2435, j2=1.6219, j3=0.7669, j4=0.2768, 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 | 0.00065 | -0.00034 | -0.00051 | 0.00090 | 0.030 |
+| 1 | 0.00065 | -0.00057 | -0.00075 | 0.00114 | 0.038 |
+| 2 | 0.00069 | -0.00056 | -0.00076 | 0.00117 | 0.036 |
+| 3 | 0.00106 | -0.00040 | -0.00059 | 0.00128 | 0.121 |
+| 4 | 0.00024 | 0.00008 | -0.00026 | 0.00037 | 0.087 |
+| 5 | 0.00193 | -0.00084 | -0.00092 | 0.00229 | 0.186 |
+| 6 | 0.00170 | -0.00058 | -0.00141 | 0.00229 | 0.133 |
+| 7 | 0.00045 | -0.00036 | -0.00056 | 0.00081 | 0.030 |
+| 8 | -0.00013 | -0.00017 | -0.00018 | 0.00028 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2b2b6328-a1b9-419b-90ea-a55b9d6eaeb6.md b/gap_reports/gap_2b2b6328-a1b9-419b-90ea-a55b9d6eaeb6.md
new file mode 100644
index 0000000000000000000000000000000000000000..c05f547132dbb1d334b7559a617751ca3f76826e
--- /dev/null
+++ b/gap_reports/gap_2b2b6328-a1b9-419b-90ea-a55b9d6eaeb6.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2b2b6328-a1b9-419b-90ea-a55b9d6eaeb6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2b2b6328-a1b9-419b-90ea-a55b9d6eaeb6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1612 |
+| Sim rows | 163 |
+| Real episode_id | `2b2b6328-a1b9-419b-90ea-a55b9d6eaeb6` |
+| Sim episode_id | `2b2b6328-a1b9-419b-90ea-a55b9d6eaeb6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 134 | 14 | 2.515 | 13.81 | 23.92 | 1427.27 | 0.7631 |
+| 1 | descend | 79 | 8 | 0.926 | 5.01 | 8.68 | 4.97 | 0.6601 |
+| 2 | settle | 35 | 4 | 0.022 | 2.89 | 5.01 | 5.57 | 0.6825 |
+| 3 | close | 313 | 31 | 0.088 | 2.84 | 4.92 | 6.17 | 1.1612 |
+| 4 | lift | 80 | 9 | 0.872 | 4.37 | 7.56 | 5.76 | 1.2672 |
+| 5 | move_xy | 182 | 18 | 16.032 | 27.08 | 46.90 | 531.55 | 1.2320 |
+| 6 | lower | 80 | 9 | 29.780 | 4.73 | 8.20 | 1135.90 | 1.3630 |
+| 7 | open | 290 | 29 | 29.747 | 2.39 | 4.15 | 1135.72 | 0.9620 |
+| 8 | retract | 79 | 8 | 29.769 | 4.04 | 6.99 | 1135.44 | 1.0150 |
+| 9 | return | 340 | 33 | 16.704 | 19.58 | 33.92 | 1213.54 | 0.9002 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 17.894 |
+| TCP position RMSE (mm, per-axis) | 11.88 |
+| EE position RMS L2 (mm) | 23.65 |
+| TCP rotvec (mrad) | 875.32 |
+| W1 effort mean (A) | 0.9956 |
+| W1 effort per joint (A) | j0=0.2210, j1=1.6972, j2=1.6702, j3=0.8044, j4=0.3888, j5=1.1919 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00182 | -0.00406 | -0.00086 | 0.00454 | 0.038 |
+| 1 | 0.00227 | -0.00438 | -0.00087 | 0.00501 | 0.045 |
+| 2 | 0.00225 | -0.00438 | -0.00101 | 0.00502 | 0.045 |
+| 3 | 0.00240 | -0.00383 | -0.00229 | 0.00507 | 0.158 |
+| 4 | 0.00147 | -0.00340 | -0.00227 | 0.00435 | 0.172 |
+| 5 | 0.00179 | -0.00337 | -0.00093 | 0.00393 | 72.951 |
+| 6 | 0.00223 | -0.00286 | -0.00147 | 0.00392 | 72.863 |
+| 7 | 0.00217 | -0.00352 | -0.00027 | 0.00415 | 72.862 |
+| 8 | 0.00192 | -0.00382 | -0.00050 | 0.00431 | 72.947 |
+| 9 | -0.00003 | -0.00009 | -0.00023 | 0.00025 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2b5dfdf7-d03b-4d5b-97bf-7804a42d56d4.md b/gap_reports/gap_2b5dfdf7-d03b-4d5b-97bf-7804a42d56d4.md
new file mode 100644
index 0000000000000000000000000000000000000000..94b8007958b635a6bcf621d993cd95341fd270c8
--- /dev/null
+++ b/gap_reports/gap_2b5dfdf7-d03b-4d5b-97bf-7804a42d56d4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2b5dfdf7-d03b-4d5b-97bf-7804a42d56d4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2b5dfdf7-d03b-4d5b-97bf-7804a42d56d4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2464 |
+| Sim rows | 221 |
+| Real episode_id | `2b5dfdf7-d03b-4d5b-97bf-7804a42d56d4` |
+| Sim episode_id | `2b5dfdf7-d03b-4d5b-97bf-7804a42d56d4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 184 | 17 | 2.149 | 11.14 | 19.30 | 1927.04 | 0.6236 |
+| 1 | descend | 302 | 27 | 0.793 | 5.46 | 9.46 | 3624.69 | 0.7501 |
+| 2 | settle | 384 | 33 | 0.026 | 0.97 | 1.67 | 3624.53 | 0.7030 |
+| 3 | close | 145 | 13 | 0.743 | 5.17 | 8.96 | 3625.28 | 1.0214 |
+| 4 | lift | 279 | 25 | 2.321 | 13.80 | 23.90 | 2347.68 | 1.1290 |
+| 5 | move_xy | 340 | 30 | 5.547 | 34.00 | 58.89 | 2855.67 | 0.9566 |
+| 6 | lower | 407 | 36 | 0.096 | 1.71 | 2.97 | 3624.94 | 1.1367 |
+| 7 | open | 143 | 13 | 0.827 | 5.70 | 9.87 | 3624.69 | 0.7523 |
+| 8 | retract | 280 | 25 | 2.339 | 13.87 | 24.03 | 2333.14 | 0.7461 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.312 |
+| TCP position RMSE (mm, per-axis) | 13.97 |
+| EE position RMS L2 (mm) | 25.69 |
+| TCP rotvec (mrad) | 3136.17 |
+| W1 effort mean (A) | 0.8600 |
+| W1 effort per joint (A) | j0=0.2216, j1=1.5774, j2=1.7099, j3=0.7689, j4=0.3201, j5=0.5622 |
+
+## Phase-end anchor (sim - 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 | -0.00048 | -0.00073 | 0.00117 | 0.033 |
+| 1 | 0.00077 | -0.00089 | -0.00122 | 0.00170 | 0.059 |
+| 2 | 0.00079 | -0.00088 | -0.00119 | 0.00167 | 0.055 |
+| 3 | 0.00121 | -0.00077 | -0.00148 | 0.00206 | 0.123 |
+| 4 | 0.00006 | -0.00046 | -0.00053 | 0.00071 | 0.103 |
+| 5 | 0.00188 | -0.00140 | -0.00285 | 0.00369 | 0.201 |
+| 6 | 0.00171 | -0.00118 | -0.00158 | 0.00260 | 0.116 |
+| 7 | 0.00065 | -0.00055 | -0.00099 | 0.00130 | 0.044 |
+| 8 | -0.00014 | -0.00021 | -0.00020 | 0.00033 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2b6edd29-d944-440a-9097-52a6de366e8f.md b/gap_reports/gap_2b6edd29-d944-440a-9097-52a6de366e8f.md
new file mode 100644
index 0000000000000000000000000000000000000000..87d5c9c917ddbc27da9c699b4d7011956a78bd10
--- /dev/null
+++ b/gap_reports/gap_2b6edd29-d944-440a-9097-52a6de366e8f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2b6edd29-d944-440a-9097-52a6de366e8f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2b6edd29-d944-440a-9097-52a6de366e8f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2595 |
+| Sim rows | 232 |
+| Real episode_id | `2b6edd29-d944-440a-9097-52a6de366e8f` |
+| Sim episode_id | `2b6edd29-d944-440a-9097-52a6de366e8f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 208 | 19 | 3.421 | 12.90 | 22.34 | 1931.20 | 0.5780 |
+| 1 | descend | 225 | 20 | 0.863 | 5.12 | 8.87 | 3626.10 | 0.6544 |
+| 2 | settle | 362 | 32 | 0.020 | 0.62 | 1.08 | 3626.05 | 0.6922 |
+| 3 | close | 104 | 10 | 0.612 | 3.66 | 6.33 | 6.04 | 0.8844 |
+| 4 | lift | 423 | 37 | 3.122 | 12.53 | 21.71 | 1896.16 | 1.0825 |
+| 5 | move_xy | 334 | 29 | 7.811 | 33.06 | 57.26 | 2110.04 | 0.8320 |
+| 6 | lower | 409 | 36 | 0.073 | 1.07 | 1.85 | 1771.78 | 1.0187 |
+| 7 | open | 103 | 10 | 0.496 | 2.84 | 4.92 | 3626.13 | 0.6600 |
+| 8 | retract | 427 | 37 | 3.296 | 13.39 | 23.19 | 2253.85 | 0.7035 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.244 |
+| TCP position RMSE (mm, per-axis) | 13.52 |
+| EE position RMS L2 (mm) | 25.25 |
+| TCP rotvec (mrad) | 2569.96 |
+| W1 effort mean (A) | 0.8011 |
+| W1 effort per joint (A) | j0=0.2372, j1=1.1931, j2=1.6235, j3=0.8123, j4=0.3140, j5=0.6263 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00064 | -0.00027 | -0.00040 | 0.00080 | 0.037 |
+| 1 | 0.00062 | -0.00049 | -0.00068 | 0.00105 | 0.038 |
+| 2 | 0.00067 | -0.00049 | -0.00072 | 0.00110 | 0.038 |
+| 3 | 0.00085 | -0.00036 | -0.00035 | 0.00099 | 0.098 |
+| 4 | 0.00009 | -0.00041 | -0.00053 | 0.00068 | 0.088 |
+| 5 | 0.00140 | -0.00063 | -0.00105 | 0.00186 | 0.114 |
+| 6 | 0.00135 | -0.00067 | -0.00072 | 0.00167 | 0.096 |
+| 7 | 0.00045 | -0.00026 | -0.00050 | 0.00073 | 0.033 |
+| 8 | -0.00008 | -0.00009 | -0.00012 | 0.00017 | 0.021 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2b8631c5-b725-4795-ad68-d06fe5612587.md b/gap_reports/gap_2b8631c5-b725-4795-ad68-d06fe5612587.md
new file mode 100644
index 0000000000000000000000000000000000000000..67e3e913630ae7936756cdd54495eebc926dbc41
--- /dev/null
+++ b/gap_reports/gap_2b8631c5-b725-4795-ad68-d06fe5612587.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2b8631c5-b725-4795-ad68-d06fe5612587.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2b8631c5-b725-4795-ad68-d06fe5612587.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2590 |
+| Sim rows | 261 |
+| Real episode_id | `2b8631c5-b725-4795-ad68-d06fe5612587` |
+| Sim episode_id | `2b8631c5-b725-4795-ad68-d06fe5612587` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 168 | 15 | 2.371 | 11.73 | 20.32 | 1977.76 | 0.5729 |
+| 1 | descend | 505 | 44 | 0.565 | 3.72 | 6.45 | 3625.34 | 0.6939 |
+| 2 | settle | 375 | 33 | 0.023 | 0.73 | 1.27 | 3625.27 | 0.7052 |
+| 3 | close | 148 | 13 | 0.702 | 4.73 | 8.19 | 3256.90 | 0.9947 |
+| 4 | lift | 316 | 28 | 2.290 | 11.42 | 19.77 | 2206.32 | 1.0853 |
+| 5 | move_xy | 231 | 52 | 5.558 | 30.94 | 53.58 | 2661.29 | 0.9268 |
+| 6 | lower | 382 | 33 | 0.083 | 1.27 | 2.21 | 3412.27 | 0.9876 |
+| 7 | open | 148 | 13 | 0.794 | 5.11 | 8.84 | 3625.47 | 0.6399 |
+| 8 | retract | 317 | 28 | 2.302 | 11.47 | 19.86 | 2183.56 | 0.7205 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.321 |
+| TCP position RMSE (mm, per-axis) | 12.56 |
+| EE position RMS L2 (mm) | 19.90 |
+| TCP rotvec (mrad) | 3024.17 |
+| W1 effort mean (A) | 0.7930 |
+| W1 effort per joint (A) | j0=0.2389, j1=1.3838, j2=1.5904, j3=0.6893, j4=0.3197, j5=0.5358 |
+
+## Phase-end anchor (sim - 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 | -0.00041 | -0.00071 | 0.00093 | 0.041 |
+| 1 | 0.00039 | -0.00071 | -0.00097 | 0.00126 | 0.044 |
+| 2 | 0.00042 | -0.00070 | -0.00096 | 0.00127 | 0.041 |
+| 3 | 0.00121 | -0.00048 | -0.00082 | 0.00154 | 0.123 |
+| 4 | 0.00011 | -0.00019 | -0.00010 | 0.00025 | 0.087 |
+| 5 | 0.00118 | -0.00099 | -0.00151 | 0.00216 | 0.102 |
+| 6 | 0.00185 | -0.00102 | -0.00095 | 0.00232 | 0.191 |
+| 7 | 0.00028 | -0.00047 | -0.00079 | 0.00096 | 0.045 |
+| 8 | -0.00013 | -0.00018 | -0.00019 | 0.00030 | 0.031 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2b93e1ea-119b-4d6e-9004-1fd8d4c0c638.md b/gap_reports/gap_2b93e1ea-119b-4d6e-9004-1fd8d4c0c638.md
new file mode 100644
index 0000000000000000000000000000000000000000..8c8010a7f8876a7e48a8b3cc971afc39ac4d2ad8
--- /dev/null
+++ b/gap_reports/gap_2b93e1ea-119b-4d6e-9004-1fd8d4c0c638.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2b93e1ea-119b-4d6e-9004-1fd8d4c0c638.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2b93e1ea-119b-4d6e-9004-1fd8d4c0c638.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1662 |
+| Sim rows | 167 |
+| Real episode_id | `2b93e1ea-119b-4d6e-9004-1fd8d4c0c638` |
+| Sim episode_id | `2b93e1ea-119b-4d6e-9004-1fd8d4c0c638` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 210 | 21 | 4.910 | 19.04 | 32.98 | 350.87 | 0.6841 |
+| 1 | descend | 90 | 9 | 5.986 | 3.76 | 6.51 | 233.99 | 0.7793 |
+| 2 | settle | 32 | 4 | 5.940 | 2.42 | 4.19 | 233.98 | 0.7829 |
+| 3 | close | 303 | 30 | 5.940 | 2.49 | 4.31 | 233.64 | 1.1680 |
+| 4 | lift | 86 | 9 | 5.973 | 3.48 | 6.03 | 233.48 | 1.4199 |
+| 5 | move_xy | 249 | 25 | 6.469 | 31.06 | 53.79 | 77.33 | 1.3174 |
+| 6 | lower | 88 | 9 | 0.715 | 5.16 | 8.93 | 7.63 | 1.1708 |
+| 7 | open | 284 | 28 | 0.026 | 2.89 | 5.01 | 5.51 | 0.6661 |
+| 8 | retract | 87 | 9 | 0.595 | 3.72 | 6.44 | 5.11 | 0.7214 |
+| 9 | return | 233 | 23 | 2.631 | 15.47 | 26.80 | 987.68 | 0.7094 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.646 |
+| TCP position RMSE (mm, per-axis) | 12.86 |
+| EE position RMS L2 (mm) | 26.27 |
+| TCP rotvec (mrad) | 363.77 |
+| W1 effort mean (A) | 0.9079 |
+| W1 effort per joint (A) | j0=0.1732, j1=1.8378, j2=1.6388, j3=0.9176, j4=0.2414, j5=0.6383 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00250 | -0.00324 | -0.00024 | 0.00410 | 14.617 |
+| 1 | 0.00274 | -0.00314 | -0.00032 | 0.00418 | 14.552 |
+| 2 | 0.00273 | -0.00314 | -0.00047 | 0.00418 | 14.549 |
+| 3 | 0.00264 | -0.00333 | -0.00083 | 0.00433 | 14.552 |
+| 4 | 0.00254 | -0.00357 | -0.00095 | 0.00448 | 14.616 |
+| 5 | 0.00275 | -0.00534 | -0.00170 | 0.00624 | 0.187 |
+| 6 | 0.00346 | -0.00546 | -0.00224 | 0.00684 | 0.179 |
+| 7 | 0.00227 | -0.00436 | -0.00108 | 0.00503 | 0.048 |
+| 8 | 0.00186 | -0.00414 | -0.00112 | 0.00468 | 0.050 |
+| 9 | -0.00018 | -0.00013 | -0.00030 | 0.00037 | 0.035 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2b95c041-b695-448b-92d2-5aa198bc69c7.md b/gap_reports/gap_2b95c041-b695-448b-92d2-5aa198bc69c7.md
new file mode 100644
index 0000000000000000000000000000000000000000..ef172a523dd3da8fd8bf30e2d6752755f6d695a6
--- /dev/null
+++ b/gap_reports/gap_2b95c041-b695-448b-92d2-5aa198bc69c7.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2b95c041-b695-448b-92d2-5aa198bc69c7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2b95c041-b695-448b-92d2-5aa198bc69c7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2693 |
+| Sim rows | 240 |
+| Real episode_id | `2b95c041-b695-448b-92d2-5aa198bc69c7` |
+| Sim episode_id | `2b95c041-b695-448b-92d2-5aa198bc69c7` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 261 | 23 | 2.962 | 16.74 | 29.00 | 1955.99 | 0.6062 |
+| 1 | descend | 397 | 35 | 0.970 | 6.67 | 11.55 | 3624.69 | 0.7762 |
+| 2 | settle | 364 | 32 | 0.026 | 0.96 | 1.66 | 3624.52 | 0.7670 |
+| 3 | close | 135 | 12 | 0.871 | 5.99 | 10.37 | 3625.03 | 1.0475 |
+| 4 | lift | 258 | 23 | 2.075 | 12.00 | 20.78 | 2409.79 | 1.1611 |
+| 5 | move_xy | 487 | 42 | 5.302 | 32.24 | 55.85 | 2854.40 | 0.9573 |
+| 6 | lower | 395 | 35 | 0.091 | 1.63 | 2.83 | 3625.05 | 1.0984 |
+| 7 | open | 136 | 13 | 1.050 | 7.16 | 12.40 | 3624.72 | 0.7340 |
+| 8 | retract | 260 | 23 | 2.197 | 12.73 | 22.05 | 2357.80 | 0.7516 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.329 |
+| TCP position RMSE (mm, per-axis) | 13.99 |
+| EE position RMS L2 (mm) | 27.72 |
+| TCP rotvec (mrad) | 3145.29 |
+| W1 effort mean (A) | 0.8611 |
+| W1 effort per joint (A) | j0=0.2311, j1=1.5540, j2=1.6973, j3=0.7826, j4=0.2961, j5=0.6055 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00078 | -0.00045 | -0.00073 | 0.00116 | 0.027 |
+| 1 | 0.00077 | -0.00086 | -0.00124 | 0.00169 | 0.057 |
+| 2 | 0.00075 | -0.00086 | -0.00119 | 0.00165 | 0.056 |
+| 3 | 0.00144 | -0.00076 | -0.00201 | 0.00258 | 0.170 |
+| 4 | 0.00006 | -0.00046 | -0.00047 | 0.00066 | 0.093 |
+| 5 | 0.00145 | -0.00119 | -0.00236 | 0.00302 | 0.152 |
+| 6 | 0.00175 | -0.00108 | -0.00195 | 0.00283 | 0.147 |
+| 7 | 0.00058 | -0.00053 | -0.00100 | 0.00127 | 0.054 |
+| 8 | -0.00012 | -0.00023 | -0.00022 | 0.00034 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2b9e9508-267e-4cb4-b0cb-be9f41f179a1.md b/gap_reports/gap_2b9e9508-267e-4cb4-b0cb-be9f41f179a1.md
new file mode 100644
index 0000000000000000000000000000000000000000..5e65d10b64eefad563a337bb056930f6313ad87f
--- /dev/null
+++ b/gap_reports/gap_2b9e9508-267e-4cb4-b0cb-be9f41f179a1.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2b9e9508-267e-4cb4-b0cb-be9f41f179a1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2b9e9508-267e-4cb4-b0cb-be9f41f179a1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2883 |
+| Sim rows | 257 |
+| Real episode_id | `2b9e9508-267e-4cb4-b0cb-be9f41f179a1` |
+| Sim episode_id | `2b9e9508-267e-4cb4-b0cb-be9f41f179a1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 222 | 20 | 3.499 | 17.17 | 29.74 | 2006.19 | 0.6386 |
+| 1 | descend | 326 | 29 | 0.789 | 5.54 | 9.60 | 3624.68 | 0.8055 |
+| 2 | settle | 369 | 32 | 0.027 | 1.00 | 1.74 | 3624.59 | 0.7120 |
+| 3 | close | 120 | 11 | 0.647 | 4.65 | 8.05 | 3625.21 | 1.0235 |
+| 4 | lift | 467 | 41 | 3.423 | 18.10 | 31.35 | 2413.68 | 1.1173 |
+| 5 | move_xy | 395 | 35 | 8.281 | 45.70 | 79.16 | 2801.84 | 0.9184 |
+| 6 | lower | 396 | 35 | 0.091 | 1.74 | 3.01 | 3625.03 | 1.0549 |
+| 7 | open | 119 | 11 | 0.596 | 4.23 | 7.32 | 3624.70 | 0.7478 |
+| 8 | retract | 469 | 41 | 3.445 | 18.27 | 31.64 | 2413.97 | 0.7530 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.429 |
+| TCP position RMSE (mm, per-axis) | 18.62 |
+| EE position RMS L2 (mm) | 35.58 |
+| TCP rotvec (mrad) | 3148.64 |
+| W1 effort mean (A) | 0.8579 |
+| W1 effort per joint (A) | j0=0.2519, j1=1.5940, j2=1.6186, j3=0.7503, j4=0.3021, j5=0.6306 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00110 | -0.00025 | -0.00075 | 0.00135 | 0.036 |
+| 1 | 0.00107 | -0.00062 | -0.00119 | 0.00171 | 0.058 |
+| 2 | 0.00110 | -0.00065 | -0.00118 | 0.00174 | 0.058 |
+| 3 | 0.00190 | -0.00027 | -0.00091 | 0.00212 | 0.128 |
+| 4 | 0.00063 | 0.00004 | -0.00030 | 0.00070 | 0.124 |
+| 5 | 0.00204 | -0.00092 | -0.00131 | 0.00259 | 0.112 |
+| 6 | 0.00234 | -0.00091 | -0.00213 | 0.00329 | 0.149 |
+| 7 | 0.00091 | -0.00027 | -0.00095 | 0.00134 | 0.045 |
+| 8 | -0.00009 | -0.00011 | -0.00014 | 0.00020 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2ba1af96-ba63-4986-b518-542da7971a93.md b/gap_reports/gap_2ba1af96-ba63-4986-b518-542da7971a93.md
new file mode 100644
index 0000000000000000000000000000000000000000..6f18c6924c8470f45d05563590ba04a4712a767d
--- /dev/null
+++ b/gap_reports/gap_2ba1af96-ba63-4986-b518-542da7971a93.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2ba1af96-ba63-4986-b518-542da7971a93.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2ba1af96-ba63-4986-b518-542da7971a93.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1625 |
+| Sim rows | 165 |
+| Real episode_id | `2ba1af96-ba63-4986-b518-542da7971a93` |
+| Sim episode_id | `2ba1af96-ba63-4986-b518-542da7971a93` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.451 | 13.19 | 22.85 | 405.64 | 0.7585 |
+| 1 | descend | 72 | 8 | 0.641 | 4.02 | 6.96 | 5.07 | 0.6582 |
+| 2 | settle | 32 | 4 | 0.021 | 2.84 | 4.92 | 5.38 | 0.6957 |
+| 3 | close | 376 | 37 | 0.085 | 2.79 | 4.84 | 6.35 | 1.1487 |
+| 4 | lift | 68 | 7 | 0.561 | 3.48 | 6.03 | 6.08 | 1.1893 |
+| 5 | move_xy | 153 | 16 | 16.721 | 28.13 | 48.73 | 572.20 | 1.1890 |
+| 6 | lower | 71 | 8 | 29.928 | 3.40 | 5.89 | 1142.42 | 1.3445 |
+| 7 | open | 365 | 36 | 29.907 | 2.70 | 4.68 | 1141.91 | 0.8648 |
+| 8 | retract | 68 | 7 | 29.924 | 3.78 | 6.55 | 1141.75 | 1.0104 |
+| 9 | return | 293 | 29 | 17.003 | 17.49 | 30.29 | 1260.98 | 0.8361 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 18.058 |
+| TCP position RMSE (mm, per-axis) | 11.61 |
+| EE position RMS L2 (mm) | 21.16 |
+| TCP rotvec (mrad) | 774.26 |
+| W1 effort mean (A) | 0.9597 |
+| W1 effort per joint (A) | j0=0.2046, j1=1.7410, j2=1.4379, j3=0.7686, j4=0.3721, j5=1.2342 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00204 | -0.00404 | -0.00075 | 0.00458 | 0.035 |
+| 1 | 0.00236 | -0.00424 | -0.00078 | 0.00492 | 0.035 |
+| 2 | 0.00230 | -0.00426 | -0.00086 | 0.00492 | 0.049 |
+| 3 | 0.00250 | -0.00375 | -0.00198 | 0.00493 | 0.139 |
+| 4 | 0.00176 | -0.00361 | -0.00201 | 0.00449 | 0.140 |
+| 5 | 0.00238 | -0.00383 | -0.00160 | 0.00478 | 73.304 |
+| 6 | 0.00280 | -0.00339 | -0.00187 | 0.00478 | 73.260 |
+| 7 | 0.00251 | -0.00391 | -0.00060 | 0.00469 | 73.255 |
+| 8 | 0.00229 | -0.00411 | -0.00083 | 0.00478 | 73.326 |
+| 9 | -0.00006 | -0.00010 | -0.00031 | 0.00033 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2bb0eb59-f646-4320-a1d9-4270caa89a0a.md b/gap_reports/gap_2bb0eb59-f646-4320-a1d9-4270caa89a0a.md
new file mode 100644
index 0000000000000000000000000000000000000000..837a41ac47e1cb02a7d891a121c6af831bcdd024
--- /dev/null
+++ b/gap_reports/gap_2bb0eb59-f646-4320-a1d9-4270caa89a0a.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2bb0eb59-f646-4320-a1d9-4270caa89a0a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2bb0eb59-f646-4320-a1d9-4270caa89a0a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2004 |
+| Sim rows | 200 |
+| Real episode_id | `2bb0eb59-f646-4320-a1d9-4270caa89a0a` |
+| Sim episode_id | `2bb0eb59-f646-4320-a1d9-4270caa89a0a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 191 | 19 | 7.809 | 9.04 | 15.65 | 511.95 | 0.6061 |
+| 1 | descend | 90 | 9 | 14.766 | 3.72 | 6.44 | 572.44 | 0.6565 |
+| 2 | settle | 15 | 2 | 14.748 | 2.68 | 4.65 | 573.03 | 0.6900 |
+| 3 | close | 389 | 38 | 14.748 | 2.74 | 4.75 | 573.25 | 1.0155 |
+| 4 | lift | 89 | 9 | 14.765 | 3.61 | 6.26 | 572.86 | 1.1212 |
+| 5 | move_xy | 271 | 27 | 9.590 | 14.83 | 25.69 | 647.20 | 1.1392 |
+| 6 | lower | 85 | 9 | 0.591 | 3.60 | 6.23 | 4.53 | 1.0160 |
+| 7 | open | 381 | 38 | 0.024 | 2.57 | 4.46 | 4.82 | 0.5241 |
+| 8 | retract | 87 | 9 | 0.625 | 3.46 | 6.00 | 4.27 | 0.6520 |
+| 9 | return | 406 | 40 | 4.527 | 15.24 | 26.39 | 1036.70 | 0.6865 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 10.224 |
+| TCP position RMSE (mm, per-axis) | 7.79 |
+| EE position RMS L2 (mm) | 16.40 |
+| TCP rotvec (mrad) | 553.95 |
+| W1 effort mean (A) | 0.7665 |
+| W1 effort per joint (A) | j0=0.1210, j1=1.1715, j2=1.5714, j3=0.7309, j4=0.2497, j5=0.7545 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00141 | -0.00409 | -0.00003 | 0.00433 | 36.128 |
+| 1 | 0.00188 | -0.00427 | 0.00004 | 0.00466 | 36.126 |
+| 2 | 0.00187 | -0.00426 | -0.00008 | 0.00465 | 36.126 |
+| 3 | 0.00219 | -0.00420 | -0.00047 | 0.00476 | 36.129 |
+| 4 | 0.00144 | -0.00416 | -0.00038 | 0.00442 | 36.123 |
+| 5 | 0.00155 | -0.00360 | -0.00088 | 0.00401 | 0.043 |
+| 6 | 0.00191 | -0.00407 | -0.00094 | 0.00459 | 0.051 |
+| 7 | 0.00178 | -0.00400 | -0.00093 | 0.00448 | 0.039 |
+| 8 | 0.00140 | -0.00365 | -0.00099 | 0.00403 | 0.044 |
+| 9 | -0.00006 | -0.00005 | -0.00019 | 0.00020 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2bc195b0-5878-41e3-88f5-b2ebdde56a19.md b/gap_reports/gap_2bc195b0-5878-41e3-88f5-b2ebdde56a19.md
new file mode 100644
index 0000000000000000000000000000000000000000..744b27aa93d4db55796c338d3f45487c041ac1c1
--- /dev/null
+++ b/gap_reports/gap_2bc195b0-5878-41e3-88f5-b2ebdde56a19.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2bc195b0-5878-41e3-88f5-b2ebdde56a19.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2bc195b0-5878-41e3-88f5-b2ebdde56a19.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2474 |
+| Sim rows | 221 |
+| Real episode_id | `2bc195b0-5878-41e3-88f5-b2ebdde56a19` |
+| Sim episode_id | `2bc195b0-5878-41e3-88f5-b2ebdde56a19` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.934 | 13.28 | 23.00 | 1945.77 | 0.5727 |
+| 1 | descend | 251 | 22 | 0.929 | 6.12 | 10.60 | 3625.32 | 0.6959 |
+| 2 | settle | 378 | 33 | 0.024 | 0.77 | 1.33 | 3625.25 | 0.7110 |
+| 3 | close | 123 | 11 | 0.644 | 4.51 | 7.82 | 3625.86 | 1.0046 |
+| 4 | lift | 282 | 25 | 2.975 | 14.37 | 24.90 | 2198.69 | 1.1036 |
+| 5 | move_xy | 402 | 35 | 5.604 | 28.39 | 49.17 | 2659.11 | 0.9151 |
+| 6 | lower | 389 | 34 | 0.086 | 1.38 | 2.38 | 3476.64 | 0.9996 |
+| 7 | open | 124 | 12 | 0.661 | 4.39 | 7.61 | 3625.49 | 0.6346 |
+| 8 | retract | 282 | 25 | 2.873 | 13.89 | 24.06 | 2284.72 | 0.7213 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.557 |
+| TCP position RMSE (mm, per-axis) | 12.74 |
+| EE position RMS L2 (mm) | 24.49 |
+| TCP rotvec (mrad) | 3083.55 |
+| W1 effort mean (A) | 0.8064 |
+| W1 effort per joint (A) | j0=0.2045, j1=1.3214, j2=1.6162, j3=0.7598, j4=0.3335, j5=0.6030 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00068 | -0.00034 | -0.00077 | 0.00108 | 0.043 |
+| 1 | 0.00063 | -0.00061 | -0.00102 | 0.00134 | 0.047 |
+| 2 | 0.00066 | -0.00064 | -0.00098 | 0.00135 | 0.046 |
+| 3 | 0.00145 | -0.00037 | -0.00111 | 0.00186 | 0.116 |
+| 4 | 0.00012 | -0.00032 | -0.00038 | 0.00051 | 0.109 |
+| 5 | 0.00164 | -0.00071 | -0.00127 | 0.00219 | 0.149 |
+| 6 | 0.00193 | -0.00087 | -0.00103 | 0.00236 | 0.183 |
+| 7 | 0.00041 | -0.00036 | -0.00079 | 0.00096 | 0.045 |
+| 8 | -0.00012 | -0.00018 | -0.00017 | 0.00027 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2bc6dfe0-8f44-4075-8fd9-fd74b06586bf.md b/gap_reports/gap_2bc6dfe0-8f44-4075-8fd9-fd74b06586bf.md
new file mode 100644
index 0000000000000000000000000000000000000000..7d4e856cd6ac677c4e49d9c810e3451a9424f84e
--- /dev/null
+++ b/gap_reports/gap_2bc6dfe0-8f44-4075-8fd9-fd74b06586bf.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2bc6dfe0-8f44-4075-8fd9-fd74b06586bf.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2bc6dfe0-8f44-4075-8fd9-fd74b06586bf.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2414 |
+| Sim rows | 217 |
+| Real episode_id | `2bc6dfe0-8f44-4075-8fd9-fd74b06586bf` |
+| Sim episode_id | `2bc6dfe0-8f44-4075-8fd9-fd74b06586bf` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 15 | 2.432 | 11.97 | 20.73 | 2014.07 | 0.5689 |
+| 1 | descend | 330 | 29 | 1.046 | 6.68 | 11.56 | 3625.34 | 0.7150 |
+| 2 | settle | 377 | 33 | 0.023 | 0.73 | 1.27 | 3625.24 | 0.6973 |
+| 3 | close | 119 | 11 | 0.846 | 5.50 | 9.52 | 3625.65 | 1.0314 |
+| 4 | lift | 301 | 27 | 2.483 | 12.30 | 21.30 | 2231.32 | 1.1158 |
+| 5 | move_xy | 316 | 28 | 4.940 | 27.23 | 47.17 | 2762.40 | 0.8933 |
+| 6 | lower | 388 | 34 | 0.086 | 1.32 | 2.28 | 3418.96 | 0.9931 |
+| 7 | open | 121 | 11 | 0.755 | 4.87 | 8.44 | 3625.45 | 0.6763 |
+| 8 | retract | 300 | 27 | 2.422 | 11.97 | 20.74 | 2234.82 | 0.7157 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.230 |
+| TCP position RMSE (mm, per-axis) | 11.93 |
+| EE position RMS L2 (mm) | 21.39 |
+| TCP rotvec (mrad) | 3089.85 |
+| W1 effort mean (A) | 0.8113 |
+| W1 effort per joint (A) | j0=0.2265, j1=1.4260, j2=1.5670, j3=0.7383, j4=0.3168, j5=0.5935 |
+
+## Phase-end anchor (sim - 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 | -0.00036 | -0.00070 | 0.00090 | 0.039 |
+| 1 | 0.00048 | -0.00071 | -0.00095 | 0.00128 | 0.039 |
+| 2 | 0.00043 | -0.00071 | -0.00094 | 0.00126 | 0.043 |
+| 3 | 0.00077 | -0.00067 | -0.00140 | 0.00173 | 0.118 |
+| 4 | 0.00002 | -0.00039 | -0.00052 | 0.00065 | 0.076 |
+| 5 | 0.00121 | -0.00109 | -0.00215 | 0.00270 | 0.151 |
+| 6 | 0.00141 | -0.00100 | -0.00176 | 0.00247 | 0.141 |
+| 7 | 0.00020 | -0.00044 | -0.00077 | 0.00091 | 0.042 |
+| 8 | -0.00010 | -0.00015 | -0.00017 | 0.00025 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2bd01711-a821-4dae-85ac-aac32f5c79b4.md b/gap_reports/gap_2bd01711-a821-4dae-85ac-aac32f5c79b4.md
new file mode 100644
index 0000000000000000000000000000000000000000..84513ecb200ff5071ad6e9645e64542c3be3635c
--- /dev/null
+++ b/gap_reports/gap_2bd01711-a821-4dae-85ac-aac32f5c79b4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2bd01711-a821-4dae-85ac-aac32f5c79b4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2bd01711-a821-4dae-85ac-aac32f5c79b4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2624 |
+| Sim rows | 236 |
+| Real episode_id | `2bd01711-a821-4dae-85ac-aac32f5c79b4` |
+| Sim episode_id | `2bd01711-a821-4dae-85ac-aac32f5c79b4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 198 | 18 | 2.329 | 9.74 | 16.88 | 1979.31 | 0.5617 |
+| 1 | descend | 289 | 26 | 1.523 | 9.07 | 15.72 | 3625.99 | 0.7169 |
+| 2 | settle | 355 | 31 | 0.022 | 0.56 | 0.98 | 3625.96 | 0.6789 |
+| 3 | close | 118 | 11 | 0.729 | 4.27 | 7.40 | 2376.55 | 0.9758 |
+| 4 | lift | 394 | 35 | 2.586 | 10.73 | 18.58 | 1940.43 | 1.0631 |
+| 5 | move_xy | 366 | 32 | 4.759 | 22.36 | 38.74 | 2045.60 | 0.8920 |
+| 6 | lower | 396 | 35 | 0.078 | 1.00 | 1.74 | 1083.49 | 0.9358 |
+| 7 | open | 116 | 11 | 0.774 | 4.56 | 7.90 | 3626.15 | 0.6007 |
+| 8 | retract | 392 | 35 | 2.703 | 11.35 | 19.66 | 2242.92 | 0.6857 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.249 |
+| TCP position RMSE (mm, per-axis) | 10.34 |
+| EE position RMS L2 (mm) | 19.32 |
+| TCP rotvec (mrad) | 2649.20 |
+| W1 effort mean (A) | 0.7806 |
+| W1 effort per joint (A) | j0=0.2339, j1=1.1424, j2=1.5961, j3=0.7024, j4=0.3853, j5=0.6236 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00015 | -0.00035 | -0.00055 | 0.00067 | 0.037 |
+| 1 | 0.00015 | -0.00058 | -0.00079 | 0.00099 | 0.037 |
+| 2 | 0.00018 | -0.00057 | -0.00078 | 0.00099 | 0.037 |
+| 3 | 0.00055 | -0.00042 | -0.00059 | 0.00091 | 0.105 |
+| 4 | 0.00043 | 0.00010 | -0.00005 | 0.00045 | 0.080 |
+| 5 | 0.00076 | -0.00076 | -0.00044 | 0.00117 | 0.106 |
+| 6 | 0.00110 | -0.00085 | -0.00130 | 0.00190 | 0.137 |
+| 7 | -0.00004 | -0.00034 | -0.00063 | 0.00072 | 0.047 |
+| 8 | -0.00005 | -0.00007 | -0.00012 | 0.00015 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2bd5c11f-d915-43ae-8409-d6ea2ca08076.md b/gap_reports/gap_2bd5c11f-d915-43ae-8409-d6ea2ca08076.md
new file mode 100644
index 0000000000000000000000000000000000000000..c28ede31ceba1f3409d9386f83ed349a391e41bc
--- /dev/null
+++ b/gap_reports/gap_2bd5c11f-d915-43ae-8409-d6ea2ca08076.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2bd5c11f-d915-43ae-8409-d6ea2ca08076.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2bd5c11f-d915-43ae-8409-d6ea2ca08076.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2903 |
+| Sim rows | 258 |
+| Real episode_id | `2bd5c11f-d915-43ae-8409-d6ea2ca08076` |
+| Sim episode_id | `2bd5c11f-d915-43ae-8409-d6ea2ca08076` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.304 | 10.48 | 18.16 | 1937.88 | 0.5719 |
+| 1 | descend | 587 | 51 | 0.862 | 5.57 | 9.65 | 3625.39 | 0.7031 |
+| 2 | settle | 384 | 34 | 0.023 | 0.73 | 1.26 | 3625.24 | 0.6744 |
+| 3 | close | 134 | 12 | 1.126 | 7.04 | 12.20 | 3159.56 | 1.0129 |
+| 4 | lift | 380 | 33 | 2.664 | 12.84 | 22.23 | 2230.50 | 1.1027 |
+| 5 | move_xy | 337 | 30 | 4.928 | 26.47 | 45.85 | 2789.54 | 0.8850 |
+| 6 | lower | 392 | 35 | 0.083 | 1.28 | 2.22 | 3554.07 | 1.0223 |
+| 7 | open | 134 | 12 | 0.959 | 6.07 | 10.51 | 3625.46 | 0.6850 |
+| 8 | retract | 380 | 33 | 2.682 | 12.98 | 22.48 | 2396.20 | 0.7205 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.281 |
+| TCP position RMSE (mm, per-axis) | 11.85 |
+| EE position RMS L2 (mm) | 20.65 |
+| TCP rotvec (mrad) | 3060.46 |
+| W1 effort mean (A) | 0.8007 |
+| W1 effort per joint (A) | j0=0.2596, j1=1.3508, j2=1.6078, j3=0.7062, j4=0.3114, j5=0.5688 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00039 | -0.00031 | -0.00075 | 0.00090 | 0.048 |
+| 1 | 0.00040 | -0.00071 | -0.00093 | 0.00124 | 0.041 |
+| 2 | 0.00044 | -0.00071 | -0.00096 | 0.00127 | 0.040 |
+| 3 | 0.00134 | -0.00041 | -0.00079 | 0.00161 | 0.157 |
+| 4 | 0.00031 | -0.00000 | -0.00009 | 0.00033 | 0.077 |
+| 5 | 0.00131 | -0.00086 | -0.00048 | 0.00164 | 0.112 |
+| 6 | 0.00111 | -0.00107 | -0.00114 | 0.00192 | 0.102 |
+| 7 | 0.00021 | -0.00047 | -0.00077 | 0.00093 | 0.052 |
+| 8 | -0.00007 | -0.00012 | -0.00013 | 0.00019 | 0.019 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2bd9a0be-dc0d-40fb-af9d-dc2b73281599.md b/gap_reports/gap_2bd9a0be-dc0d-40fb-af9d-dc2b73281599.md
new file mode 100644
index 0000000000000000000000000000000000000000..b1c11b4b537b94b2c995e8fad9f3b951b37f18a4
--- /dev/null
+++ b/gap_reports/gap_2bd9a0be-dc0d-40fb-af9d-dc2b73281599.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2bd9a0be-dc0d-40fb-af9d-dc2b73281599.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2bd9a0be-dc0d-40fb-af9d-dc2b73281599.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3163 |
+| Sim rows | 278 |
+| Real episode_id | `2bd9a0be-dc0d-40fb-af9d-dc2b73281599` |
+| Sim episode_id | `2bd9a0be-dc0d-40fb-af9d-dc2b73281599` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 197 | 18 | 2.254 | 10.82 | 18.74 | 2.72 | 0.5811 |
+| 1 | descend | 741 | 64 | 0.367 | 2.37 | 4.11 | 3.79 | 0.7515 |
+| 2 | settle | 364 | 32 | 0.024 | 0.91 | 1.58 | 3.96 | 0.7050 |
+| 3 | close | 171 | 15 | 0.786 | 5.21 | 9.02 | 5.33 | 0.9687 |
+| 4 | lift | 380 | 33 | 2.512 | 12.18 | 21.09 | 4.18 | 1.0768 |
+| 5 | move_xy | 379 | 33 | 5.370 | 29.59 | 51.24 | 4.54 | 0.9318 |
+| 6 | lower | 383 | 33 | 0.094 | 1.60 | 2.77 | 6.48 | 1.0102 |
+| 7 | open | 171 | 15 | 0.851 | 5.45 | 9.44 | 3.92 | 0.6639 |
+| 8 | retract | 377 | 33 | 2.611 | 12.81 | 22.18 | 2.89 | 0.7146 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.322 |
+| TCP position RMSE (mm, per-axis) | 12.34 |
+| EE position RMS L2 (mm) | 21.52 |
+| TCP rotvec (mrad) | 4.34 |
+| W1 effort mean (A) | 0.8075 |
+| W1 effort per joint (A) | j0=0.2712, j1=1.3556, j2=1.5759, j3=0.6697, j4=0.3809, j5=0.5916 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00070 | -0.00068 | -0.00070 | 0.00120 | 0.038 |
+| 1 | 0.00069 | -0.00100 | -0.00097 | 0.00156 | 0.046 |
+| 2 | 0.00072 | -0.00099 | -0.00099 | 0.00158 | 0.041 |
+| 3 | 0.00136 | -0.00073 | -0.00051 | 0.00163 | 0.114 |
+| 4 | 0.00035 | -0.00012 | -0.00019 | 0.00041 | 0.123 |
+| 5 | 0.00171 | -0.00151 | -0.00290 | 0.00369 | 0.213 |
+| 6 | 0.00179 | -0.00144 | -0.00206 | 0.00309 | 0.162 |
+| 7 | 0.00061 | -0.00073 | -0.00075 | 0.00121 | 0.034 |
+| 8 | -0.00008 | -0.00013 | -0.00014 | 0.00021 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2bf8791c-d22f-4f8d-92c6-3587b1bc58c9.md b/gap_reports/gap_2bf8791c-d22f-4f8d-92c6-3587b1bc58c9.md
new file mode 100644
index 0000000000000000000000000000000000000000..41603535e508e80bdbcb957c249177fc0d1f92e8
--- /dev/null
+++ b/gap_reports/gap_2bf8791c-d22f-4f8d-92c6-3587b1bc58c9.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2bf8791c-d22f-4f8d-92c6-3587b1bc58c9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2bf8791c-d22f-4f8d-92c6-3587b1bc58c9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2655 |
+| Sim rows | 236 |
+| Real episode_id | `2bf8791c-d22f-4f8d-92c6-3587b1bc58c9` |
+| Sim episode_id | `2bf8791c-d22f-4f8d-92c6-3587b1bc58c9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 214 | 19 | 2.909 | 14.68 | 25.43 | 1935.34 | 0.6302 |
+| 1 | descend | 325 | 28 | 1.257 | 9.05 | 15.67 | 3624.81 | 0.7347 |
+| 2 | settle | 374 | 33 | 0.025 | 0.91 | 1.58 | 3624.69 | 0.7814 |
+| 3 | close | 128 | 12 | 0.765 | 5.44 | 9.41 | 3625.34 | 0.9954 |
+| 4 | lift | 361 | 32 | 2.930 | 15.86 | 27.48 | 2443.65 | 1.1246 |
+| 5 | move_xy | 371 | 32 | 7.203 | 41.07 | 71.13 | 2772.30 | 0.9380 |
+| 6 | lower | 391 | 34 | 0.096 | 1.69 | 2.92 | 3625.08 | 1.0275 |
+| 7 | open | 129 | 12 | 0.739 | 5.36 | 9.29 | 3624.80 | 0.7315 |
+| 8 | retract | 362 | 32 | 3.078 | 16.62 | 28.78 | 2484.14 | 0.7551 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.002 |
+| TCP position RMSE (mm, per-axis) | 16.91 |
+| EE position RMS L2 (mm) | 31.86 |
+| TCP rotvec (mrad) | 3149.51 |
+| W1 effort mean (A) | 0.8488 |
+| W1 effort per joint (A) | j0=0.2288, j1=1.5263, j2=1.6689, j3=0.7649, j4=0.2982, 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 | 0.00090 | -0.00025 | -0.00079 | 0.00122 | 0.033 |
+| 1 | 0.00087 | -0.00067 | -0.00113 | 0.00158 | 0.055 |
+| 2 | 0.00093 | -0.00067 | -0.00114 | 0.00162 | 0.053 |
+| 3 | 0.00208 | -0.00020 | -0.00243 | 0.00321 | 0.183 |
+| 4 | 0.00028 | -0.00022 | -0.00027 | 0.00045 | 0.092 |
+| 5 | 0.00238 | -0.00099 | -0.00230 | 0.00345 | 0.197 |
+| 6 | 0.00256 | -0.00097 | -0.00261 | 0.00379 | 0.228 |
+| 7 | 0.00063 | -0.00034 | -0.00099 | 0.00122 | 0.059 |
+| 8 | -0.00012 | -0.00019 | -0.00020 | 0.00030 | 0.035 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2c1770df-294e-4585-96c6-0f40a2497d34.md b/gap_reports/gap_2c1770df-294e-4585-96c6-0f40a2497d34.md
new file mode 100644
index 0000000000000000000000000000000000000000..0bb3d072138cf6684ca049f377315a2a4c904360
--- /dev/null
+++ b/gap_reports/gap_2c1770df-294e-4585-96c6-0f40a2497d34.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2c1770df-294e-4585-96c6-0f40a2497d34.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2c1770df-294e-4585-96c6-0f40a2497d34.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1043 |
+| Sim rows | 111 |
+| Real episode_id | `2c1770df-294e-4585-96c6-0f40a2497d34` |
+| Sim episode_id | `2c1770df-294e-4585-96c6-0f40a2497d34` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 196 | 20 | 3.709 | 12.95 | 22.43 | 998.90 | 0.7134 |
+| 1 | descend | 92 | 10 | 0.528 | 3.21 | 5.56 | 4.28 | 0.5520 |
+| 2 | settle | 17 | 3 | 0.016 | 2.61 | 4.53 | 4.66 | 0.6005 |
+| 3 | close | 42 | 5 | 0.097 | 3.26 | 5.65 | 7.15 | 1.0901 |
+| 4 | lift | 111 | 11 | 0.775 | 4.35 | 7.53 | 6.97 | 1.0340 |
+| 5 | move_xy | 153 | 16 | 4.264 | 22.01 | 38.12 | 15.61 | 0.9576 |
+| 6 | lower | 71 | 8 | 0.895 | 4.26 | 7.37 | 4.81 | 0.9820 |
+| 7 | open | 86 | 9 | 0.021 | 2.15 | 3.73 | 4.53 | 0.5616 |
+| 8 | retract | 73 | 8 | 0.853 | 4.10 | 7.10 | 3.84 | 0.6720 |
+| 9 | return | 202 | 21 | 2.733 | 14.90 | 25.80 | 1038.89 | 0.7515 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.045 |
+| TCP position RMSE (mm, per-axis) | 9.80 |
+| EE position RMS L2 (mm) | 21.34 |
+| TCP rotvec (mrad) | 455.80 |
+| W1 effort mean (A) | 0.7644 |
+| W1 effort per joint (A) | j0=0.2686, j1=1.2108, j2=1.4819, j3=0.7362, j4=0.3943, j5=0.4945 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00184 | -0.00371 | -0.00055 | 0.00418 | 0.031 |
+| 1 | 0.00209 | -0.00400 | -0.00052 | 0.00454 | 0.029 |
+| 2 | 0.00209 | -0.00398 | -0.00059 | 0.00454 | 0.028 |
+| 3 | 0.00283 | -0.00437 | -0.00138 | 0.00539 | 0.119 |
+| 4 | 0.00248 | -0.00418 | -0.00131 | 0.00503 | 0.127 |
+| 5 | 0.00193 | -0.00334 | -0.00042 | 0.00388 | 0.112 |
+| 6 | 0.00254 | -0.00311 | 0.00013 | 0.00401 | 0.075 |
+| 7 | 0.00208 | -0.00310 | 0.00003 | 0.00373 | 0.033 |
+| 8 | 0.00164 | -0.00331 | -0.00007 | 0.00369 | 0.048 |
+| 9 | 0.00000 | -0.00013 | -0.00024 | 0.00027 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2c34e708-b857-4098-98f5-c5f6d85e51c2.md b/gap_reports/gap_2c34e708-b857-4098-98f5-c5f6d85e51c2.md
new file mode 100644
index 0000000000000000000000000000000000000000..64b858519dd7297db6190a4670a2222277facf58
--- /dev/null
+++ b/gap_reports/gap_2c34e708-b857-4098-98f5-c5f6d85e51c2.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2c34e708-b857-4098-98f5-c5f6d85e51c2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2c34e708-b857-4098-98f5-c5f6d85e51c2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1888 |
+| Sim rows | 191 |
+| Real episode_id | `2c34e708-b857-4098-98f5-c5f6d85e51c2` |
+| Sim episode_id | `2c34e708-b857-4098-98f5-c5f6d85e51c2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 208 | 21 | 3.726 | 13.12 | 22.72 | 1133.16 | 0.7678 |
+| 1 | descend | 115 | 12 | 1.019 | 5.34 | 9.26 | 5.30 | 0.7286 |
+| 2 | settle | 29 | 4 | 0.027 | 2.76 | 4.78 | 5.96 | 0.7317 |
+| 3 | close | 397 | 39 | 0.152 | 1.75 | 3.04 | 7.57 | 1.0696 |
+| 4 | lift | 114 | 12 | 0.945 | 4.58 | 7.94 | 6.71 | 1.2315 |
+| 5 | move_xy | 244 | 24 | 4.896 | 20.90 | 36.20 | 62.76 | 1.1369 |
+| 6 | lower | 109 | 12 | 0.976 | 5.01 | 8.69 | 8.54 | 1.1190 |
+| 7 | open | 382 | 37 | 0.025 | 2.28 | 3.95 | 5.13 | 0.6340 |
+| 8 | retract | 115 | 12 | 0.958 | 5.05 | 8.75 | 4.45 | 0.7559 |
+| 9 | return | 175 | 18 | 2.768 | 17.42 | 30.18 | 657.18 | 0.8368 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.221 |
+| TCP position RMSE (mm, per-axis) | 10.14 |
+| EE position RMS L2 (mm) | 18.28 |
+| TCP rotvec (mrad) | 414.75 |
+| W1 effort mean (A) | 0.8834 |
+| W1 effort per joint (A) | j0=0.1871, j1=1.7492, j2=1.5836, j3=0.8186, j4=0.4774, j5=0.4848 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00174 | -0.00387 | -0.00086 | 0.00433 | 0.036 |
+| 1 | 0.00228 | -0.00404 | -0.00114 | 0.00478 | 0.052 |
+| 2 | 0.00227 | -0.00404 | -0.00115 | 0.00478 | 0.053 |
+| 3 | 0.00075 | -0.00283 | -0.00160 | 0.00334 | 0.235 |
+| 4 | -0.00016 | -0.00254 | -0.00144 | 0.00292 | 0.260 |
+| 5 | 0.00168 | -0.00261 | -0.00126 | 0.00335 | 0.276 |
+| 6 | 0.00211 | -0.00222 | -0.00139 | 0.00337 | 0.230 |
+| 7 | 0.00241 | -0.00314 | -0.00025 | 0.00397 | 0.053 |
+| 8 | 0.00214 | -0.00339 | -0.00039 | 0.00403 | 0.055 |
+| 9 | -0.00002 | -0.00022 | -0.00029 | 0.00036 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2c5f2576-2254-44c4-bedf-07324b166865.md b/gap_reports/gap_2c5f2576-2254-44c4-bedf-07324b166865.md
new file mode 100644
index 0000000000000000000000000000000000000000..08ebc868ab025026452e9d843e1473a5d72e1121
--- /dev/null
+++ b/gap_reports/gap_2c5f2576-2254-44c4-bedf-07324b166865.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2c5f2576-2254-44c4-bedf-07324b166865.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2c5f2576-2254-44c4-bedf-07324b166865.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2609 |
+| Sim rows | 230 |
+| Real episode_id | `2c5f2576-2254-44c4-bedf-07324b166865` |
+| Sim episode_id | `2c5f2576-2254-44c4-bedf-07324b166865` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 251 | 22 | 2.983 | 15.67 | 27.13 | 1858.72 | 0.6183 |
+| 1 | descend | 279 | 24 | 0.654 | 4.79 | 8.30 | 3624.69 | 0.7296 |
+| 2 | settle | 387 | 34 | 0.025 | 0.96 | 1.66 | 3624.61 | 0.7468 |
+| 3 | close | 111 | 10 | 0.372 | 2.93 | 5.07 | 3625.12 | 0.9844 |
+| 4 | lift | 334 | 29 | 2.728 | 15.32 | 26.54 | 2313.18 | 1.1454 |
+| 5 | move_xy | 399 | 35 | 6.381 | 37.11 | 64.28 | 2666.91 | 0.9475 |
+| 6 | lower | 406 | 35 | 0.091 | 1.67 | 2.89 | 3625.21 | 1.0491 |
+| 7 | open | 112 | 10 | 0.397 | 2.84 | 4.91 | 3624.66 | 0.7501 |
+| 8 | retract | 330 | 29 | 2.817 | 16.02 | 27.74 | 2301.15 | 0.7461 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.703 |
+| TCP position RMSE (mm, per-axis) | 15.48 |
+| EE position RMS L2 (mm) | 30.02 |
+| TCP rotvec (mrad) | 3107.54 |
+| W1 effort mean (A) | 0.8504 |
+| W1 effort per joint (A) | j0=0.2053, j1=1.4921, j2=1.7067, j3=0.7760, j4=0.3248, j5=0.5976 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00096 | -0.00047 | -0.00081 | 0.00134 | 0.030 |
+| 1 | 0.00090 | -0.00078 | -0.00113 | 0.00164 | 0.052 |
+| 2 | 0.00093 | -0.00077 | -0.00116 | 0.00167 | 0.055 |
+| 3 | 0.00140 | -0.00072 | -0.00060 | 0.00168 | 0.077 |
+| 4 | 0.00061 | 0.00009 | -0.00010 | 0.00062 | 0.139 |
+| 5 | 0.00169 | -0.00098 | -0.00196 | 0.00277 | 0.120 |
+| 6 | 0.00232 | -0.00103 | -0.00061 | 0.00261 | 0.168 |
+| 7 | 0.00072 | -0.00053 | -0.00101 | 0.00135 | 0.048 |
+| 8 | -0.00015 | -0.00021 | -0.00019 | 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.
diff --git a/gap_reports/gap_2c6dcddd-ce6f-4277-a25a-9c3351b711cf.md b/gap_reports/gap_2c6dcddd-ce6f-4277-a25a-9c3351b711cf.md
new file mode 100644
index 0000000000000000000000000000000000000000..409cd98f906dc53d22345f6a48d326475fff7474
--- /dev/null
+++ b/gap_reports/gap_2c6dcddd-ce6f-4277-a25a-9c3351b711cf.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2c6dcddd-ce6f-4277-a25a-9c3351b711cf.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2c6dcddd-ce6f-4277-a25a-9c3351b711cf.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1436 |
+| Sim rows | 146 |
+| Real episode_id | `2c6dcddd-ce6f-4277-a25a-9c3351b711cf` |
+| Sim episode_id | `2c6dcddd-ce6f-4277-a25a-9c3351b711cf` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 164 | 17 | 4.570 | 16.01 | 27.72 | 1524.61 | 0.8037 |
+| 1 | descend | 75 | 8 | 0.604 | 3.81 | 6.60 | 4.55 | 0.6297 |
+| 2 | settle | 12 | 2 | 0.020 | 2.66 | 4.61 | 5.08 | 0.6819 |
+| 3 | close | 318 | 31 | 0.126 | 2.04 | 3.53 | 7.23 | 1.2666 |
+| 4 | lift | 75 | 8 | 0.692 | 3.70 | 6.42 | 6.82 | 1.3794 |
+| 5 | move_xy | 203 | 20 | 7.884 | 30.69 | 53.16 | 95.09 | 1.1519 |
+| 6 | lower | 75 | 8 | 0.688 | 3.73 | 6.46 | 9.40 | 1.1885 |
+| 7 | open | 266 | 26 | 0.034 | 2.38 | 4.12 | 5.11 | 0.5880 |
+| 8 | retract | 74 | 8 | 0.565 | 3.49 | 6.05 | 4.33 | 0.7261 |
+| 9 | return | 174 | 18 | 2.834 | 14.69 | 25.45 | 550.83 | 0.8220 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.045 |
+| TCP position RMSE (mm, per-axis) | 12.19 |
+| EE position RMS L2 (mm) | 24.09 |
+| TCP rotvec (mrad) | 513.54 |
+| W1 effort mean (A) | 0.9371 |
+| W1 effort per joint (A) | j0=0.2249, j1=1.6278, j2=1.6837, j3=0.9862, j4=0.5642, j5=0.5358 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00159 | -0.00387 | -0.00104 | 0.00431 | 0.041 |
+| 1 | 0.00180 | -0.00414 | -0.00102 | 0.00462 | 0.042 |
+| 2 | 0.00180 | -0.00412 | -0.00107 | 0.00463 | 0.032 |
+| 3 | 0.00075 | -0.00336 | -0.00011 | 0.00344 | 0.182 |
+| 4 | 0.00026 | -0.00272 | -0.00049 | 0.00277 | 0.218 |
+| 5 | 0.00223 | -0.00207 | -0.00061 | 0.00311 | 0.288 |
+| 6 | 0.00280 | -0.00143 | -0.00177 | 0.00361 | 0.347 |
+| 7 | 0.00236 | -0.00335 | -0.00017 | 0.00410 | 0.044 |
+| 8 | 0.00203 | -0.00354 | -0.00040 | 0.00410 | 0.050 |
+| 9 | -0.00003 | -0.00019 | -0.00026 | 0.00033 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2c7ad53a-2030-4cea-9888-a0d436e42891.md b/gap_reports/gap_2c7ad53a-2030-4cea-9888-a0d436e42891.md
new file mode 100644
index 0000000000000000000000000000000000000000..9f7532ffe2010cd89a2b4b7d3d9cd1e1c209756d
--- /dev/null
+++ b/gap_reports/gap_2c7ad53a-2030-4cea-9888-a0d436e42891.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2c7ad53a-2030-4cea-9888-a0d436e42891.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2c7ad53a-2030-4cea-9888-a0d436e42891.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 600 |
+| Sim rows | 140 |
+| Real episode_id | `2c7ad53a-2030-4cea-9888-a0d436e42891` |
+| Sim episode_id | `2c7ad53a-2030-4cea-9888-a0d436e42891` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 390 | 103 | 8.077 | 42.70 | 73.96 | 1560.89 | 0.8226 |
+| 1 | descend | 210 | 21 | 0.022 | 5.69 | 9.86 | 1.80 | 0.8231 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.712 |
+| TCP position RMSE (mm, per-axis) | 30.46 |
+| EE position RMS L2 (mm) | 59.91 |
+| TCP rotvec (mrad) | 1103.72 |
+| W1 effort mean (A) | 0.8228 |
+| W1 effort per joint (A) | j0=0.2328, j1=1.8437, j2=1.7569, j3=0.7240, j4=0.1690, j5=0.2104 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00913 | -0.00368 | -0.00034 | 0.00985 | 0.046 |
+| 1 | -0.00914 | -0.00368 | -0.00032 | 0.00986 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2c8c2ba2-8ab3-4bbd-aad7-e738721acd31.md b/gap_reports/gap_2c8c2ba2-8ab3-4bbd-aad7-e738721acd31.md
new file mode 100644
index 0000000000000000000000000000000000000000..0b18677c4033e2debafc336392bf505cc09ad0b2
--- /dev/null
+++ b/gap_reports/gap_2c8c2ba2-8ab3-4bbd-aad7-e738721acd31.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2c8c2ba2-8ab3-4bbd-aad7-e738721acd31.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2c8c2ba2-8ab3-4bbd-aad7-e738721acd31.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 571 |
+| Sim rows | 73 |
+| Real episode_id | `2c8c2ba2-8ab3-4bbd-aad7-e738721acd31` |
+| Sim episode_id | `2c8c2ba2-8ab3-4bbd-aad7-e738721acd31` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 360 | 36 | 4.586 | 21.54 | 37.30 | 9.36 | 0.7934 |
+| 1 | descend | 211 | 21 | 0.028 | 0.84 | 1.46 | 2.23 | 0.8829 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.243 |
+| TCP position RMSE (mm, per-axis) | 15.24 |
+| EE position RMS L2 (mm) | 29.63 |
+| TCP rotvec (mrad) | 6.80 |
+| W1 effort mean (A) | 0.8264 |
+| W1 effort per joint (A) | j0=0.2141, j1=1.6634, j2=1.8352, j3=0.8213, j4=0.2256, j5=0.1988 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00116 | 0.00015 | 0.00066 | 0.00134 | 0.039 |
+| 1 | 0.00142 | 0.00013 | 0.00069 | 0.00158 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2c8ef67d-992e-419e-af52-637e646b1741.md b/gap_reports/gap_2c8ef67d-992e-419e-af52-637e646b1741.md
new file mode 100644
index 0000000000000000000000000000000000000000..846b173748f5fd4e359521d8a77f4c693394dbcc
--- /dev/null
+++ b/gap_reports/gap_2c8ef67d-992e-419e-af52-637e646b1741.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2c8ef67d-992e-419e-af52-637e646b1741.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2c8ef67d-992e-419e-af52-637e646b1741.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2444 |
+| Sim rows | 217 |
+| Real episode_id | `2c8ef67d-992e-419e-af52-637e646b1741` |
+| Sim episode_id | `2c8ef67d-992e-419e-af52-637e646b1741` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 216 | 19 | 2.991 | 13.93 | 24.12 | 2019.07 | 0.5871 |
+| 1 | descend | 260 | 23 | 0.554 | 3.81 | 6.59 | 3625.38 | 0.6885 |
+| 2 | settle | 376 | 33 | 0.021 | 0.70 | 1.22 | 3625.35 | 0.7327 |
+| 3 | close | 100 | 9 | 0.285 | 2.18 | 3.77 | 3625.77 | 0.9613 |
+| 4 | lift | 332 | 29 | 2.976 | 14.13 | 24.48 | 2117.52 | 1.0909 |
+| 5 | move_xy | 339 | 30 | 6.192 | 31.56 | 54.66 | 2593.18 | 0.8709 |
+| 6 | lower | 388 | 34 | 0.088 | 1.33 | 2.31 | 3377.36 | 1.0209 |
+| 7 | open | 100 | 9 | 0.309 | 2.02 | 3.50 | 3625.42 | 0.6786 |
+| 8 | retract | 333 | 29 | 3.177 | 15.21 | 26.34 | 2247.58 | 0.7275 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.723 |
+| TCP position RMSE (mm, per-axis) | 13.53 |
+| EE position RMS L2 (mm) | 25.47 |
+| TCP rotvec (mrad) | 3060.86 |
+| W1 effort mean (A) | 0.8116 |
+| W1 effort per joint (A) | j0=0.2215, j1=1.3404, j2=1.5910, j3=0.8052, j4=0.3128, j5=0.5984 |
+
+## Phase-end anchor (sim - 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 | -0.00038 | -0.00075 | 0.00107 | 0.037 |
+| 1 | 0.00058 | -0.00056 | -0.00093 | 0.00123 | 0.044 |
+| 2 | 0.00060 | -0.00057 | -0.00090 | 0.00123 | 0.044 |
+| 3 | 0.00106 | -0.00066 | -0.00191 | 0.00228 | 0.180 |
+| 4 | 0.00016 | -0.00026 | -0.00022 | 0.00038 | 0.105 |
+| 5 | 0.00183 | -0.00083 | -0.00111 | 0.00229 | 0.174 |
+| 6 | 0.00139 | -0.00081 | -0.00052 | 0.00169 | 0.115 |
+| 7 | 0.00043 | -0.00041 | -0.00083 | 0.00103 | 0.040 |
+| 8 | -0.00012 | -0.00016 | -0.00018 | 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.
diff --git a/gap_reports/gap_2c9d42ce-1be0-4be4-bcf6-3ada4df7587a.md b/gap_reports/gap_2c9d42ce-1be0-4be4-bcf6-3ada4df7587a.md
new file mode 100644
index 0000000000000000000000000000000000000000..972552f2bcef6cc894fc0ff923f2d2c24a9524fd
--- /dev/null
+++ b/gap_reports/gap_2c9d42ce-1be0-4be4-bcf6-3ada4df7587a.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2c9d42ce-1be0-4be4-bcf6-3ada4df7587a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2c9d42ce-1be0-4be4-bcf6-3ada4df7587a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1607 |
+| Sim rows | 161 |
+| Real episode_id | `2c9d42ce-1be0-4be4-bcf6-3ada4df7587a` |
+| Sim episode_id | `2c9d42ce-1be0-4be4-bcf6-3ada4df7587a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 171 | 17 | 10.048 | 9.36 | 16.21 | 626.97 | 0.6213 |
+| 1 | descend | 78 | 8 | 18.944 | 3.67 | 6.36 | 731.69 | 0.6938 |
+| 2 | settle | 30 | 4 | 18.930 | 2.65 | 4.60 | 732.22 | 0.7080 |
+| 3 | close | 374 | 37 | 18.931 | 2.68 | 4.64 | 733.40 | 1.1214 |
+| 4 | lift | 77 | 8 | 18.944 | 3.52 | 6.10 | 732.78 | 1.2526 |
+| 5 | move_xy | 162 | 16 | 10.243 | 16.16 | 27.98 | 830.52 | 1.2993 |
+| 6 | lower | 80 | 8 | 0.586 | 4.63 | 8.01 | 2239.89 | 1.1860 |
+| 7 | open | 364 | 36 | 0.025 | 3.08 | 5.34 | 6.00 | 0.6527 |
+| 8 | retract | 78 | 8 | 0.338 | 3.43 | 5.94 | 5.66 | 0.7477 |
+| 9 | return | 193 | 19 | 2.053 | 14.98 | 25.95 | 868.72 | 0.7376 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 12.826 |
+| TCP position RMSE (mm, per-axis) | 8.10 |
+| EE position RMS L2 (mm) | 14.43 |
+| TCP rotvec (mrad) | 948.74 |
+| W1 effort mean (A) | 0.8748 |
+| W1 effort per joint (A) | j0=0.1043, j1=1.4370, j2=1.5851, j3=0.7838, j4=0.4269, j5=0.9117 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00143 | -0.00407 | -0.00000 | 0.00431 | 46.345 |
+| 1 | 0.00192 | -0.00418 | 0.00004 | 0.00460 | 46.372 |
+| 2 | 0.00193 | -0.00419 | -0.00003 | 0.00461 | 46.370 |
+| 3 | 0.00274 | -0.00350 | -0.00152 | 0.00470 | 46.368 |
+| 4 | 0.00202 | -0.00372 | -0.00147 | 0.00448 | 46.370 |
+| 5 | 0.00251 | -0.00417 | -0.00323 | 0.00584 | 0.270 |
+| 6 | 0.00329 | -0.00432 | -0.00338 | 0.00640 | 0.244 |
+| 7 | 0.00239 | -0.00462 | -0.00115 | 0.00533 | 0.054 |
+| 8 | 0.00199 | -0.00449 | -0.00129 | 0.00507 | 0.066 |
+| 9 | -0.00015 | -0.00014 | -0.00029 | 0.00035 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2d467120-6baa-4eba-94a5-123d142c0242.md b/gap_reports/gap_2d467120-6baa-4eba-94a5-123d142c0242.md
new file mode 100644
index 0000000000000000000000000000000000000000..13e513ec289b91fb81c0e6238d5c07f66d75b1c2
--- /dev/null
+++ b/gap_reports/gap_2d467120-6baa-4eba-94a5-123d142c0242.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2d467120-6baa-4eba-94a5-123d142c0242.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2d467120-6baa-4eba-94a5-123d142c0242.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3069 |
+| Sim rows | 272 |
+| Real episode_id | `2d467120-6baa-4eba-94a5-123d142c0242` |
+| Sim episode_id | `2d467120-6baa-4eba-94a5-123d142c0242` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 207 | 19 | 3.436 | 16.60 | 28.75 | 1902.18 | 0.6377 |
+| 1 | descend | 526 | 46 | 0.617 | 4.45 | 7.72 | 3624.72 | 0.8610 |
+| 2 | settle | 379 | 33 | 0.030 | 1.02 | 1.76 | 3615.02 | 0.7169 |
+| 3 | close | 170 | 15 | 0.711 | 5.11 | 8.85 | 3625.30 | 1.0105 |
+| 4 | lift | 433 | 38 | 3.554 | 18.72 | 32.43 | 2420.54 | 1.1210 |
+| 5 | move_xy | 360 | 32 | 8.042 | 44.10 | 76.39 | 2820.85 | 0.9369 |
+| 6 | lower | 388 | 34 | 0.095 | 1.80 | 3.12 | 3625.00 | 1.0513 |
+| 7 | open | 170 | 15 | 0.945 | 6.48 | 11.23 | 3624.73 | 0.7659 |
+| 8 | retract | 436 | 38 | 3.473 | 18.20 | 31.52 | 2461.18 | 0.7584 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.382 |
+| TCP position RMSE (mm, per-axis) | 18.24 |
+| EE position RMS L2 (mm) | 32.45 |
+| TCP rotvec (mrad) | 3146.80 |
+| W1 effort mean (A) | 0.8640 |
+| W1 effort per joint (A) | j0=0.2761, j1=1.6154, j2=1.5974, j3=0.7722, j4=0.3208, j5=0.6023 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00105 | -0.00024 | -0.00066 | 0.00127 | 0.026 |
+| 1 | 0.00109 | -0.00063 | -0.00119 | 0.00173 | 0.057 |
+| 2 | 0.00111 | -0.00066 | -0.00117 | 0.00174 | 0.058 |
+| 3 | 0.00154 | -0.00042 | -0.00052 | 0.00167 | 0.090 |
+| 4 | 0.00015 | -0.00028 | -0.00039 | 0.00051 | 0.095 |
+| 5 | 0.00217 | -0.00088 | -0.00212 | 0.00315 | 0.143 |
+| 6 | 0.00232 | -0.00081 | -0.00267 | 0.00363 | 0.185 |
+| 7 | 0.00093 | -0.00024 | -0.00098 | 0.00137 | 0.049 |
+| 8 | -0.00010 | -0.00012 | -0.00015 | 0.00021 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.
diff --git a/gap_reports/gap_2d5ab9f9-afac-4467-85ca-a78baa6da97d.md b/gap_reports/gap_2d5ab9f9-afac-4467-85ca-a78baa6da97d.md
new file mode 100644
index 0000000000000000000000000000000000000000..346ee7f59be515e1b71ab1a26ca4201ad0025ce0
--- /dev/null
+++ b/gap_reports/gap_2d5ab9f9-afac-4467-85ca-a78baa6da97d.md
@@ -0,0 +1,63 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2d5ab9f9-afac-4467-85ca-a78baa6da97d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2d5ab9f9-afac-4467-85ca-a78baa6da97d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 942 |
+| Sim rows | 242 |
+| Real episode_id | `2d5ab9f9-afac-4467-85ca-a78baa6da97d` |
+| Sim episode_id | `2d5ab9f9-afac-4467-85ca-a78baa6da97d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 184 | 16 | 3.316 | 12.13 | 21.01 | 1964.37 | 0.5934 |
+| 1 | descend | 308 | 174 | 2.153 | 12.54 | 21.72 | 3626.02 | 0.6601 |
+| 7 | open | 13 | 2 | 0.086 | 0.44 | 0.75 | 3626.13 | 0.6650 |
+| 8 | retract | 437 | 38 | 2.842 | 11.82 | 20.47 | 2200.79 | 0.6974 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.435 |
+| TCP position RMSE (mm, per-axis) | 10.54 |
+| EE position RMS L2 (mm) | 20.85 |
+| TCP rotvec (mrad) | 2958.00 |
+| W1 effort mean (A) | 0.6641 |
+| W1 effort per joint (A) | j0=0.2993, j1=1.0553, j2=1.5072, j3=0.6408, j4=0.2406, j5=0.2415 |
+
+## Phase-end anchor (sim - 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 | -0.00030 | -0.00043 | 0.00086 | 0.044 |
+| 1 | 0.00048 | -0.00034 | -0.00053 | 0.00079 | 0.030 |
+| 7 | 0.00045 | -0.00027 | -0.00056 | 0.00077 | 0.038 |
+| 8 | -0.00007 | -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.
diff --git a/gap_reports/gap_2d758f83-deff-48b4-9900-9db57a8b5fa0.md b/gap_reports/gap_2d758f83-deff-48b4-9900-9db57a8b5fa0.md
new file mode 100644
index 0000000000000000000000000000000000000000..66e3a2f606144d6ec868724d7239b715ff969a2d
--- /dev/null
+++ b/gap_reports/gap_2d758f83-deff-48b4-9900-9db57a8b5fa0.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2d758f83-deff-48b4-9900-9db57a8b5fa0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2d758f83-deff-48b4-9900-9db57a8b5fa0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2395 |
+| Sim rows | 212 |
+| Real episode_id | `2d758f83-deff-48b4-9900-9db57a8b5fa0` |
+| Sim episode_id | `2d758f83-deff-48b4-9900-9db57a8b5fa0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 182 | 16 | 2.176 | 10.06 | 17.42 | 1974.79 | 0.5759 |
+| 1 | descend | 324 | 28 | 0.558 | 3.76 | 6.52 | 3625.41 | 0.7639 |
+| 2 | settle | 384 | 33 | 0.023 | 0.70 | 1.22 | 3625.30 | 0.6757 |
+| 3 | close | 119 | 11 | 0.434 | 2.92 | 5.05 | 2892.82 | 0.9800 |
+| 4 | lift | 295 | 26 | 2.446 | 12.47 | 21.61 | 2071.78 | 1.1178 |
+| 5 | move_xy | 297 | 26 | 4.881 | 26.89 | 46.58 | 2734.63 | 0.8892 |
+| 6 | lower | 380 | 33 | 0.088 | 1.27 | 2.20 | 3075.39 | 1.0549 |
+| 7 | open | 120 | 11 | 0.383 | 2.55 | 4.41 | 3625.40 | 0.6784 |
+| 8 | retract | 294 | 26 | 2.434 | 12.40 | 21.47 | 2237.58 | 0.7183 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.138 |
+| TCP position RMSE (mm, per-axis) | 11.38 |
+| EE position RMS L2 (mm) | 20.38 |
+| TCP rotvec (mrad) | 2942.66 |
+| W1 effort mean (A) | 0.8173 |
+| W1 effort per joint (A) | j0=0.1997, j1=1.3741, j2=1.6589, j3=0.7914, j4=0.2611, j5=0.6186 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00046 | -0.00043 | -0.00075 | 0.00098 | 0.039 |
+| 1 | 0.00039 | -0.00064 | -0.00094 | 0.00120 | 0.042 |
+| 2 | 0.00040 | -0.00066 | -0.00095 | 0.00122 | 0.046 |
+| 3 | 0.00089 | -0.00066 | -0.00125 | 0.00167 | 0.107 |
+| 4 | 0.00002 | -0.00058 | -0.00051 | 0.00077 | 0.127 |
+| 5 | 0.00147 | -0.00076 | -0.00090 | 0.00188 | 0.150 |
+| 6 | 0.00153 | -0.00106 | -0.00220 | 0.00288 | 0.189 |
+| 7 | 0.00027 | -0.00049 | -0.00081 | 0.00099 | 0.041 |
+| 8 | -0.00014 | -0.00019 | -0.00020 | 0.00031 | 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.