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| { | |
| "schema": "dvidia.graspability/v3", | |
| "split": "heldout", | |
| "fixture_sha256": "c33ef6991379fda77d6084931d2b4b3665830ffa448f9ea403a65d2c37b757a3", | |
| "cohort": "fresh-layout-factorial-v03", | |
| "attempts": [ | |
| { | |
| "id": "grasp-fresh-01-light-easy-block-mounted", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-01-light", | |
| "replicate_id": "grasp-fresh-layout-01", | |
| "load_band": "lightweight-control", | |
| "mass": 0.03, | |
| "object_x": 0.391, | |
| "object_y": -0.113, | |
| "friction": 0.54, | |
| "object_shape": "easy-block", | |
| "tool_condition": "mounted", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-01-light-easy-block-absent", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-01-light", | |
| "replicate_id": "grasp-fresh-layout-01", | |
| "load_band": "lightweight-control", | |
| "mass": 0.03, | |
| "object_x": 0.391, | |
| "object_y": -0.113, | |
| "friction": 0.54, | |
| "object_shape": "easy-block", | |
| "tool_condition": "absent", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-01-light-simplified-shoe-mounted", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-01-light", | |
| "replicate_id": "grasp-fresh-layout-01", | |
| "load_band": "lightweight-control", | |
| "mass": 0.03, | |
| "object_x": 0.391, | |
| "object_y": -0.113, | |
| "friction": 0.54, | |
| "object_shape": "simplified-shoe", | |
| "tool_condition": "mounted", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-01-light-simplified-shoe-absent", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-01-light", | |
| "replicate_id": "grasp-fresh-layout-01", | |
| "load_band": "lightweight-control", | |
| "mass": 0.03, | |
| "object_x": 0.391, | |
| "object_y": -0.113, | |
| "friction": 0.54, | |
| "object_shape": "simplified-shoe", | |
| "tool_condition": "absent", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-01-light-current-shoe-mounted", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-01-light", | |
| "replicate_id": "grasp-fresh-layout-01", | |
| "load_band": "lightweight-control", | |
| "mass": 0.03, | |
| "object_x": 0.391, | |
| "object_y": -0.113, | |
| "friction": 0.54, | |
| "object_shape": "current-shoe", | |
| "tool_condition": "mounted", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-01-light-current-shoe-absent", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-01-light", | |
| "replicate_id": "grasp-fresh-layout-01", | |
| "load_band": "lightweight-control", | |
| "mass": 0.03, | |
| "object_x": 0.391, | |
| "object_y": -0.113, | |
| "friction": 0.54, | |
| "object_shape": "current-shoe", | |
| "tool_condition": "absent", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-01-reference-easy-block-mounted", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-01-reference", | |
| "replicate_id": "grasp-fresh-layout-01", | |
| "load_band": "reference-load", | |
| "mass": 0.3, | |
| "object_x": 0.391, | |
| "object_y": -0.113, | |
| "friction": 0.54, | |
| "object_shape": "easy-block", | |
| "tool_condition": "mounted", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-01-reference-easy-block-absent", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-01-reference", | |
| "replicate_id": "grasp-fresh-layout-01", | |
| "load_band": "reference-load", | |
| "mass": 0.3, | |
| "object_x": 0.391, | |
| "object_y": -0.113, | |
| "friction": 0.54, | |
| "object_shape": "easy-block", | |
| "tool_condition": "absent", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-01-reference-simplified-shoe-mounted", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-01-reference", | |
| "replicate_id": "grasp-fresh-layout-01", | |
| "load_band": "reference-load", | |
| "mass": 0.3, | |
| "object_x": 0.391, | |
| "object_y": -0.113, | |
| "friction": 0.54, | |
| "object_shape": "simplified-shoe", | |
| "tool_condition": "mounted", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-01-reference-simplified-shoe-absent", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-01-reference", | |
| "replicate_id": "grasp-fresh-layout-01", | |
| "load_band": "reference-load", | |
| "mass": 0.3, | |
| "object_x": 0.391, | |
| "object_y": -0.113, | |
| "friction": 0.54, | |
| "object_shape": "simplified-shoe", | |
| "tool_condition": "absent", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-01-reference-current-shoe-mounted", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-01-reference", | |
| "replicate_id": "grasp-fresh-layout-01", | |
| "load_band": "reference-load", | |
| "mass": 0.3, | |
| "object_x": 0.391, | |
| "object_y": -0.113, | |
| "friction": 0.54, | |
| "object_shape": "current-shoe", | |
| "tool_condition": "mounted", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-01-reference-current-shoe-absent", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-01-reference", | |
| "replicate_id": "grasp-fresh-layout-01", | |
| "load_band": "reference-load", | |
| "mass": 0.3, | |
| "object_x": 0.391, | |
| "object_y": -0.113, | |
| "friction": 0.54, | |
| "object_shape": "current-shoe", | |
| "tool_condition": "absent", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-02-light-easy-block-mounted", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-02-light", | |
| "replicate_id": "grasp-fresh-layout-02", | |
| "load_band": "lightweight-control", | |
| "mass": 0.03, | |
| "object_x": 0.429, | |
| "object_y": -0.071, | |
| "friction": 0.91, | |
| "object_shape": "easy-block", | |
| "tool_condition": "mounted", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-02-light-easy-block-absent", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-02-light", | |
| "replicate_id": "grasp-fresh-layout-02", | |
| "load_band": "lightweight-control", | |
| "mass": 0.03, | |
| "object_x": 0.429, | |
| "object_y": -0.071, | |
| "friction": 0.91, | |
| "object_shape": "easy-block", | |
| "tool_condition": "absent", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-02-light-simplified-shoe-mounted", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-02-light", | |
| "replicate_id": "grasp-fresh-layout-02", | |
| "load_band": "lightweight-control", | |
| "mass": 0.03, | |
| "object_x": 0.429, | |
| "object_y": -0.071, | |
| "friction": 0.91, | |
| "object_shape": "simplified-shoe", | |
| "tool_condition": "mounted", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-02-light-simplified-shoe-absent", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-02-light", | |
| "replicate_id": "grasp-fresh-layout-02", | |
| "load_band": "lightweight-control", | |
| "mass": 0.03, | |
| "object_x": 0.429, | |
| "object_y": -0.071, | |
| "friction": 0.91, | |
| "object_shape": "simplified-shoe", | |
| "tool_condition": "absent", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-02-light-current-shoe-mounted", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-02-light", | |
| "replicate_id": "grasp-fresh-layout-02", | |
| "load_band": "lightweight-control", | |
| "mass": 0.03, | |
| "object_x": 0.429, | |
| "object_y": -0.071, | |
| "friction": 0.91, | |
| "object_shape": "current-shoe", | |
| "tool_condition": "mounted", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-02-light-current-shoe-absent", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-02-light", | |
| "replicate_id": "grasp-fresh-layout-02", | |
| "load_band": "lightweight-control", | |
| "mass": 0.03, | |
| "object_x": 0.429, | |
| "object_y": -0.071, | |
| "friction": 0.91, | |
| "object_shape": "current-shoe", | |
| "tool_condition": "absent", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-02-reference-easy-block-mounted", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-02-reference", | |
| "replicate_id": "grasp-fresh-layout-02", | |
| "load_band": "reference-load", | |
| "mass": 0.3, | |
| "object_x": 0.429, | |
| "object_y": -0.071, | |
| "friction": 0.91, | |
| "object_shape": "easy-block", | |
| "tool_condition": "mounted", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-02-reference-easy-block-absent", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-02-reference", | |
| "replicate_id": "grasp-fresh-layout-02", | |
| "load_band": "reference-load", | |
| "mass": 0.3, | |
| "object_x": 0.429, | |
| "object_y": -0.071, | |
| "friction": 0.91, | |
| "object_shape": "easy-block", | |
| "tool_condition": "absent", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-02-reference-simplified-shoe-mounted", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-02-reference", | |
| "replicate_id": "grasp-fresh-layout-02", | |
| "load_band": "reference-load", | |
| "mass": 0.3, | |
| "object_x": 0.429, | |
| "object_y": -0.071, | |
| "friction": 0.91, | |
| "object_shape": "simplified-shoe", | |
| "tool_condition": "mounted", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-02-reference-simplified-shoe-absent", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-02-reference", | |
| "replicate_id": "grasp-fresh-layout-02", | |
| "load_band": "reference-load", | |
| "mass": 0.3, | |
| "object_x": 0.429, | |
| "object_y": -0.071, | |
| "friction": 0.91, | |
| "object_shape": "simplified-shoe", | |
| "tool_condition": "absent", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-02-reference-current-shoe-mounted", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-02-reference", | |
| "replicate_id": "grasp-fresh-layout-02", | |
| "load_band": "reference-load", | |
| "mass": 0.3, | |
| "object_x": 0.429, | |
| "object_y": -0.071, | |
| "friction": 0.91, | |
| "object_shape": "current-shoe", | |
| "tool_condition": "mounted", | |
| "split": "heldout" | |
| } | |
| }, | |
| { | |
| "id": "grasp-fresh-02-reference-current-shoe-absent", | |
| "task": "in-reach-graspability", | |
| "policy": "shared-v03", | |
| "case": { | |
| "id": "grasp-fresh-02-reference", | |
| "replicate_id": "grasp-fresh-layout-02", | |
| "load_band": "reference-load", | |
| "mass": 0.3, | |
| "object_x": 0.429, | |
| "object_y": -0.071, | |
| "friction": 0.91, | |
| "object_shape": "current-shoe", | |
| "tool_condition": "absent", | |
| "split": "heldout" | |
| } | |
| } | |
| ], | |
| "criteria": { | |
| "native_dt_s": 0.002, | |
| "policy_dt_s": 0.02, | |
| "initial_settle_s": 0.4, | |
| "reference_window_s": 0.1, | |
| "reference_axis_range_max_m": 0.001, | |
| "reference_scope": "At the fixed 0.4 s native timestamp, the previous 50 ticks must each show world normal force >0.01 N and aggregate robot/tool normal force <0.01 N, with range <=1 mm on each position axis. The reference height is read from the native trace, never trusted from an event coordinate.", | |
| "final_retention_s": 0.5, | |
| "final_retention_ticks": 250, | |
| "relative_origin_lift_min_m": 0.035, | |
| "finger_force_min_n": 0.01, | |
| "support_force_max_n": 0.01, | |
| "height_scope": "Object body-origin rise >=35 mm from the verified settled reference, on every final native tick. Actual lowest collision-surface height is an additional diagnostic and does not replace the fixed criterion.", | |
| "support_scope": "Both finger normal forces >0.01 N; world, tool and other-robot normal forces each <0.01 N during the final 500 ms. Synthetic evidence thresholds, not calibrated hardware limits.", | |
| "abort_scope": "All planned attempts remain in the denominator. A recorded physical abort, short run or unsettled initialization cannot pass. Corrupt or incomplete native evidence is invalid and also cannot pass. No outcome-dependent exclusion or private retry." | |
| }, | |
| "design": "Direct in-reach pickup, crossing three object shapes, two explicit loads, two tool states and two fresh layout/friction replicates: 24 confirmation attempts. A single fixed authored controller uses a declared geometry-aware grasp-position rule. Layout and friction vary jointly between the two deterministic replicates; these are not random population samples or confidence-interval estimates. Development uses one separate known layout crossed with the same two loads, three shapes and two tool states.", | |
| "comparison": "Within each layout and load, object mass, friction, spawn position, robot actuators and control settings are matched across all six shape/tool cells. Load pairs share the same layout and friction. Changing shape necessarily changes contact geometry and inertia; removing the mounted rake changes wrist mass/inertia as well as clearance. Tool absence is a morphology ablation, not successful tool detachment. Report shape \u00d7 load \u00d7 tool results separately; never present easy-object lifts as shoe-skill success.", | |
| "cohort_access": "The independent evaluator seals the fresh parameter cases before the final controller is frozen. Controller tuning may use development only. Do not inspect or execute fresh cases until a source freeze is recorded. After the first evaluation these cases are known regressions; rerunning them does not create new confirmation evidence.", | |
| "scope": "Authored direct-pickup diagnostic with privileged native observations, assumed rigid-object contact properties and pinned simulation actuators. No retrieval, learned policy, tool acquisition, deformable shoe, physical grip-capacity measurement or hardware-transfer claim. Frozen v02 retrieval results remain separate regressions and are not pooled into this study.", | |
| "source_commit": "73057dc259c6a19344906f4a43a283553e17ade0", | |
| "implementation_sha256": { | |
| "graspability.py": "735239a7071cbfd3258d09f260bb2bd82b7a0a4577013cae594bfb8542ea03ee", | |
| "graspability_protocol.py": "6df01c6b7441859573052510d2b7e95d207d93f9a02a383771a9174bfb6b43e5", | |
| "graspability_protocol_v03.json": "c33ef6991379fda77d6084931d2b4b3665830ffa448f9ea403a65d2c37b757a3", | |
| "graspability_benchmark.py": "47687b0a214140d16cb29611b7f933945398cf4ba82064dfa58b30cbef4f2308", | |
| "workstation.py": "2a6aa6686b5b273efcfb21156952df8ceca88d991674cd17df92f2dccc11b701", | |
| "asset_library.py": "12520ca13b7806004be37a0d7e0d1e023c90410c1eba899296fdcd5b28fdc7f7", | |
| "asset_catalog.json": "592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7", | |
| "robot_profiles.py": "fb90782a6a9979e282182118ae0e3e29d00f101255cc57378dd3f692672bb13d", | |
| "robot_profiles.lock.json": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", | |
| "prerequisite_benchmark.py": "c78efb24263300c56f50413aa65333e4fbf1b99403aa816de9bf4cb5656a3811", | |
| "asset_preview.py": "12f4806162504a3c8773b10b516d6b7abb05f670a1f5817be144ea98fc1d25d8", | |
| "reference_sim.py": "c1201d22eb13dd07a236ee63cc4ba68e129f6067e8db61ed41af2d820eb5e3b8", | |
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