{ "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": 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"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": 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"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. 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