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index 27ec98468b484905539da52c2e2c9174d5fe6a53..86d24d35943ce2bd6669666264c67ed812aa4bba 100644
--- a/.gitattributes
+++ b/.gitattributes
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+      "size_bytes": 20827
+    },
+    {
+      "relative_path": "asset.usd",
+      "sha256": "27fc5b409bcdfdf069670c438b7589a17689188ef51062149e6ee2c7f0c82958",
+      "size_bytes": 4257608
+    }
+  ],
+  "schema": "simready-bench-submission-v1",
+  "size_bytes": 4278435,
+  "snapshot_sha256": "4a12eba83971d3146db2314be2b2ae03942c29d820d8b5df190aa988f8de5902"
+}
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diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/suspension_coilover_rear_b01/reconstruction-4/harbor-trajectory-4.json b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/suspension_coilover_rear_b01/reconstruction-4/harbor-trajectory-4.json
new file mode 100644
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+++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/suspension_coilover_rear_b01/reconstruction-4/harbor-trajectory-4.json
@@ -0,0 +1,1688 @@
+{
+  "schema_version": "ATIF-v1.7",
+  "session_id": "01a15c16-a7d0-7430-8ba4-c6cf4ea8086d",
+  "agent": {
+    "name": "pi",
+    "version": "0.85.1",
+    "model_name": "harbor-endpoint/gpt-6.1-sol"
+  },
+  "steps": [
+    {
+      "step_id": 1,
+      "timestamp": "2026-10-21T01:32:32.877Z",
+      "source": "user",
+      "message": [
+        {
+          "type": "text",
+          "text": "<file name=\"/task/thumbnail.png\"></file>\nReconstruct the supplied object as /output/asset.usd.\nNominal dimensions in canonical metres XYZ: [0.1732049062848091, 0.2083481252193451, 0.805925440043211]\nRead /task/contract.md, /task/tool-docs.md and /task/scoring-policy.json. Identify the rigid parts, joints and their motion before authoring, then reconstruct appearance and mechanical structure. Use Python/PXR. Do not use Blender. Validate and inspect the NVIDIA findings before submitting.\n"
+        },
+        {
+          "type": "image",
+          "source": {
+            "media_type": "image/png",
+            "path": "images/pi_image_1.png"
+          }
+        }
+      ],
+      "extra": {
+        "pi_event_id": "a4c0b814",
+        "pi_parent_id": "071ea82e"
+      }
+    },
+    {
+      "step_id": 2,
+      "timestamp": "2026-10-21T01:32:35.738Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
+      "tool_calls": [
+        {
+          "tool_call_id": "call_7iVduMBuz1GNVPbbuoc5Zxgm|fc_03cfa430d65a188b016ad81633813487d18cda6eb2cc20c8b1",
+          "function_name": "read",
+          "arguments": {
+            "path": "/task/contract.md",
+            "offset": 1,
+            "limit": 2000
+          }
+        },
+        {
+          "tool_call_id": "call_QWPcYh2BYD7OK93656sz0Pkm|fc_03cfa430d65a188b016ad81633814487d1add76f8ba208ae71",
+          "function_name": "read",
+          "arguments": {
+            "path": "/task/tool-docs.md",
+            "offset": 1,
+            "limit": 2000
+          }
+        },
+        {
+          "tool_call_id": "call_BTMHQ8kXqLXuL7stMJxt40KX|fc_03cfa430d65a188b016ad81633814c87d188c5fb2759a167a2",
+          "function_name": "read",
+          "arguments": {
+            "path": "/task/scoring-policy.json",
+            "offset": 1,
+            "limit": 2000
+          }
+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_7iVduMBuz1GNVPbbuoc5Zxgm|fc_03cfa430d65a188b016ad81633813487d18cda6eb2cc20c8b1",
+            "content": "# Reconstruction contract\n\nReconstruct the supplied object at /output/asset.usd using Python/PXR. Include\nits local USD and texture dependencies and place authoring scripts in /tmp.\nRead the supplied dimensions, image and scoring-policy.json.\n\nThe evaluation reports three independent scores:\n\n- Formal fidelity: NVIDIA SimReady-Foundation Robotics-Prop 4.0.0. Each of its\n  46 mandatory requirements counts once, with 95 * passed / 46 points and five\n  further points when all pass. The 51 optional requirements are reported separately.\n- Visual fidelity: reference-scale shape, colours, textures and surface appearance.\n- Kinematic fidelity: the object's connected rigid parts, joint types, hinge or\n  sliding axes, attachment locations and allowed ranges of motion.\n\nIdentify the object's parts and their mechanical relationships before authoring.\nKeep parts that move relative to one another as distinct rigid bodies and author\nthe corresponding UsdPhysics joints. Specify each joint's connected bodies,\nlocal positions, local orientations, axis and appropriate motion limits. For\nexample, folding eyewear needs hinged temples rather than one rigid mesh.\nUse fixed joints for genuine fixed attachments and keep genuinely rigid objects\nrigid. Base this structure on the supplied observations and the object's function.\n\nCheck that joint frames meet at each attachment, that movable parts can travel\nthrough their intended range and that the bodies and joints have the appropriate\nenabled and kinematic states. Preserve the observed shape and materials while\nconstructing this mechanical structure.\n\nUse validate_candidate to inspect the NVIDIA findings and repair the candidate.\nThe final submission freezes the authored files for evaluation.",
+            "extra": {
+              "tool_name": "read",
+              "is_error": false
+            }
+          },
+          {
+            "source_call_id": "call_QWPcYh2BYD7OK93656sz0Pkm|fc_03cfa430d65a188b016ad81633814487d1add76f8ba208ae71",
+            "content": "# Authoring tools\n\nget_task_thumbnail returns the reference image. validate_candidate accepts {\"request_id\":\"check-1\"} and returns the current score, remaining validation calls and nvidia_validator_report.file_path. Search that JSON file with rg for a requirement ID or candidate prim path. get_validation_report reads a selected range of the same report.\n\nUse a new request ID after each repair. submit_asset accepts {\"request_id\":\"final\"} and stops authoring. The model has 64 inference requests, with provider-native output limits. Captures appear in the final report.",
+            "extra": {
+              "tool_name": "read",
+              "is_error": false
+            }
+          },
+          {
+            "source_call_id": "call_BTMHQ8kXqLXuL7stMJxt40KX|fc_03cfa430d65a188b016ad81633814c87d188c5fb2759a167a2",
+            "content": "{\n  \"benchmark_output_token_cap\": null,\n  \"composite_scores\": {\n    \"formal\": \"SimReady Robotics-Prop mandatory requirements\",\n    \"kinematic\": \"joint recovery and allowed relative motion correspondence\",\n    \"visual\": \"geometric mean of shape and appearance material correspondence\"\n  },\n  \"limits\": {\n    \"agent_seconds\": 231000,\n    \"final_seconds\": 600,\n    \"inference_requests\": 64,\n    \"preview_requests\": 12,\n    \"preview_seconds\": 90,\n    \"validation_calls\": 5,\n    \"validation_seconds\": 120,\n    \"views_per_preview\": 4\n  },\n  \"model_call_budget\": 64,\n  \"reward_reporting\": {\n    \"formula\": \"95 * passed / fixed_applicable + 5_if_all_pass\",\n    \"harbor_key\": \"simready_reward\",\n    \"scale\": [\n      0,\n      100\n    ]\n  },\n  \"semantic_labels\": {\n    \"criterion\": \"mandatory NVIDIA SL IDs only\",\n    \"required\": true,\n    \"scoring\": true\n  },\n  \"validator_scoring\": {\n    \"all_pass_bonus_percent\": 5,\n    \"applicability\": \"fixed_profile_and_task_before_candidate\",\n    \"applicable_requirement_ids\": [\n      \"com.nvidia.simready.HI.010\",\n      \"com.nvidia.simready.NP.002\",\n      \"com.nvidia.simready.NP.003\",\n      \"com.nvidia.simready.NP.004\",\n      \"com.nvidia.simready.NP.005\",\n      \"com.nvidia.simready.NP.007\",\n      \"com.nvidia.simready.NP.008\",\n      \"com.nvidia.simready.RB.001\",\n      \"com.nvidia.simready.RB.007\",\n      \"com.nvidia.simready.RB.010\",\n      \"com.nvidia.simready.RB.COL.001\",\n      \"com.nvidia.simready.RB.COL.002\",\n      \"com.nvidia.simready.RB.COL.003\",\n      \"com.nvidia.simready.SL.001\",\n      \"com.nvidia.simready.SL.002\",\n      \"com.nvidia.simready.SL.003\",\n      \"com.nvidia.simready.SL.MAT.001\",\n      \"com.nvidia.simready.SL.QCODE.001\",\n      \"com.nvidia.simready.SL.TIME.001\",\n      \"com.nvidia.simready.SR.002\",\n      \"com.nvidia.simready.SR.004\",\n      \"com.nvidia.simready.UN.006\",\n      \"com.nvidia.simready.UN.007\",\n      \"com.nvidia.simready.VG.008\",\n      \"com.nvidia.simready.VG.025\",\n      \"com.nvidia.simready.VG.MESH.001\",\n      \"com.nvidia.simready.VM.MAT.001\",\n      \"com.nvidia.simready.VM.PS.002\",\n      \"com.nvidia.simready.VM.TEX.001\",\n      \"com.nvidia.simready.VM.TEX.003\",\n      \"com.nvidia.usd.AA.001\",\n      \"com.nvidia.usd.AA.002\",\n      \"com.nvidia.usd.HI.001\",\n      \"com.nvidia.usd.HI.003\",\n      \"com.nvidia.usd.HI.004\",\n      \"com.nvidia.usd.RB.003\",\n      \"com.nvidia.usd.RB.005\",\n      \"com.nvidia.usd.RB.009\",\n      \"com.nvidia.usd.RB.COL.004\",\n      \"com.nvidia.usd.VG.002\",\n      \"com.nvidia.usd.VG.014\",\n      \"com.nvidia.usd.VG.027\",\n      \"com.nvidia.usd.VG.028\",\n      \"com.nvidia.usd.VG.029\",\n      \"com.nvidia.usd.VM.BIND.001\",\n      \"com.nvidia.usd.VM.PS.001\"\n    ],\n    \"base_credit_percent\": 95,\n    \"early_stop_penalty_percent\": 0,\n    \"optional_requirements\": \"report_only\",\n    \"policy_id\": \"NVIDIA-Robotics-Prop-4.0.0-mandatory-95-plus-5-v1\",\n    \"process_shaping_percent\": 0,\n    \"profile\": {\n      \"id\": \"Robotics-Prop\",\n      \"version\": \"4.0.0\"\n    },\n    \"profile_inventory_sha256\": \"5a8dccd559cd3625025cedd08f7e2c174df32b8bbe0b17da9c94a588c86da13c\",\n    \"report_only_mandatory_ids\": [],\n    \"schema\": \"simready-validator-scoring-policy-v1\",\n    \"scope\": \"all_mandatory_profile\",\n    \"scoring_unit\": \"one_mandatory_requirement_ID\",\n    \"stop_bonus_percent\": 0,\n    \"unknown\": \"null_score_fixed_denominator\"\n  }\n}",
+            "extra": {
+              "tool_name": "read",
+              "is_error": false
+            }
+          }
+        ]
+      },
+      "metrics": {
+        "prompt_tokens": 2667,
+        "completion_tokens": 100,
+        "cached_tokens": 0,
+        "extra": {
+          "cache_write_tokens": 2664,
+          "reasoning_tokens": 0,
+          "pi_total_tokens": 2767
+        }
+      },
+      "llm_call_count": 1,
+      "extra": {
+        "pi_event_id": "1970089d",
+        "pi_parent_id": "a4c0b814",
+        "provider": "harbor-endpoint",
+        "api": "openai-responses",
+        "response_id": "resp_03cfa430d65a188b016ad81631714c87d1a04ea61e733586f1",
+        "response_model": null,
+        "stop_reason": "toolUse",
+        "raw_stop_reason": "completed"
+      }
+    },
+    {
+      "step_id": 3,
+      "timestamp": "2026-10-21T01:32:38.614Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
+      "tool_calls": [
+        {
+          "tool_call_id": "call_LbUlG1jIRqURTmH80tl0khyB|fc_03cfa430d65a188b016ad81636243487d182b4c28de7242ee5",
+          "function_name": "mcp",
+          "arguments": {
+            "server": "benchmark"
+          }
+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_LbUlG1jIRqURTmH80tl0khyB|fc_03cfa430d65a188b016ad81636243487d182b4c28de7242ee5",
+            "content": "benchmark (4 tools):\n\n- benchmark_get_task_thumbnail - Read the supplied task thumbnail and public brief.\n- benchmark_validate_candidate - Validate a frozen candidate and return NVIDIA...\n- benchmark_submit_asset - End authoring and freeze the submitted asset....\n- benchmark_get_validation_report - Read a requested range of a prior NVIDIA report....",
+            "extra": {
+              "tool_name": "mcp",
+              "is_error": false
+            }
+          }
+        ]
+      },
+      "metrics": {
+        "prompt_tokens": 4294,
+        "completion_tokens": 18,
+        "cached_tokens": 2664,
+        "extra": {
+          "cache_write_tokens": 1627,
+          "reasoning_tokens": 0,
+          "pi_total_tokens": 4312
+        }
+      },
+      "llm_call_count": 1,
+      "extra": {
+        "pi_event_id": "630fd704",
+        "pi_parent_id": "b5bae0f9",
+        "provider": "harbor-endpoint",
+        "api": "openai-responses",
+        "response_id": "resp_03cfa430d65a188b016ad81634f29887d196f90344d1ed98b6",
+        "response_model": null,
+        "stop_reason": "toolUse",
+        "raw_stop_reason": "completed"
+      }
+    },
+    {
+      "step_id": 4,
+      "timestamp": "2026-10-21T01:32:43.989Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "The object is a coilover shock absorber with a side reservoir. I\u2019ll model the lower damper body and reservoir as a fixed assembly, and the piston rod and upper mounting plate as a separate rigid body with limited axial travel. The coil spring will remain a separate visible component; it is compliant rather than a hinged part.",
+      "reasoning_content": "**Planning suspension reconstruction**\n\nI need to reconstruct the coilover shock suspension and come up with a detailed plan for the geometry. I should also consider time constraints, like any turns that might affect the design. It's essential to inspect the environment as well, particularly the availability of PXR rendering. Making sure all these aspects are covered will help ensure a smooth reconstruction process! Let\u2019s tackle each part step by step.",
+      "tool_calls": [
+        {
+          "tool_call_id": "call_Qa5ptLiOZDUdp6pvjjRLnYTY|fc_03cfa430d65a188b016ad8163ab9b087d18d7f3f40fd779ca8",
+          "function_name": "bash",
+          "arguments": {
+            "command": "ls -la /output; python - <<'PY'\nimport pxr\nfrom pxr import Usd, UsdPhysics\nprint('pxr ready')\nPY\nwhich usdview || true\nls /tmp | head",
+            "timeout": 60
+          }
+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_Qa5ptLiOZDUdp6pvjjRLnYTY|fc_03cfa430d65a188b016ad8163ab9b087d18d7f3f40fd779ca8",
+            "content": "total 0\ndrwxrwxrwx 2 actor actor 40 Oct 21 01:32 .\ndrwxr-xr-x 1 root  root  56 Oct 21 01:32 ..\npxr ready\nharbor-pi-agent\nharbor-pi-mcp-adapter\njiti\nnode-compile-cache\nsimready-relay.ready",
+            "extra": {
+              "tool_name": "bash",
+              "is_error": false
+            }
+          }
+        ]
+      },
+      "metrics": {
+        "prompt_tokens": 4386,
+        "completion_tokens": 173,
+        "cached_tokens": 4291,
+        "extra": {
+          "cache_write_tokens": 92,
+          "reasoning_tokens": 29,
+          "pi_total_tokens": 4559
+        }
+      },
+      "llm_call_count": 1,
+      "extra": {
+        "pi_event_id": "eb94fe58",
+        "pi_parent_id": "12c76ceb",
+        "provider": "harbor-endpoint",
+        "api": "openai-responses",
+        "response_id": "resp_03cfa430d65a188b016ad8163787d087d19585a085d1e12b79",
+        "response_model": null,
+        "stop_reason": "toolUse",
+        "raw_stop_reason": "completed"
+      }
+    },
+    {
+      "step_id": 5,
+      "timestamp": "2026-10-21T01:33:22.629Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
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+      "reasoning_content": "**Analyzing mechanical relationships**\n\nI\u2019m looking at how screw mechanics work, particularly involving real spring preload collars that are threaded for rotation. The fixed appearance seems to come from how collars integrate with the lower body, designed for installation without inventing motion. The tube mounts attached to the lower bracket are fixed as well. It\u2019s possible that the bottom clevis might rotate, but it\u2019s unclear. I need to treat the lower part as rigid and focus on the prismatic one-axis spring arrangement. The top mount is a rubber bushing, and it looks quite strong!",
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+            "content": "/bin/bash: line 1: pip: command not found\n\n\nCommand exited with code 127",
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+            "content": "error: externally-managed-environment\n\n\u00d7 This environment is externally managed\n\u2570\u2500> To install Python packages system-wide, try apt install\n    python3-xyz, where xyz is the package you are trying to\n    install.\n    \n    If you wish to install a non-Debian-packaged Python package,\n    create a virtual environment using python3 -m venv path/to/venv.\n    Then use path/to/venv/bin/python and path/to/venv/bin/pip. Make\n    sure you have python3-full installed.\n    \n    If you wish to install a non-Debian packaged Python application,\n    it may be easiest to use pipx install xyz, which will manage a\n    virtual environment for you. Make sure you have pipx installed.\n    \n    See /usr/share/doc/python3.12/README.venv for more information.\n\nnote: If you believe this is a mistake, please contact your Python installation or OS distribution provider. You can override this, at the risk of breaking your Python installation or OS, by passing --break-system-packages.\nhint: See PEP 668 for the detailed specification.\n\n\nCommand exited with code 1",
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+      "source": "agent",
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+      "reasoning_content": "**Exploring CPU Renderer Design**\n\nI\u2019m considering building a CPU renderer utilizing rasterization with PIL and numpy, focusing on orthographic and Lambert environments to create a rough metal look. For shape inspection, a validation screenshot might be inaccessible, so I\u2019m evaluating visual outputs. I need to create mesh primitives from scratch, including bevel polygon plates with keyhole overlays. I could compute a triangulated top planar via a grid, and I\u2019m thinking about simpler designs and material details, but there are complexities around grooves and triangulation to address.\n\n**Triangulating a Polygon Design**\n\nI\u2019m thinking about triangulating a polygon using circular notches and connecting smooth rings for a top plate. Precision shading is critical, so I could generate a rounded polygon boundary, sampling edges to create a polygon mesh with radial rings. For the keyhole opening, I'll visually represent it as a black raised shape, while avoiding any recesses. I need a 2D top plate with holes. I might implement Delaunay triangulation using Bowyer-Watson triangles and filter the results for boundary segments. Using earcut triangulation could also work for bridging the holes.\n\n**Designing a Top Plate Structure**\n\nI\u2019m considering using a fan ring or annulus around known round pockets and filling spaces with a structured grid for the top plate. While the approximate straight boundaries are necessary, the reference grooves aren\u2019t crucial. I could create a rounded clipped square plate by extruding rounded polygon points for a large, smooth surface. I want to add C-shaped arcs and central disks with varying shades to suggest a recessed design, along with hex screws on the surface. I also need to ensure my design matches the asymmetrical clipping of the octagon.",
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+          "function_name": "write",
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+            "path": "/tmp/build_asset.py",
+            "content": "from pxr import Usd, UsdGeom, UsdShade, UsdPhysics, UsdSemantics, Sdf, Gf, Vt\nimport math, os, numpy as np\nfrom math import sin,cos,pi\nOUT='/output/asset.usd'\nstage=Usd.Stage.CreateNew(OUT)\nUsdGeom.SetStageUpAxis(stage,UsdGeom.Tokens.z)\nUsdGeom.SetStageMetersPerUnit(stage,1.0)\nUsdPhysics.SetStageKilogramsPerUnit(stage,1.0)\nstage.SetStartTimeCode(0); stage.SetEndTimeCode(0); stage.SetTimeCodesPerSecond(24)\nroot=UsdGeom.Xform.Define(stage,'/Coilover').GetPrim(); stage.SetDefaultPrim(root)\nroot.SetAssetInfoByKey('name','Coilover shock absorber')\nroot.SetAssetInfoByKey('identifier',Sdf.AssetPath('asset.usd'))\nroot.SetMetadata('documentation','SI-scale adjustable coilover damper with piggyback gas reservoir. Main axis Z; compression is negative Z. Yellow spring is a compliant visual component, not an independent rigid link.')\nUsdPhysics.ArticulationRootAPI.Apply(root)\n\ndef label(prim,name):\n    api=UsdSemantics.LabelsAPI.Apply(prim,'class'); api.CreateLabelsAttr([name])\n    # Classic semantic API is also authored for simulator consumers.\n    prim.AddAppliedSchema('SemanticsAPI:Semantics')\n    prim.CreateAttribute('semantics:Semantics:semanticType',Sdf.ValueTypeNames.String).Set('class')\n    prim.CreateAttribute('semantics:Semantics:semanticData',Sdf.ValueTypeNames.String).Set(name)\nlabel(root,'coilover_shock_absorber')\nlooks=UsdGeom.Scope.Define(stage,'/Coilover/Looks')\nM={}\ndef mat(name,col,metal,rough):\n    m=UsdShade.Material.Define(stage,'/Coilover/Looks/'+name)\n    sh=UsdShade.Shader.Define(stage,m.GetPath().AppendChild('PreviewSurface')); sh.CreateIdAttr('UsdPreviewSurface')\n    for k,t,v in [('diffuseColor',Sdf.ValueTypeNames.Color3f,col),('metallic',Sdf.ValueTypeNames.Float,metal),('roughness',Sdf.ValueTypeNames.Float,rough),('opacity',Sdf.ValueTypeNames.Float,1.0)]: sh.CreateInput(k,t).Set(v)\n    sh.CreateInput('ior',Sdf.ValueTypeNames.Float).Set(1.5)\n    m.CreateSurfaceOutput().ConnectToSource(sh.ConnectableAPI(),'surface')\n    m.GetPrim().CreateAttribute('physicalMaterial',Sdf.ValueTypeNames.String).Set('metal' if metal>.5 else 'polymer')\n    M[name]=m\nmat('YellowPowderCoat',(0.98,0.61,0.006),0.28,0.23)\nmat('BlackAnodized',(0.026,0.028,0.029),0.68,0.29)\nmat('ThreadedSteel',(0.047,0.048,0.05),0.72,0.27)\nmat('PolishedAluminum',(0.72,0.73,0.72),0.88,0.21)\nmat('SatinAluminum',(0.66,0.67,0.65),0.78,0.32)\nmat('ReservoirAnodized',(0.28,0.267,0.224),0.8,0.28)\nmat('ChromeSteel',(0.72,0.76,0.79),0.98,0.14)\nmat('Rubber',(0.012,0.013,0.014),0.0,0.42)\nmat('RecessDark',(0.009,0.011,0.012),0.3,0.36)\nmat('BrightEdges',(0.86,0.87,0.85),0.85,0.19)\nmat('PlateSurface',(0.72,0.73,0.72),0.62,0.32)\nmat('PocketSurface',(0.60,0.61,0.59),0.7,0.3)\n\nbodies={}\ndef body(name,origin,mass,desc):\n    path='/Coilover/'+name\n    xf=UsdGeom.Xform.Define(stage,path); xf.AddTranslateOp().Set(Gf.Vec3d(*origin)); p=xf.GetPrim()\n    UsdPhysics.RigidBodyAPI.Apply(p).CreateRigidBodyEnabledAttr(True)\n    UsdPhysics.RigidBodyAPI(p).CreateKinematicEnabledAttr(False)\n    ma=UsdPhysics.MassAPI.Apply(p); ma.CreateMassAttr(mass); ma.CreateCenterOfMassAttr(Gf.Vec3f(0,0,0))\n    ma.CreateDiagonalInertiaAttr(Gf.Vec3f(mass*.006,mass*.006,mass*.0015)); ma.CreatePrincipalAxesAttr(Gf.Quatf(1,0,0,0))\n    p.SetMetadata('documentation',desc); label(p,name.lower())\n    UsdGeom.Scope.Define(stage,path+'/Visuals')\n    bodies[name]=(path,np.array(origin,dtype=float)); return name\nlower=body('DamperBody',(0,.02,.25),3.3,'Rigid lower damper body, threaded spring-height adjuster, mounting clevis and reservoir support brackets.')\nupper=body('PistonAndTopMount',(0,.02,.65),1.2,'Piston rod, upper spring seat, elastomer top mount and vehicle mounting plate; translates along the damper Z axis.')\nres=body('SideReservoir',(-.052,-.070,.343),.65,'Remote gas/oil reservoir rigidly supported from the damper barrel.')\n\ncounts={}\ndef mesh(b,name,pts,faces,material,normals=None,uv=None,collide=False):\n    par,origin=bodies[b]\n    path=par+('/Colliders/' if collide else '/Visuals/')+name\n    m=UsdGeom.Mesh.Define(stage,path); arr=np.array(pts,dtype=float)-origin\n    m.CreatePointsAttr(Vt.Vec3fArray.FromNumpy(arr.astype(np.float32)))\n    m.CreateFaceVertexCountsAttr([len(f) for f in faces]); m.CreateFaceVertexIndicesAttr([v for f in faces for v in f])\n    m.CreateSubdivisionSchemeAttr('none'); m.CreateOrientationAttr('rightHanded'); m.CreateDoubleSidedAttr(False)\n    m.CreateExtentAttr([Gf.Vec3f(*arr.min(axis=0)),Gf.Vec3f(*arr.max(axis=0))])\n    if normals is not None:\n        m.CreateNormalsAttr(Vt.Vec3fArray.FromNumpy(np.asarray(normals,dtype=np.float32))); m.SetNormalsInterpolation('vertex')\n    if uv is None:\n        # valid metric planar UVs; rotational parts supply their cylindrical map\n        uv=[(float(p[0]*10),float(p[2]*10)) for p in pts]\n    st=UsdGeom.PrimvarsAPI(m).CreatePrimvar('st',Sdf.ValueTypeNames.TexCoord2fArray,'vertex'); st.Set(uv)\n    if material: UsdShade.MaterialBindingAPI.Apply(m.GetPrim()).Bind(M[material])\n    if collide:\n        m.CreatePurposeAttr('guide'); m.CreateVisibilityAttr('invisible')\n        UsdPhysics.CollisionAPI.Apply(m.GetPrim()).CreateCollisionEnabledAttr(True)\n        UsdPhysics.MeshCollisionAPI.Apply(m.GetPrim()).CreateApproximationAttr('convexHull')\n    return m\n\ndef transform_pts(a,axis,center):\n    a=np.asarray(a)\n    if axis=='X': a=a[:,[2,0,1]]\n    elif axis=='Y': a=a[:,[0,2,1]]*np.array([1,1,-1])\n    return a+np.array(center)\n\ndef lathe(b,name,profile,material,center=(0,.02,0),n=96,axis='Z',collide=False):\n    # profile is a counter-clockwise cross section in (r,z), including inner return for annuli\n    pts=[]; norms=[]; uv=[]; faces=[]\n    P=len(profile)\n    for j,(r,z) in enumerate(profile):\n        prev=np.array(profile[(j-1)%P]); nex=np.array(profile[(j+1)%P]); d=nex-prev\n        nn=np.array([d[1],-d[0]]); nn=nn/(np.linalg.norm(nn)+1e-12)\n        for i in range(n):\n            a=2*pi*i/n; pts.append((r*cos(a),r*sin(a),z)); norms.append((nn[0]*cos(a),nn[0]*sin(a),nn[1])); uv.append((i/n,j/max(1,P-1)))\n    for j in range(P):\n        for i in range(n):\n            ni=(i+1)%n; nj=(j+1)%P\n            faces.append([j*n+i,j*n+ni,nj*n+ni,nj*n+i])\n    pts=transform_pts(pts,axis,center); norms=transform_pts(norms,axis,(0,0,0))\n    return mesh(b,name,pts,faces,material,norms,uv,collide)\n\ndef cyl(b,name,r,z0,z1,material,center=(0,.02,0),bevel=.001,n=96,axis='Z',collide=False):\n    e=min(bevel,(z1-z0)*.22,r*.22)\n    p=[(0,z0),(r-e,z0),(r,z0+e),(r,z1-e),(r-e,z1),(0,z1)]\n    return lathe(b,name,p,material,center,n,axis,collide)\n\ndef ring(b,name,ro,ri,z0,z1,material,center=(0,.02,0),bevel=.0007,n=96,axis='Z'):\n    e=min(bevel,(z1-z0)*.22,(ro-ri)*.22)\n    p=[(ri+e,z0),(ro-e,z0),(ro,z0+e),(ro,z1-e),(ro-e,z1),(ri+e,z1),(ri,z1-e),(ri,z0+e)]\n    return lathe(b,name,p,material,center,n,axis)\n\ndef tube(b,name,points,r,material,sides=14):\n    pts=[]; normals=[]; uv=[]; faces=[]; a=np.asarray(points)\n    for j,p in enumerate(a):\n        tangent=a[min(j+1,len(a)-1)]-a[max(0,j-1)]; tangent/=np.linalg.norm(tangent)\n        v=np.cross(tangent,np.array([0,0,1.]))\n        if np.linalg.norm(v)<.01: v=np.cross(tangent,[1,0,0])\n        v/=np.linalg.norm(v); w=np.cross(tangent,v)\n        for k in range(sides):\n            th=2*pi*k/sides; normal=cos(th)*v+sin(th)*w; pts.append(p+r*normal); normals.append(normal); uv.append((k/sides,j/(len(a)-1)))\n    for j in range(len(a)-1):\n        for k in range(sides): faces.append([j*sides+k,j*sides+(k+1)%sides,(j+1)*sides+(k+1)%sides,(j+1)*sides+k])\n    faces += [list(reversed(range(sides))),list(range((len(a)-1)*sides,len(a)*sides))]\n    return mesh(b,name,pts,faces,material,normals,uv)\n\ndef torus(b,name,R,r,z,material,center=(0,.02),n=120):\n    points=[(center[0]+R*cos(2*pi*i/n),center[1]+R*sin(2*pi*i/n),z) for i in range(n+1)]\n    return tube(b,name,points,r,material,14)\n\ndef plate(b,name,outline,z0,z1,material,bevel=.001):\n    # Convex plate; each bevel band and face has a separate normal.\n    outline=np.asarray(outline); cen=outline.mean(axis=0); d=outline-cen; lens=np.linalg.norm(d,axis=1)\n    inset=cen+d*np.maximum(0,1-bevel/lens)[:,None]\n    n=len(outline); pts=[]; faces=[]\n    # bottom, bottom bevel, wall, top bevel, top in a single mesh\n    for xy,z in [(inset,z0),(outline,z0+bevel),(outline,z1-bevel),(inset,z1)]:\n        pts += [(x,y,z) for x,y in xy]\n    for j in range(3):\n        for i in range(n): faces.append([j*n+i,j*n+(i+1)%n,(j+1)*n+(i+1)%n,(j+1)*n+i])\n    faces += [list(reversed(range(n))),list(range(3*n,4*n))]\n    return mesh(b,name,pts,faces,material)\n\ndef rounded_rect(hx,hy,cham=.02,center=(0,.02),rounding=.006):\n    # clipped corners with softened transitions\n    poly=[(-hx+cham,-hy),(hx-cham,-hy),(hx,-hy+cham),(hx,hy-cham),(hx-cham,hy),(-hx+cham,hy),(-hx,hy-cham),(-hx,-hy+cham)]\n    out=[]\n    for i,p in enumerate(poly):\n        p=np.array(p); a=np.array(poly[i-1]); c=np.array(poly[(i+1)%len(poly)])\n        v1=(a-p)/np.linalg.norm(a-p); v2=(c-p)/np.linalg.norm(c-p)\n        q1=p+v1*rounding; q2=p+v2*rounding\n        for t in np.linspace(0,1,6,endpoint=False):\n            q=(1-t)**2*q1+2*(1-t)*t*p+t*t*q2; out.append(tuple(q+center))\n    return out\n\n# LOWER CYLINDER: anodized main pressure tube, rolled seams and end caps.\ncyl(lower,'PressureTube',.0505,.060,.258,'BlackAnodized',bevel=.004)\nlathe(lower,'LowerRolledLip',[(0,.052),(.034,.052),(.044,.055),(.050,.063),(.0505,.073),(.048,.078),(0,.078)],'BlackAnodized')\nring(lower,'BottomEndSilverBand',.0437,.028,.048,.0575,'PolishedAluminum')\ntorus(lower,'BottomSealingBead',.043,.0018,.058,'BrightEdges')\ncyl(lower,'UpperWideCollar',.0535,.251,.301,'BlackAnodized',bevel=.003)\ntorus(lower,'UpperHousingSilverSeam',.0527,.0017,.258,'BrightEdges')\nring(lower,'MachinedShoulder',.0523,.037,.299,.309,'PolishedAluminum',bevel=.0018)\nring(lower,'ShoulderInnerSeal',.0437,.0355,.305,.311,'Rubber')\ncyl(lower,'AdjustableThreadCore',.0417,.307,.449,'ThreadedSteel',bevel=.0008)\n# Fine continuous external thread, not a stack of disconnected washers.\npts=[]; pitch=.00165; turns=(.444-.309)/pitch\nfor t in np.linspace(0,turns*2*pi,int(turns*60)):\n    pts.append((.04225*cos(t),.02+.04225*sin(t),.309+pitch*t/(2*pi)))\ntube(lower,'FineHelicalThread',pts,.00056,'ThreadedSteel',8)\n# Twin preload locking rings with silver witness lines and spanner recesses.\nring(lower,'LowerPreloadLockRing',.0505,.041,.408,.420,'BlackAnodized',bevel=.0011)\nring(lower,'LockRingSilverRim',.0512,.043,.418,.421,'PolishedAluminum')\nring(lower,'UpperPreloadAdjuster',.0538,.041,.422,.440,'BlackAnodized',bevel=.0015)\nring(lower,'AdjusterHighlightRim',.0545,.043,.425,.428,'PolishedAluminum')\nring(lower,'AdjusterTopRim',.0533,.039,.439,.442,'BrightEdges')\nfor k in range(18):\n    a=2*pi*k/18; c=(.0538*cos(a),.02+.0538*sin(a),.434)\n    # round machined dimples around the preload ring\n    points=[]\n    for z,r in [(-.0015,.0025),(.0015,.0025)]:\n        pass\n    # dimples represented by small bright countersunk steel dots on radial face\n    rr=.00265\n    pts2=[]; faces=[]\n    tangent=np.array([-sin(a),cos(a),0]); outward=np.array([cos(a),sin(a),0]); up=np.array([0,0,1]); c=np.array(c)\n    for j,(radius,offset) in enumerate([(rr,0),(rr*.63,.00045),(0,.0001)]):\n        for i in range(16):\n            th=2*pi*i/16; pts2.append(c+outward*offset+radius*(cos(th)*tangent+sin(th)*up))\n    for j in range(2):\n        for i in range(16): faces.append([j*16+i,j*16+(i+1)%16,(j+1)*16+(i+1)%16,(j+1)*16+i])\n    mesh(lower,'AdjusterDimple_%02d'%k,pts2,faces,'PolishedAluminum')\n# Broad lower spring pan. Black centre, bright turned outside, yellow lower closed end.\nlathe(lower,'LowerSpringPerch',[(.018,.441),(.048,.441),(.058,.450),(.059,.457),(.058,.465),(.051,.467),(.018,.467)],'SatinAluminum')\nring(lower,'PerchRaisedPolishedLip',.0592,.0551,.458,.465,'BrightEdges')\nring(lower,'PerchRubberPad',.0545,.027,.464,.469,'Rubber')\nring(lower,'PerchInnerGuide',.0335,.017,.465,.483,'PolishedAluminum')\n# Visible dark sleeve at the rod entry.\ncyl(lower,'RodGuideHousing',.0275,.447,.493,'BlackAnodized',bevel=.002)\nring(lower,'RodWiper',.028,.0148,.489,.495,'Rubber')\n\n# U-shaped lower clevis, with real transverse bores in both ears.\nring(lower,'ClevisCrown',.041,.026,.042,.058,'SatinAluminum',bevel=.002)\nfor side in [-1,1]:\n    x0=side*.029-.0055; x1=side*.029+.0055\n    pts=[]; faces=[]; N=96\n    for x,inner in [(x0,False),(x1,False),(x0,True),(x1,True)]:\n        for i in range(N):\n            a=2*pi*i/N; dy=cos(a); dz=sin(a)\n            if inner: rr=.0083\n            elif dz<0: rr=.023\n            else: rr=min(.023/(abs(dy)+1e-9),.035/(dz+1e-9))\n            pts.append((x,.02+rr*dy,.023+rr*dz))\n    for i in range(N):\n        ni=(i+1)%N\n        faces.extend([[i,ni,N+ni,N+i],[2*N+i,3*N+i,3*N+ni,2*N+ni],[i,2*N+i,2*N+ni,ni],[N+i,N+ni,3*N+ni,3*N+i]])\n    mesh(lower,'ClevisEar_'+('Left' if side<0 else 'Right'),pts,faces,'SatinAluminum')\n# Pin through the clevis and exposed hex head/washer.\ncyl(lower,'ClevisCrossPin',.0065,-.038,.038,'ChromeSteel',center=(0,.02,.023),axis='X',bevel=.0005,n=48)\nring(lower,'ClevisPinWasher',.0103,.0062,.0345,.037,'PolishedAluminum',center=(0,.02,.023),axis='X')\ncyl(lower,'ClevisPinHexHead',.009,.037,.042,'ChromeSteel',center=(0,.02,.023),axis='X',bevel=.0008,n=6)\ncyl(lower,'ClevisBoltEnd',.0045,.042,.0425,'RecessDark',center=(0,.02,.023),axis='X',bevel=.0002,n=6)\n\n# Silver support webs: two parallel angular plates connect the reservoir to the damper.\n# Convex structural outline, with a large circular damper clamp on its right end.\nfor k,z in enumerate([.319,.342]):\n    poly=[(-.077,-.090),(-.063,-.108),(.051,-.044),(.049,.051),(-.020,.061),(-.077,-.024)]\n    # Keep the specified canonical Y envelope.\n    poly=[(x,max(y,-.1038)) for x,y in poly]\n    plate(lower,'ReservoirSupportWeb_%d'%k,poly,z,z+.007,'SatinAluminum',.001)\n    ring(lower,'SupportClampBand_%d'%k,.0465,.0418,z-.001,z+.009,'PolishedAluminum')\n# Front web has a visible through-fastener on its point.\nfor k,(x,y,z) in enumerate([(.038,-.035,.332),(-.062,-.070,.332)]):\n    cyl(lower,'SupportFastener_%d'%k,.005,z-.007,z+.005,'ChromeSteel',center=(x,y,0),n=6,bevel=.0005)\n# Lower reservoir connector block and band.\npoly=[(-.079,-.097),(-.027,-.097),(.025,-.017),(.019,.033),(-.024,.033),(-.077,-.028)]\nplate(lower,'ReservoirLowerBridge',poly,.264,.282,'BlackAnodized',.003)\nring(lower,'ReservoirLowerSaddle',.0357,.030,.269,.282,'PolishedAluminum',center=(-.052,-.070,0))\n\n# SIDE RESERVOIR: muted metallic can, silver valve cap, radial vent/fastener recesses.\nrc=(-.052,-.070,0)\ncyl(res,'ReservoirCanister',.0337,.274,.420,'ReservoirAnodized',center=rc,bevel=.0028)\nring(res,'ReservoirLowerBand',.0342,.031,.289,.294,'SatinAluminum',center=rc)\nring(res,'ReservoirDoubleScribe',.0340,.032,.299,.3005,'PolishedAluminum',center=rc)\ncyl(res,'ReservoirBottomCap',.0323,.255,.278,'BlackAnodized',center=rc,bevel=.002)\ncyl(res,'CompressionAdjuster',.0215,.242,.258,'BlackAnodized',center=rc,bevel=.002)\nfor k in range(10):\n    a=2*pi*k/10; cyl(res,'AdjusterGrip_%02d'%k,.0037,.241,.256,'Rubber',center=(-.052+.0215*cos(a),-.070+.0215*sin(a),0),n=12,bevel=.001)\ncyl(res,'ReservoirTopSleeve',.03415,.403,.449,'SatinAluminum',center=rc,bevel=.001)\ntorus(res,'CapSleeveSeam',.0340,.00055,.426,'ReservoirAnodized',center=rc[:2])\nring(res,'ReservoirCapRim',.034,.0278,.446,.462,'PolishedAluminum',center=rc,bevel=.0012)\ncyl(res,'ReservoirValveDisk',.0274,.449,.457,'SatinAluminum',center=rc,bevel=.0007)\ntorus(res,'ValveCapInnerBead',.0268,.00065,.458,'BrightEdges',center=rc[:2])\nfor k in range(8):\n    a=2*pi*k/8; x=rc[0]+.0187*cos(a); y=rc[1]+.0187*sin(a)\n    cyl(res,'CapHole_%02d'%k,.00315,.4569,.4576,'RecessDark',center=(x,y,0),n=24,bevel=.0004)\n    torus(res,'CapHoleRim_%02d'%k,.00325,.0003,.4576,'ChromeSteel',center=(x,y),n=24)\ncyl(res,'CentralValveBoss',.0092,.457,.463,'PolishedAluminum',center=rc,n=48,bevel=.001)\ncyl(res,'CentralValveHex',.0074,.463,.469,'BrightEdges',center=rc,n=6,bevel=.0006)\ncyl(res,'CentralValveDimple',.0022,.469,.4693,'PocketSurface',center=rc,n=24,bevel=.0001)\n\n# UPPER MOVING ASSEMBLY: chrome shaft and segmented elastomer bump stop.\ncyl(upper,'ChromePistonRod',.0148,.415,.754,'ChromeSteel',bevel=.0006)\ncyl(upper,'UpperBumpStopCore',.0195,.575,.735,'Rubber',bevel=.003)\nfor k in range(5):\n    z=.586+k*.028\n    lathe(upper,'BumpStopLobe_%02d'%k,[(.0148,z),(.021,z),(.024,z+.009),(.024,z+.016),(.020,z+.024),(.0148,z+.024)],'Rubber')\n# upper spring pan and black domed bearing mount\nlathe(upper,'UpperSpringSeat',[(.015,.729),(.048,.729),(.054,.733),(.055,.741),(.051,.748),(.015,.748)],'BlackAnodized')\nring(upper,'UpperSeatGoldEdge',.0539,.048,.729,.733,'YellowPowderCoat')\ntorus(upper,'UpperSeatSilverRing',.054,.0009,.744,'ChromeSteel')\nlathe(upper,'TopMountRubberDome',[(0,.745),(.044,.745),(.055,.751),(.056,.762),(.050,.771),(.043,.777),(0,.779)],'Rubber')\nring(upper,'TopMountBearingRing',.051,.024,.771,.780,'PolishedAluminum',bevel=.002)\ncyl(upper,'TopMountNeck',.031,.775,.788,'ChromeSteel',bevel=.001)\n# layered stamped mounting plate\noutline=rounded_rect(.080,.079,.026,rounding=.007)\nplate(upper,'TopPlateUnderlay',outline,.780,.785,'SatinAluminum',.0015)\noutline=rounded_rect(.083,.081,.024,rounding=.005)\nplate(upper,'TopPlateGasket',outline,.785,.7875,'Rubber',.0007)\noutline=rounded_rect(.0866024531424,.08417406261,.026,rounding=.006)\nplate(upper,'TopMountingPlate',outline,.787,.8005,'PlateSurface',.0022)\n# Three pressed shallow circular pockets, with highlighted partial crescent lips.\nfor k,(x,y,r,start,end) in enumerate([(-.059,-.010,.023,pi*.15,pi*1.32),(-.037,-.049,.020,pi*.1,pi*1.15),(.004,.087,.022,pi*1.02,pi*1.94)]):\n    # A silver slightly inset-looking circular patch and small curved pressed edge.\n    # Partial arcs stop at the clipping of the mounting plate.\n    points=[]\n    for a in np.linspace(start,end,90): points.append((x+r*cos(a),y+r*sin(a),.80045))\n    tube(upper,'PressedPocketCrescent_%d'%k,points,.00058,'PocketSurface',10)\n    points2=[(p[0],p[1],p[2]+.00015) for p in points]\n    # narrow highlight catches the rounded edge\n    tube(upper,'PressedPocketLip_%d'%k,points2,.00022,'BrightEdges',8)\n# Dark keyhole-shaped opening close to the rear-left corner, with a chamfer highlight.\nslot=(-.041,.060)\ncyl(upper,'KeyholeLarge',.0058,.8005,.8008,'RecessDark',center=(slot[0],slot[1],0),n=48,bevel=.0001)\ncyl(upper,'KeyholeSmall',.0040,.8005,.8008,'RecessDark',center=(slot[0]+.0072,slot[1]-.0030,0),n=40,bevel=.0001)\n# body-mount bolts, small hex heads and washers. Highest points fix the nominal height.\nfor k,(x,y) in enumerate([(-.060,.060),(.061,.056),(.062,-.037),(-.026,-.055)]):\n    ring(upper,'TopBoltWasher_%d'%k,.0050,.002,.8005,.8017,'BrightEdges',center=(x,y,0),bevel=.0002,n=40)\n    cyl(upper,'TopBoltHex_%d'%k,.00385,.8017,.805925440043211,'PolishedAluminum',center=(x,y,0),bevel=.0006,n=6)\n    cyl(upper,'TopBoltSocket_%d'%k,.00155,.8058,.805925440043211,'PocketSurface',center=(x,y,0),bevel=.00002,n=6)\n\n# Yellow steel compression spring, 7.4 working turns and nearly closed end turns.\n# It is a compliant component; physical spring rate is assigned to the slider drive.\nspring_points=[]\nturns=8.0\nfor u in np.linspace(0,1,1100):\n    t=2*pi*turns*u+.6\n    # Smoothly flattened end pitch for correct seating on the pans.\n    f=u\n    if u<.085: f=(u*u/(.17))*.55 + u*.45\n    elif u>.915:\n        v=1-u; f=1-((v*v/.17)*.55+v*.45)\n    # Reparameterized height with closed-ish coils at both ends.\n    # cosine easing locally without changing end position\n    def C(v):\n        if v<.10: return .38*v+3.1*v*v\n        if v>.90: return 1-(.38*(1-v)+3.1*(1-v)**2)\n        return .069+(v-.10)*1.0775\n    z=.473+(.725-.473)*C(u)\n    spring_points.append((.0498*cos(t),.02+.0498*sin(t),z))\ntube(lower,'YellowCompressionSpring',spring_points,.0055,'YellowPowderCoat',18)\n# ground end coils slightly denser and level at both ends\nfor name,z in [('LowerClosedEndCoil',.4717),('UpperClosedEndCoil',.7263)]:\n    torus(lower,name,.0498,.00535,z,'YellowPowderCoat')\nspring=stage.GetPrimAtPath('/Coilover/DamperBody/Visuals/YellowCompressionSpring')\nspring.SetMetadata('documentation','Rest-shape compliant spring, 8 turns, steel wire with yellow powdercoat. Slider linear drive models its axial force; not a separate rigid link.')\n\n# Collision proxies: separate simple convex parts, never a concave dynamic mesh.\ncyl(lower,'MainBodyCollision',.050,.055,.310,None,n=32,collide=True)\ncyl(lower,'ThreadedNeckCollision',.0415,.306,.449,None,n=32,collide=True)\ncyl(lower,'LowerPerchCollision',.057,.447,.466,None,n=32,collide=True)\ncyl(upper,'ShaftCollision',.0145,.415,.750,None,n=20,collide=True)\ncyl(upper,'UpperMountCollision',.052,.733,.782,None,n=32,collide=True)\ncyl(upper,'TopPlateCollision',.080,.784,.8005,None,n=12,collide=True)\ncyl(res,'ReservoirCollision',.0335,.254,.462,None,center=rc,n=32,collide=True)\n# Physical material is bound to collision geometry.\npm=UsdShade.Material.Define(stage,'/Coilover/Looks/ContactMaterial')\npa=UsdPhysics.MaterialAPI.Apply(pm.GetPrim()); pa.CreateStaticFrictionAttr(.6); pa.CreateDynamicFrictionAttr(.45); pa.CreateRestitutionAttr(.0)\nfor p in stage.Traverse():\n    if p.HasAPI(UsdPhysics.CollisionAPI):\n        UsdShade.MaterialBindingAPI.Apply(p).Bind(pm,materialPurpose='physics')\n\n# Mechanical connections. All joint frames coincide in world coordinates at rest.\nUsdGeom.Scope.Define(stage,'/Coilover/Joints')\ndef frame(j,b0,b1,anchor):\n    p0,o0=bodies[b0]; p1,o1=bodies[b1]\n    j.CreateBody0Rel().SetTargets([p0]); j.CreateBody1Rel().SetTargets([p1])\n    j.CreateLocalPos0Attr(Gf.Vec3f(*(np.array(anchor)-o0))); j.CreateLocalPos1Attr(Gf.Vec3f(*(np.array(anchor)-o1)))\n    j.CreateLocalRot0Attr(Gf.Quatf(1,0,0,0)); j.CreateLocalRot1Attr(Gf.Quatf(1,0,0,0))\n    j.CreateJointEnabledAttr(True); j.CreateCollisionEnabledAttr(False)\nslider=UsdPhysics.PrismaticJoint.Define(stage,'/Coilover/Joints/DamperAxialTravel')\nframe(slider,lower,upper,(0,.02,.493)); slider.CreateAxisAttr('Z'); slider.CreateLowerLimitAttr(-.105); slider.CreateUpperLimitAttr(.010)\nslider.GetPrim().SetMetadata('documentation','Telescoping damper: 105 mm compression and 10 mm extension from shown installed position. Rotation and lateral movement are constrained. Linear spring and viscous damper resist axial displacement.')\ndrive=UsdPhysics.DriveAPI.Apply(slider.GetPrim(),'linear'); drive.CreateTypeAttr('force'); drive.CreateStiffnessAttr(28000.0); drive.CreateDampingAttr(1800.0); drive.CreateMaxForceAttr(20000.0); drive.CreateTargetPositionAttr(0.0); drive.CreateTargetVelocityAttr(0.0)\nfix=UsdPhysics.FixedJoint.Define(stage,'/Coilover/Joints/ReservoirBracketAttachment'); frame(fix,lower,res,(-.041,-.041,.326))\nfix.GetPrim().SetMetadata('documentation','Bolted reservoir support brackets lock the reservoir to the lower body.')\n# Scene-level SI gravity, no floor, lights or camera in deliverable.\nscene=UsdPhysics.Scene.Define(stage,'/Coilover/PhysicsScene'); scene.CreateGravityDirectionAttr(Gf.Vec3f(0,0,-1)); scene.CreateGravityMagnitudeAttr(9.81)\n# Informative, machine-readable engineering metadata.\nroot.CreateAttribute('asset:nominalDimensions',Sdf.ValueTypeNames.Double3).Set(Gf.Vec3d(.1732049062848091,.2083481252193451,.805925440043211))\nroot.CreateAttribute('asset:category',Sdf.ValueTypeNames.String).Set('automotive suspension coilover shock absorber')\nroot.CreateAttribute('asset:partCount',Sdf.ValueTypeNames.Int).Set(3)\nroot.CreateAttribute('asset:linearStrokeMetres',Sdf.ValueTypeNames.Double).Set(.115)\nstage.GetRootLayer().Save()\nprint('Saved',OUT,'prims',len(list(stage.Traverse())))\ncache=UsdGeom.BBoxCache(Usd.TimeCode.Default(),['default','render'])\nprint('Bounds',cache.ComputeWorldBound(root).ComputeAlignedRange())\n"
+          }
+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_l4brECr9LpaJMo09b9ZozED1|fc_03cfa430d65a188b016ad816a2ecb087d1bf93111158e4a958",
+            "content": "Successfully wrote to /tmp/build_asset.py",
+            "extra": {
+              "tool_name": "write",
+              "is_error": false
+            }
+          }
+        ]
+      },
+      "metrics": {
+        "prompt_tokens": 9215,
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+        "cached_tokens": 8724,
+        "extra": {
+          "cache_write_tokens": 488,
+          "reasoning_tokens": 1034,
+          "pi_total_tokens": 18543
+        }
+      },
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+      "extra": {
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+    {
+      "step_id": 12,
+      "timestamp": "2026-10-21T01:36:31.100Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
+      "tool_calls": [
+        {
+          "tool_call_id": "call_12YHtfRHa1ukjTK72f1DgwsE|fc_03cfa430d65a188b016ad8171e839487d193c379a9faabe86c",
+          "function_name": "bash",
+          "arguments": {
+            "command": "python /tmp/build_asset.py",
+            "timeout": 120
+          }
+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_12YHtfRHa1ukjTK72f1DgwsE|fc_03cfa430d65a188b016ad8171e839487d193c379a9faabe86c",
+            "content": "Saved /output/asset.usd prims 179\nBounds [(-0.0877000018954277, -0.10569999694824218, 0)...(0.08660244941711426, 0.10417405933141709, 0.8059254378080368)]",
+            "extra": {
+              "tool_name": "bash",
+              "is_error": false
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+        ]
+      },
+      "metrics": {
+        "prompt_tokens": 18561,
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+        "cached_tokens": 9212,
+        "extra": {
+          "cache_write_tokens": 9346,
+          "reasoning_tokens": 127,
+          "pi_total_tokens": 18717
+        }
+      },
+      "llm_call_count": 1,
+      "extra": {
+        "pi_event_id": "513ec3fd",
+        "pi_parent_id": "bb46ef0b",
+        "provider": "harbor-endpoint",
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+        "stop_reason": "toolUse",
+        "raw_stop_reason": "completed"
+      }
+    },
+    {
+      "step_id": 13,
+      "timestamp": "2026-10-21T01:36:45.817Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
+      "tool_calls": [
+        {
+          "tool_call_id": "call_pLT6ZHHt6da5CEZa3MCAq0yT|fc_03cfa430d65a188b016ad8172d0a0887d186e6750d065cd8fd",
+          "function_name": "mcp",
+          "arguments": {
+            "tool": "benchmark_validate_candidate",
+            "args": {
+              "request_id": "check-1"
+            }
+          }
+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_pLT6ZHHt6da5CEZa3MCAq0yT|fc_03cfa430d65a188b016ad8172d0a0887d186e6750d065cd8fd",
+            "content": "{\"request_id\":\"check-1\",\"snapshot_sha256\":\"59c944a882d8fabd0c22cb53418fd0b84dafa9546f0a1eef23b1bedd93e440e6\",\"validation_calls_used\":1,\"validation_calls_remaining\":4,\"feedback\":{\"schema_version\":\"simready-validator-feedback-v1\",\"snapshot_sha256\":\"59c944a882d8fabd0c22cb53418fd0b84dafa9546f0a1eef23b1bedd93e440e6\",\"reward\":84.67391304347827,\"simready\":{\"schema\":\"simready-validator-score-v1\",\"policy_id\":\"NVIDIA-Robotics-Prop-4.0.0-mandatory-95-plus-5-v1\",\"status\":\"scored\",\"score_percent\":84.67391304347827,\"base_credit_percent\":84.67391304347827,\"completion_bonus\":0,\"passed_count\":41,\"failed_count\":5,\"unknown_count\":0,\"applicable_count\":46,\"official_conformance\":{\"profile\":{\"id\":\"Robotics-Prop\",\"version\":\"4.0.0\"},\"passed\":false,\"filtered\":false},\"checks\":[{\"requirement_id\":\"com.nvidia.simready.HI.010\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.004\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.005\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.007\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.008\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.007\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.010\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.COL.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.COL.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.COL.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.MAT.001\",\"status\":\"fail\",\"finding_count\":13},{\"requirement_id\":\"com.nvidia.simready.SL.QCODE.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.TIME.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SR.002\",\"status\":\"fail\",\"finding_count\":1},{\"requirement_id\":\"com.nvidia.simready.SR.004\",\"status\":\"fail\",\"finding_count\":1},{\"requirement_id\":\"com.nvidia.simready.UN.006\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.UN.007\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VG.008\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VG.025\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VG.MESH.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.MAT.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.PS.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.TEX.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.TEX.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.AA.001\",\"status\":\"fail\",\"finding_count\":1},{\"requirement_id\":\"com.nvidia.usd.AA.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.HI.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.HI.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.HI.004\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.RB.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.RB.005\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.RB.009\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.RB.COL.004\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VG.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VG.014\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VG.027\",\"status\":\"fail\",\"finding_count\":26},{\"requirement_id\":\"com.nvidia.usd.VG.028\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VG.029\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VM.BIND.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VM.PS.00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-n -m 20 -M 240 --max-columns-preview -F -e <rule_id> -e <candidate_prim> <file_path>; use sed -n <start>,<end>p for nearby lines\",\"redactions\":\"private host paths and credential patterns only; original diagnostic wording, suggestions and candidate USD sites retained\",\"file_available\":true,\"validation_calls_consumed\":0}},\"status\":\"completed\"}",
+            "extra": {
+              "tool_name": "mcp",
+              "is_error": false
+            }
+          }
+        ]
+      },
+      "metrics": {
+        "prompt_tokens": 18795,
+        "completion_tokens": 547,
+        "cached_tokens": 18558,
+        "extra": {
+          "cache_write_tokens": 234,
+          "reasoning_tokens": 516,
+          "pi_total_tokens": 19342
+        }
+      },
+      "llm_call_count": 1,
+      "extra": {
+        "pi_event_id": "3db31613",
+        "pi_parent_id": "e0c61535",
+        "provider": "harbor-endpoint",
+        "api": "openai-responses",
+        "response_id": "resp_03cfa430d65a188b016ad81721d7ec87d1affd56eba556a855",
+        "response_model": null,
+        "stop_reason": "toolUse",
+        "raw_stop_reason": "completed"
+      }
+    },
+    {
+      "step_id": 14,
+      "timestamp": "2026-10-21T01:36:55.021Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
+      "tool_calls": [
+        {
+          "tool_call_id": "call_02iWWhz8U0iE2tONCu1QwUCG|fc_03cfa430d65a188b016ad81734928487d1885fdd4c086171d1",
+          "function_name": "bash",
+          "arguments": {
+            "command": "python - <<'PY'\nimport json\np='/tmp/simready-validation-reports/838e030262256b6a860ffa1fd968de3e9cebee2de876ebb7d26836697ec511ab.json'\nd=json.load(open(p)); print(type(d)); print(d.keys())\nPY\nrg -n -m 30 -M 350 'SL.MAT.001|SR.002|SR.004|AA.001|VG.027' /tmp/simready-validation-reports/838e030262256b6a860ffa1fd968de3e9cebee2de876ebb7d26836697ec511ab.json",
+            "timeout": 60
+          }
+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_02iWWhz8U0iE2tONCu1QwUCG|fc_03cfa430d65a188b016ad81734928487d1885fdd4c086171d1",
+            "content": "<class 'dict'>\ndict_keys(['asset_path', 'asset_sha256', 'engine_dispatch_completed', 'features_summary', 'infos', 'infrastructure_errors', 'inventory', 'issues', 'logs', 'outcome', 'passed', 'profile_id', 'profile_version', 'rule_execution', 'soft_issues', 'warnings'])\n37:      \"failing requirements\": \"['com.nvidia.usd.AA.001', 'com.nvidia.usd.VG.027']\",\n39:[Omitted long matching line]\n138:      \"failing requirements\": \"['com.nvidia.simready.SL.MAT.001']\",\n140:[Omitted long matching line]\n152:      \"failing requirements\": \"['com.nvidia.usd.AA.001']\",\n154:      \"requirement_messages\": \"{\\\"com.nvidia.usd.AA.001\\\": [\\\"Dependent Reference \\\\\\\"asset.usd\\\\\\\" should begin with \\\\\\\"./\\\\\\\" or \\\\\\\"../\\\\\\\".\\\"]}\",\n160:      \"failing requirements\": \"['com.nvidia.simready.SR.002', 'com.nvidia.simready.SR.004', 'com.nvidia.usd.AA.001']\",\n162:[Omitted long matching line]\n304:        \"code\": \"com.nvidia.simready.SL.MAT.001\",\n319:        \"code\": \"com.nvidia.simready.SR.002\",\n324:        \"code\": \"com.nvidia.simready.SR.004\",\n374:        \"code\": \"com.nvidia.usd.AA.001\",\n429:        \"code\": \"com.nvidia.usd.VG.027\",\n899:      \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n910:      \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n921:      \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n932:      \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n943:      \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n954:      \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n965:      \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n976:      \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n987:      \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n998:      \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n1009:      \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n1020:      \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n1031:      \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n1042:      \"rule_id\": \"com.nvidia.simready.SR.004\",\n1053:      \"rule_id\": \"com.nvidia.usd.AA.001\",\n1064:      \"rule_id\": \"com.nvidia.simready.SR.002\",\n1075:      \"rule_id\": \"com.nvidia.usd.VG.027\",",
+            "extra": {
+              "tool_name": "bash",
+              "is_error": false
+            }
+          }
+        ]
+      },
+      "metrics": {
+        "prompt_tokens": 20966,
+        "completion_tokens": 167,
+        "cached_tokens": 18792,
+        "extra": {
+          "cache_write_tokens": 2171,
+          "reasoning_tokens": 0,
+          "pi_total_tokens": 21133
+        }
+      },
+      "llm_call_count": 1,
+      "extra": {
+        "pi_event_id": "f4a0e1c3",
+        "pi_parent_id": "b08cad0d",
+        "provider": "harbor-endpoint",
+        "api": "openai-responses",
+        "response_id": "resp_03cfa430d65a188b016ad81732a10887d1b851b5fa43023144",
+        "response_model": null,
+        "stop_reason": "toolUse",
+        "raw_stop_reason": "completed"
+      }
+    },
+    {
+      "step_id": 15,
+      "timestamp": "2026-10-21T01:36:58.331Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
+      "tool_calls": [
+        {
+          "tool_call_id": "call_73Th8R6AM9ATEorauZGi5LeZ|fc_03cfa430d65a188b016ad81738f10087d19652b296c9b8e813",
+          "function_name": "bash",
+          "arguments": {
+            "command": "python - <<'PY'\nimport json\np='/tmp/simready-validation-reports/838e030262256b6a860ffa1fd968de3e9cebee2de876ebb7d26836697ec511ab.json'\nd=json.load(open(p))\nfor i in d['issues']: print(json.dumps(i,indent=2))\nPY",
+            "timeout": 60
+          }
+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_73Th8R6AM9ATEorauZGi5LeZ|fc_03cfa430d65a188b016ad81738f10087d19652b296c9b8e813",
+            "content": "{\n  \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n  \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/Looks/YellowPowderCoat)\",\n  \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n  \"prim_path\": \"/Coilover/Looks/YellowPowderCoat\",\n  \"requirement_version\": \"0.1.0\",\n  \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n  \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n  \"severity\": \"failure\",\n  \"suggestions\": []\n}\n{\n  \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n  \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/Looks/BlackAnodized)\",\n  \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n  \"prim_path\": \"/Coilover/Looks/BlackAnodized\",\n  \"requirement_version\": \"0.1.0\",\n  \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n  \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n  \"severity\": \"failure\",\n  \"suggestions\": []\n}\n{\n  \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n  \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/Looks/ThreadedSteel)\",\n  \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n  \"prim_path\": \"/Coilover/Looks/ThreadedSteel\",\n  \"requirement_version\": \"0.1.0\",\n  \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n  \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n  \"severity\": \"failure\",\n  \"suggestions\": []\n}\n{\n  \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n  \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/Looks/PolishedAluminum)\",\n  \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n  \"prim_path\": \"/Coilover/Looks/PolishedAluminum\",\n  \"requirement_version\": \"0.1.0\",\n  \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n  \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n  \"severity\": \"failure\",\n  \"suggestions\": []\n}\n{\n  \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n  \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/Looks/SatinAluminum)\",\n  \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n  \"prim_path\": \"/Coilover/Looks/SatinAluminum\",\n  \"requirement_version\": \"0.1.0\",\n  \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n  \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n  \"severity\": \"failure\",\n  \"suggestions\": []\n}\n{\n  \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n  \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/Looks/ReservoirAnodized)\",\n  \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n  \"prim_path\": \"/Coilover/Looks/ReservoirAnodized\",\n  \"requirement_version\": \"0.1.0\",\n  \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n  \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n  \"severity\": \"failure\",\n  \"suggestions\": []\n}\n{\n  \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n  \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/Looks/ChromeSteel)\",\n  \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n  \"prim_path\": \"/Coilover/Looks/ChromeSteel\",\n  \"requirement_version\": \"0.1.0\",\n  \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n  \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n  \"severity\": \"failure\",\n  \"suggestions\": []\n}\n{\n  \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n  \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/Looks/Rubber)\",\n  \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n  \"prim_path\": \"/Coilover/Looks/Rubber\",\n  \"requirement_version\": \"0.1.0\",\n  \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n  \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n  \"severity\": \"failure\",\n  \"suggestions\": []\n}\n{\n  \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n  \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/Looks/RecessDark)\",\n  \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n  \"prim_path\": \"/Coilover/Looks/RecessDark\",\n  \"requirement_version\": \"0.1.0\",\n  \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n  \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n  \"severity\": \"failure\",\n  \"suggestions\": []\n}\n{\n  \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n  \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/Looks/BrightEdges)\",\n  \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n  \"prim_path\": \"/Coilover/Looks/BrightEdges\",\n  \"requirement_version\": \"0.1.0\",\n  \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n  \"rule_id\": 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 \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n  \"prim_path\": \"/Coilover/Looks/PocketSurface\",\n  \"requirement_version\": \"0.1.0\",\n  \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n  \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n  \"severity\": \"failure\",\n  \"suggestions\": []\n}\n{\n  \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n  \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/Looks/ContactMaterial)\",\n  \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n  \"prim_path\": \"/Coilover/Looks/ContactMaterial\",\n  \"requirement_version\": \"0.1.0\",\n  \"rule\": 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+            "content": "from pxr import Usd,UsdGeom,UsdShade, Gf\nimport numpy as np, math, os, sys, time\nfrom PIL import Image\nW=int(os.environ.get('RES','900')); H=W\nstage=Usd.Stage.Open('/output/asset.usd')\n# Perspective camera, matching the reference's elevated three-quarter studio view.\neye=np.array([1.10,-1.75,1.60]); target=np.array([-.008,.009,.412])\nif 'SIDE' in os.environ:\n a=float(os.environ['SIDE']); eye=np.array([2.0*math.cos(a),2.0*math.sin(a),1.60])\nfwd=(target-eye); fwd/=np.linalg.norm(fwd); right=np.cross(fwd,[0,0,1]);right/=np.linalg.norm(right); up=np.cross(right,fwd)\nR=np.array([right,up,-fwd])\nscale=1.0/math.tan(math.radians(24)/2)\nbackground=np.array([.029,.027,.027])\nimg=np.ones((H,W,3),np.float32)*background\nzbuf=np.ones((H,W),np.float32)*1e6\n# shadow plane soft studio contact ellipse\nxx,yy=np.meshgrid(np.arange(W),np.arange(H)); sh=np.exp(-(((xx-W*.515)/(W*.12))**2+((yy-H*.92)/(H*.03))**2)*2)\nimg*=1-sh[:,:,None]*.5\nlights=[(np.array([-.7,-.8,1.5]),.70),(np.array([1.5,.7,.8]),.37),(np.array([.3,-1.2,.2]),.16)]\nlights=[(v/np.linalg.norm(v),s) for v,s in lights]\ncount=0; start=time.time()\n# shade normals and positions (linear RGB)\ndef shade(positions,normals,col,metal,rough):\n    N=normals/(np.linalg.norm(normals,axis=1)[:,None]+1e-10)\n    V=eye-positions; V/=np.linalg.norm(V,axis=1)[:,None]\n    ndv=np.maximum(np.sum(N*V,axis=1),0)\n    diff=np.ones(len(N))*.28\n    spec=np.zeros(len(N))\n    for L,power in lights:\n        ndl=np.maximum(N@L,0); diff+=ndl*power\n        hv=V+L; hv/=np.linalg.norm(hv,axis=1)[:,None]\n        nh=np.maximum(np.sum(N*hv,axis=1),0)\n        spec+=nh**max(8,2/(rough*rough+.02))*power*.5\n    # Smooth strips and a large top softbox reflected in the studio metal.\n    ref=2*np.sum(N*V,axis=1)[:,None]*N-V\n    strip=(np.exp(-((ref[:,0]+.50)/(.16+rough*.3))**2)*np.exp(-((ref[:,2]-.35)/.95)**4)*.6+\n           np.exp(-((ref[:,0]-.65)/(.12+rough*.3))**2)*.32+\n           np.maximum(ref[:,2],0)**4*.6)\n    env=.055+strip\n    col=np.asarray(col)\n    f0=(1-metal)*.04+metal*col\n    rgb=col[None,:]*diff[:,None]*(1-metal*.65)+f0[None,:]*env[:,None]*metal+spec[:,None]*(.35+f0[None,:]*.65)\n    return np.minimum(rgb,1.6)\n\nfor p in stage.Traverse():\n if not p.IsA(UsdGeom.Mesh): continue\n m=UsdGeom.Mesh(p)\n if UsdGeom.Imageable(p).ComputeVisibility()=='invisible': continue\n pts=np.asarray(m.GetPointsAttr().Get(),dtype=float)\n xf=UsdGeom.XformCache().GetLocalToWorldTransform(p)\n # Gf row convention\n mx=np.asarray(xf); world=(np.c_[pts,np.ones(len(pts))]@mx)[:,:3]\n cam=(world-eye)@R.T; dep=-cam[:,2]\n screen=np.c_[W*.5+cam[:,0]/dep*(W*.5*scale), H*.5-cam[:,1]/dep*(H*.5*scale),dep]\n mat,_=UsdShade.MaterialBindingAPI(p).ComputeBoundMaterial()\n shd=UsdShade.Shader(stage.GetPrimAtPath(mat.GetPath().AppendChild('PreviewSurface')))\n col=shd.GetInput('diffuseColor').Get(); rough=shd.GetInput('roughness').Get(); metal=shd.GetInput('metallic').Get()\n ns=np.asarray(m.GetNormalsAttr().Get(),float); interp=m.GetNormalsInterpolation()\n normals=(ns@mx[:3,:3])\n if interp=='vertex': color=shade(world,normals,col,metal,rough)\n faces=np.array(m.GetFaceVertexIndicesAttr().Get()); sizes=np.array(m.GetFaceVertexCountsAttr().Get()); off=0\n for nf in sizes:\n  ids=faces[off:off+nf]\n  if interp!='vertex': colors=shade(world[ids],normals[off:off+nf],col,metal,rough)\n  else: colors=color[ids]\n  off+=nf\n  for k in range(1,nf-1):\n   ids3=ids[[0,k,k+1]]; scr=screen[ids3]; c3=colors[[0,k,k+1]]\n   # backface check in screen space. USD outward normals make CCW screen appear negative.\n   area=(scr[1,0]-scr[0,0])*(scr[2,1]-scr[0,1])-(scr[1,1]-scr[0,1])*(scr[2,0]-scr[0,0])\n   if area>=-1e-9: continue\n   xmin=max(0,int(np.floor(scr[:,0].min())));xmax=min(W-1,int(np.ceil(scr[:,0].max())))\n   ymin=max(0,int(np.floor(scr[:,1].min())));ymax=min(H-1,int(np.ceil(scr[:,1].max())))\n   if xmax<xmin or ymax<ymin: continue\n   X,Y=np.meshgrid(np.arange(xmin,xmax+1)+.5,np.arange(ymin,ymax+1)+.5)\n   u=((scr[1,0]-X)*(scr[2,1]-Y)-(scr[1,1]-Y)*(scr[2,0]-X))/area\n   v=((scr[2,0]-X)*(scr[0,1]-Y)-(scr[2,1]-Y)*(scr[0,0]-X))/area\n   w=1-u-v\n   z=u*scr[0,2]+v*scr[1,2]+w*scr[2,2]\n   mask=(u>=0)&(v>=0)&(w>=0)&(z<zbuf[ymin:ymax+1,xmin:xmax+1])\n   if not mask.any():continue\n   rgb=u[:,:,None]*c3[0]+v[:,:,None]*c3[1]+w[:,:,None]*c3[2]\n   zbuf[ymin:ymax+1,xmin:xmax+1][mask]=z[mask]\n   img[ymin:ymax+1,xmin:xmax+1][mask]=rgb[mask]\n   count+=1\nprint('rendered',count,'triangles in',time.time()-start)\n# Linear to SRGB\nimg=np.maximum(img,0); img=np.where(img<.0031308,img*12.92,1.055*np.power(img,1/2.4)-.055)\nout=Image.fromarray((np.clip(img,0,1)*255).astype(np.uint8))\npath=os.environ.get('RENDER_OUT','/tmp/preview.png'); out.save(path)\nif 'THUMB' in os.environ:\n os.makedirs('/output/.thumbs/256x256',exist_ok=True);out.resize((256,256),Image.Resampling.LANCZOS).save('/output/.thumbs/256x256/asset.usd.png')\nprint(path)\n"
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+        }
+      ],
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+            "content": "Successfully wrote to /tmp/render_asset.py",
+            "extra": {
+              "tool_name": "write",
+              "is_error": false
+            }
+          }
+        ]
+      },
+      "metrics": {
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+    {
+      "step_id": 19,
+      "timestamp": "2026-10-21T01:37:51.413Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
+      "tool_calls": [
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+          "function_name": "bash",
+          "arguments": {
+            "command": "THUMB=1 python /tmp/render_asset.py",
+            "timeout": 120
+          }
+        }
+      ],
+      "observation": {
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+              {
+                "type": "text",
+                "text": "Read image file [image/png]"
+              },
+              {
+                "type": "image",
+                "source": {
+                  "media_type": "image/png",
+                  "path": "images/pi_image_2.png"
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+              "is_error": false
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+      "metrics": {
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+      },
+      "llm_call_count": 1,
+      "extra": {
+        "pi_event_id": "05bfc558",
+        "pi_parent_id": "8e5f8233",
+        "provider": "harbor-endpoint",
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+      "step_id": 21,
+      "timestamp": "2026-10-21T01:38:34.356Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
+      "reasoning_content": "**Analyzing proportions and perspective**\n\nI\u2019m noticing that the proportions relative to the reference feel a bit off. For instance, the top plate width of 198 compared to the body width of 80 gives a ratio of 2.5, which doesn't quite match the reference. The reference top width and body measurements suggest that our camera angle might be affecting the perspective, making the body appear smaller. I need to determine if adjusting the camera distance or switching to orthographic would help clarify these proportions. It's all about finding the right balance!\n\n**Examining dimensions and adjustments**\n\nI\u2019m analyzing the dimensions of the reference spring at 136 and body at 130, looking for a .96 ratio, while the body diameter is .111. If the body diameter is .11 and the coil outer is .111, then they match. It seems I need to increase the cylinder from .0505 to .055, possibly to .11. There's also a size difference between the reference and our dimensions, like the main barrel being 280px while ours is about 170px. I think adjusting the camera elevation to 45 degrees might also help with perspective clarity.",
+      "tool_calls": [
+        {
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+          "function_name": "bash",
+          "arguments": {
+            "command": "cp /tmp/render_asset.py /tmp/render_asset_old.py\nsed -i \"s/eye=np.array(\\[1.10,-1.75,1.60\\])/eye=np.array([1.8,-2.8,3.3])/; s/math.radians(24)/math.radians(10.5)/\" /tmp/render_asset.py\nTHUMB=1 python /tmp/render_asset.py",
+            "timeout": 120
+          }
+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_uIZZz1qQ9LsIEsjgvob9t4ve|fc_03cfa430d65a188b016ad81798ede087d1b3d769ee3289d695",
+            "content": "rendered 43692 triangles in 5.987549304962158\n/tmp/preview.png",
+            "extra": {
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+              "is_error": false
+            }
+          }
+        ]
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+          "function_name": "read",
+          "arguments": {
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+            "offset": 1,
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+          }
+        }
+      ],
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+            "content": [
+              {
+                "type": "text",
+                "text": "Read image file [image/png]"
+              },
+              {
+                "type": "image",
+                "source": {
+                  "media_type": "image/png",
+                  "path": "images/pi_image_3.png"
+                }
+              }
+            ],
+            "extra": {
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+              "is_error": false
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+          }
+        ]
+      },
+      "metrics": {
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+          "cache_write_tokens": 1612,
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+        }
+      },
+      "llm_call_count": 1,
+      "extra": {
+        "pi_event_id": "6278fc18",
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+        "provider": "harbor-endpoint",
+        "api": "openai-responses",
+        "response_id": "resp_03cfa430d65a188b016ad817a1605887d1b9580c113ad20f69",
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+        "raw_stop_reason": "completed"
+      }
+    },
+    {
+      "step_id": 23,
+      "timestamp": "2026-10-21T01:39:25.532Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
+      "reasoning_content": "**Evaluating kinematic travel collisions**\n\nI'm thinking about kinematic travel collisions and how the shaft extends from .415 to .754 at the upper top rest. The compression on the rod bottom goes to -.105, while the main guide remains between .447 and .495. The bump stop at the bottom compresses to .575, hitting the guide lower at .470. I'm curious if, at full compression, the shape should maintain some flexibility rather than being rigid, with the rubber core fitting into the guide.",
+      "tool_calls": [
+        {
+          "tool_call_id": "call_RMfv7ahmAyojP1BbnshffTR3|fc_03cfa430d65a188b016ad817c352e887d19bb9a9ff1ec185bb",
+          "function_name": "bash",
+          "arguments": {
+            "command": "python - <<'PY'\np='/tmp/build_asset.py'\ns=open(p).read().replace(\"(0.98,0.61,0.006),0.28,0.23\",\"(1.0,0.70,0.003),0.20,0.23\")\ns=s.replace(\".0505,.060,.258\", \".0555,.060,.258\").replace(\"(.050,.063),(.0505,.073),(.048,.078)\",\"(.0545,.063),(.0555,.073),(.053,.078)\")\ns=s.replace(\".0535,.251,.301\", \".0565,.251,.301\").replace(\".0527,.0017,.258\", \".0557,.0017,.258\").replace(\".0523,.037,.299,.309\", \".0554,.037,.299,.309\")\ns=s.replace(\"outline,.780,.785\", \"outline,.786,.790\").replace(\"outline,.785,.7875\", \"outline,.790,.7925\").replace(\"outline,.787,.8005\", \"outline,.7925,.8005\")\ns=s.replace(\".026,rounding=.006\", \".031,rounding=.013\")\ns=s.replace(\"turns=8.0\", \"turns=7.0\").replace(\"spring_points,.0055\", \"spring_points,.0058\")\ns=s.replace(\".0195,.575,.735\", \".0195,.603,.735\").replace(\"z=.586+k*.028\", \"z=.606+k*.022\")\ns=s.replace(\"cyl(lower,'MainBodyCollision',.050,\", \"cyl(lower,'MainBodyCollision',.055,\")\nopen(p,'w').write(s)\nPY\npython /tmp/build_asset.py\nTHUMB=1 python /tmp/render_asset.py",
+            "timeout": 120
+          }
+        }
+      ],
+      "observation": {
+        "results": [
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+            "source_call_id": "call_RMfv7ahmAyojP1BbnshffTR3|fc_03cfa430d65a188b016ad817c352e887d19bb9a9ff1ec185bb",
+            "content": "Saved /output/asset.usd prims 179\nBounds [(-0.08660244941711426, -0.104174065887928, 0)...(0.08660244941711426, 0.10417405933141709, 0.8059254378080368)]\nrendered 43248 triangles in 5.989081859588623\n/tmp/preview.png",
+            "extra": {
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+              "is_error": false
+            }
+          }
+        ]
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+            "content": [
+              {
+                "type": "text",
+                "text": "Read image file [image/png]"
+              },
+              {
+                "type": "image",
+                "source": {
+                  "media_type": "image/png",
+                  "path": "images/pi_image_4.png"
+                }
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+          "function_name": "mcp",
+          "arguments": {
+            "tool": "benchmark_validate_candidate",
+            "args": {
+              "request_id": "check-2"
+            }
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+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_HWDImRFYmiy1vXVTWmKsMC2Z|fc_03cfa430d65a188b016ad817f85e6887d1b3030d39b64c7ff7",
+            "content": "{\"request_id\":\"check-2\",\"snapshot_sha256\":\"6917eaf3314df550c859a8130d053d7dc48c71c052178ebd9c4db7ab71cd5d5e\",\"validation_calls_used\":2,\"validation_calls_remaining\":3,\"feedback\":{\"schema_version\":\"simready-validator-feedback-v1\",\"snapshot_sha256\":\"6917eaf3314df550c859a8130d053d7dc48c71c052178ebd9c4db7ab71cd5d5e\",\"reward\":100.0,\"simready\":{\"schema\":\"simready-validator-score-v1\",\"policy_id\":\"NVIDIA-Robotics-Prop-4.0.0-mandatory-95-plus-5-v1\",\"status\":\"scored\",\"score_percent\":100.0,\"base_credit_percent\":95.0,\"completion_bonus\":5,\"passed_count\":46,\"failed_count\":0,\"unknown_count\":0,\"applicable_count\":46,\"official_conformance\":{\"profile\":{\"id\":\"Robotics-Prop\",\"version\":\"4.0.0\"},\"passed\":true,\"filtered\":false},\"checks\":[{\"requirement_id\":\"com.nvidia.simready.HI.010\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.004\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.005\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.007\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.008\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.007\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.010\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.COL.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.COL.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.COL.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.MAT.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.QCODE.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.TIME.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SR.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SR.004\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.UN.006\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.UN.007\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VG.008\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VG.025\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VG.MESH.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.MAT.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.PS.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.TEX.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.TEX.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.AA.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.AA.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.HI.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.HI.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.HI.004\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.RB.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.RB.005\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.RB.009\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.RB.COL.004\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VG.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VG.014\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VG.027\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VG.028\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VG.029\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VM.BIND.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VM.PS.001\",\"status\":\"pass\",\"finding_count\":0}]},\"nvidia_validator_report\":{\"available\":true,\"report_id\":\"8f2ed858fc979ce575979c6127d93f4af44c816f8305ff9fb404ac7cbd3cea68\",\"sha256\":\"8f2ed858fc979ce575979c6127d93f4af44c816f8305ff9fb404ac7cbd3cea68\",\"bytes\":318844,\"total_characters\":318844,\"issue_counts\":{\"issues\":0,\"soft_issues\":216,\"warnings\":0,\"infos\":0},\"complete_report_available\":true,\"delivery\":\"agent_file\",\"file_path\":\"/tmp/simready-validation-reports/8f2ed858fc979ce575979c6127d93f4af44c816f8305ff9fb404ac7cbd3cea68.json\",\"report\":null,\"retrieval_tool\":\"get_validation_report\",\"offset_unit\":\"Unicode_code_points\",\"search_hint\":\"rg -n -m 20 -M 240 --max-columns-preview -F -e <rule_id> -e <candidate_prim> <file_path>; use sed -n <start>,<end>p for nearby lines\",\"redactions\":\"private host paths and credential patterns only; original diagnostic wording, suggestions and candidate USD sites retained\",\"file_available\":true,\"validation_calls_consumed\":0}},\"status\":\"completed\"}",
+            "extra": {
+              "tool_name": "mcp",
+              "is_error": false
+            }
+          }
+        ]
+      },
+      "metrics": {
+        "prompt_tokens": 43517,
+        "completion_tokens": 1449,
+        "cached_tokens": 42458,
+        "extra": {
+          "cache_write_tokens": 1056,
+          "reasoning_tokens": 1418,
+          "pi_total_tokens": 44966
+        }
+      },
+      "llm_call_count": 1,
+      "extra": {
+        "pi_event_id": "82a61ce1",
+        "pi_parent_id": "8cebf42a",
+        "provider": "harbor-endpoint",
+        "api": "openai-responses",
+        "response_id": "resp_03cfa430d65a188b016ad817d9794887d1b695c85eea8e55b6",
+        "response_model": null,
+        "stop_reason": "toolUse",
+        "raw_stop_reason": "completed"
+      }
+    },
+    {
+      "step_id": 26,
+      "timestamp": "2026-10-21T01:40:17.780Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
+      "tool_calls": [
+        {
+          "tool_call_id": "call_aauMedYBq2z9VT8i90Xg0gmo|fc_03cfa430d65a188b016ad817ffd69887d190970e999148df37",
+          "function_name": "bash",
+          "arguments": {
+            "command": "python - <<'PY'\nimport json,collections\np='/tmp/simready-validation-reports/8f2ed858fc979ce575979c6127d93f4af44c816f8305ff9fb404ac7cbd3cea68.json'\nd=json.load(open(p)); print('MANDATORY ISSUES',d['issues'])\nby=collections.defaultdict(list)\nfor f in d['soft_issues']: by[f.get('rule_id')].append(f)\nfor k,v in by.items():\n print('\\n',k,len(v));print(v[0].get('message',''))\nPY",
+            "timeout": 60
+          }
+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_aauMedYBq2z9VT8i90Xg0gmo|fc_03cfa430d65a188b016ad817ffd69887d190970e999148df37",
+            "content": "MANDATORY ISSUES []\n\n com.nvidia.simready.GSP.001 1\nAsset must have at least one grasp vector prim.\n\n com.nvidia.simready.SR.001 1\nRequired metadata fields are missing: asset_name, asset_type, source_file, usd_date_generated. Fields must be authored directly in the root layer's customLayerData.\n\n com.nvidia.simready.NVM.002 12\nRequired attribute \"omni:simready:nonvisual:base\" for nonvisual material doesn't exist.\n\n com.nvidia.simready.NVM.003 12\nRequired attribute \"omni:simready:nonvisual:coating\" for nonvisual material doesn't exist.\n\n com.nvidia.simready.NVM.001 12\nRequired attribute \"omni:simready:nonvisual:attributes\" for nonvisual material doesn't exist.\n\n com.nvidia.simready.DISP.001 132\nGPrim '/Coilover/DamperBody/Visuals/PressureTube' does not resolve a 'primvars:displayColor', authored on the prim or inherited from an ancestor\n\n com.nvidia.simready.ISA.001 5\nDefault prim must have kind='component' for proper Isaac Sim composition.\n\n com.nvidia.simready.VM.PBR.001 12\nmaterial '/Coilover/Looks/BlackAnodized' is bound for rendering but connects no OpenPBR final surface: it connects outputs:surface, and not 'outputs:mtlx:surface'\n\n com.nvidia.simready.VM.MDL.003 12\nmaterial '/Coilover/Looks/BlackAnodized' is bound for rendering and connects no 'outputs:mdl:surface', so the asset does not have an MDL final surface on the geometry it renders: it connects outputs:surface\n\n com.nvidia.simready.MUJOCO.COL.001 7\nMuJoCo collider '/Coilover/DamperBody/Colliders/MainBodyCollision' must apply MjcCollisionAPI.\n\n com.nvidia.simready.RV.007 1\nDefault prim </Coilover> must declare a 'MuJoCo' physics runtime variant set.\n\n com.nvidia.simready.NEWTON.COL.001 7\nNewton mesh collider '/Coilover/DamperBody/Colliders/MainBodyCollision' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.\n\n com.nvidia.simready.RV.004 1\nDefault prim </Coilover> must declare a 'Newton' physics runtime variant set.\n\n com.nvidia.simready.RV.001 1\nDefault prim </Coilover> must declare a 'PhysX' physics runtime variant set.",
+            "extra": {
+              "tool_name": "bash",
+              "is_error": false
+            }
+          }
+        ]
+      },
+      "metrics": {
+        "prompt_tokens": 46590,
+        "completion_tokens": 176,
+        "cached_tokens": 43514,
+        "extra": {
+          "cache_write_tokens": 3073,
+          "reasoning_tokens": 16,
+          "pi_total_tokens": 46766
+        }
+      },
+      "llm_call_count": 1,
+      "extra": {
+        "pi_event_id": "bd9fb9cf",
+        "pi_parent_id": "257c0987",
+        "provider": "harbor-endpoint",
+        "api": "openai-responses",
+        "response_id": "resp_03cfa430d65a188b016ad817fddc8087d1bdaa77296559757e",
+        "response_model": null,
+        "stop_reason": "toolUse",
+        "raw_stop_reason": "completed"
+      }
+    },
+    {
+      "step_id": 27,
+      "timestamp": "2026-10-21T01:41:03.947Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "The repaired asset passes all 46 mandatory NVIDIA checks, scoring 100/100 with no mandatory findings. I\u2019ve also inspected the rendered preview and confirmed that the authored bounds match the supplied dimensions. I\u2019m making a final pass over the mounting-plate details, display colours and joint frames before submission.",
+      "reasoning_content": "**Designing the keyhole**\n\nI\u2019m imagining a keyhole that requires removing faces from the center of union circles and segments, which would create a cylindrical wall. I need to consider inserting a small keyhole, even if it looks a bit jagged. A tessellation resolution of .001 would give around 6px, matching well with a reference keyhole at .01.\n\nI\u2019m also thinking about how a small black top overlay might look better without removing anything. Lastly, there are calculations for bolts and overlapping points that I\u2019m considering for design accuracy.",
+      "tool_calls": [
+        {
+          "tool_call_id": "call_QwlFWUQhhBkQW1ZlHoA8A7Q6|fc_03cfa430d65a188b016ad81822601c87d1ab5d7fa256e3c93e",
+          "function_name": "bash",
+          "arguments": {
+            "command": "cp /tmp/build_asset.py /tmp/build_asset_v2.py\npython - <<'PY'\np='/tmp/build_asset.py';s=open(p).read()\ns=s.replace(\"root=UsdGeom.Xform.Define(stage,'/Coilover').GetPrim(); stage.SetDefaultPrim(root)\", \"root=UsdGeom.Xform.Define(stage,'/Coilover').GetPrim(); stage.SetDefaultPrim(root)\\nUsd.ModelAPI(root).SetKind('component')\")\ns=s.replace(\"    if material: UsdShade.MaterialBindingAPI.Apply(m.GetPrim()).Bind(M[material])\", \"    if material:\\n        UsdShade.MaterialBindingAPI.Apply(m.GetPrim()).Bind(M[material])\\n        c=UsdShade.Shader(stage.GetPrimAtPath(M[material].GetPath().AppendChild('PreviewSurface'))).GetInput('diffuseColor').Get()\\n        m.CreateDisplayColorAttr([c])\")\ns=s.replace(\"    faces += [list(reversed(range(n))),list(range(3*n,4*n))]\\n    return mesh(b,name,pts,faces,material)\", \"    faces += [list(reversed(range(n)))]\\n    if name!='TopMountingPlate': faces.append(list(range(3*n,4*n)))\\n    return mesh(b,name,pts,faces,material)\")\nstart=s.index('# Three pressed shallow circular pockets')\nend=s.index('# Dark keyhole-shaped opening',start)\ns=s[:start]+'''# True shallow stamped relief in the broad upper mounting plate.\n# A closed, densely sampled surface retains the beveled perimeter and forms smooth pressed pockets.\nbound=np.asarray(outline); pc=bound.mean(axis=0); vec=bound-pc\nbound=pc+vec*(1-.0022/np.linalg.norm(vec,axis=1))[:,None]\nsampled=[]\nfor i,p in enumerate(bound):\n    q=bound[(i+1)%len(bound)]\n    for t in np.linspace(0,1,8,endpoint=False): sampled.append((1-t)*p+t*q)\nsampled=np.asarray(sampled); N=len(sampled); rings=90\npockets=[(-.059,-.010,.023),(-.037,-.049,.020),(.004,.087,.022)]\ndef topheight(x,y,u):\n    h=.8005\n    fade=min(1,max(0,(1-u)/.025)); fade=fade*fade*(3-2*fade)\n    for cx,cy,r in pockets:\n        d=math.hypot(x-cx,y-cy)\n        t=max(0,min(1,(r-d)/.0021)); t=t*t*(3-2*t)\n        h-=.0011*t*fade\n    return h\npts=[(pc[0],pc[1],topheight(*pc,0))]; uv=[(.5,.5)]\nfor j in range(1,rings+1):\n    u=j/rings\n    for x,y in pc+(sampled-pc)*u:\n        pts.append((x,y,topheight(x,y,u))); uv.append((x/.1732+.5,(y-.02)/.16835+.5))\nfaces=[]\nfor i in range(N): faces.append([0,1+i,1+(i+1)%N])\nfor j in range(rings-1):\n    for i in range(N):\n        ni=(i+1)%N; a=1+j*N; b=1+(j+1)*N\n        faces.append([a+i,b+i,b+ni,a+ni])\n# area weighted smooth normals give physically continuous pressed bevels.\na=np.asarray(pts); ns=np.zeros_like(a)\nfor f in faces:\n    normal=np.cross(a[f[1]]-a[f[0]],a[f[2]]-a[f[0]])\n    for idx in f: ns[idx]+=normal\nns/=np.maximum(np.linalg.norm(ns,axis=1)[:,None],1e-12)\nmesh(upper,'TopPlatePressedSurface',pts,faces,'PlateSurface',ns,uv)\n''' + s[end:]\ns=s.replace(\"'Rest-shape compliant spring, 8 turns\", \"'Rest-shape compliant spring, 7 working turns\")\ns=s.replace(\"stage.GetRootLayer().Save()\", \"data=dict(stage.GetRootLayer().customLayerData)\\ndata.update(dict(data['SimReady_Metadata']))\\nstage.GetRootLayer().customLayerData=data\\nstage.GetRootLayer().Save()\")\nopen(p,'w').write(s)\nPY\npython /tmp/build_asset.py\nTHUMB=1 python /tmp/render_asset.py",
+            "timeout": 120
+          }
+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_QwlFWUQhhBkQW1ZlHoA8A7Q6|fc_03cfa430d65a188b016ad81822601c87d1ab5d7fa256e3c93e",
+            "content": "Saved /output/asset.usd prims 174\nBounds [(-0.08660244941711426, -0.104174065887928, 0)...(0.08660244941711426, 0.10417405933141709, 0.8059254378080368)]\nrendered 56822 triangles in 8.814774990081787\n/tmp/preview.png",
+            "extra": {
+              "tool_name": "bash",
+              "is_error": false
+            }
+          }
+        ]
+      },
+      "metrics": {
+        "prompt_tokens": 47324,
+        "completion_tokens": 2433,
+        "cached_tokens": 46587,
+        "extra": {
+          "cache_write_tokens": 734,
+          "reasoning_tokens": 1323,
+          "pi_total_tokens": 49757
+        }
+      },
+      "llm_call_count": 1,
+      "extra": {
+        "pi_event_id": "ddb4ac3f",
+        "pi_parent_id": "701dc5f1",
+        "provider": "harbor-endpoint",
+        "api": "openai-responses",
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+        "response_model": null,
+        "stop_reason": "toolUse",
+        "raw_stop_reason": "completed"
+      }
+    },
+    {
+      "step_id": 28,
+      "timestamp": "2026-10-21T01:41:20.648Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
+      "tool_calls": [
+        {
+          "tool_call_id": "call_X8r7qsqKERFB7tC5EuFnVfiJ|fc_03cfa430d65a188b016ad818401d6087d1b13d0fa8c589ab8f",
+          "function_name": "read",
+          "arguments": {
+            "path": "/tmp/preview.png",
+            "offset": 1,
+            "limit": 1
+          }
+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_X8r7qsqKERFB7tC5EuFnVfiJ|fc_03cfa430d65a188b016ad818401d6087d1b13d0fa8c589ab8f",
+            "content": [
+              {
+                "type": "text",
+                "text": "Read image file [image/png]"
+              },
+              {
+                "type": "image",
+                "source": {
+                  "media_type": "image/png",
+                  "path": "images/pi_image_5.png"
+                }
+              }
+            ],
+            "extra": {
+              "tool_name": "read",
+              "is_error": false
+            }
+          }
+        ]
+      },
+      "metrics": {
+        "prompt_tokens": 49855,
+        "completion_tokens": 29,
+        "cached_tokens": 47321,
+        "extra": {
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+          "reasoning_tokens": 0,
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+        }
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+        "pi_parent_id": "55430592",
+        "provider": "harbor-endpoint",
+        "api": "openai-responses",
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+        "response_model": null,
+        "stop_reason": "toolUse",
+        "raw_stop_reason": "completed"
+      }
+    },
+    {
+      "step_id": 29,
+      "timestamp": "2026-10-21T01:42:10.409Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
+      "reasoning_content": "**Evaluating texture details**\n\nI\u2019m considering how to create an accurate model with subtle effects like those on the edges and metal press lines. I need a keyhole cutaway without it looking too dark. There should be small scuffs on the black satin finish, and the user wants the appearance to be true to the actual reference. I might add tiny scratches using thin UV decals in silver-grey and ensure the overall look isn't overly dirty while considering the materials and textures.\n\n**Considering texture generation**\n\nI\u2019m thinking about generating 512x1024 brushed metal roughness maps for the lower body and the reservoir, but I'm realizing it's not strictly necessary. I need to flatten the image since material previews support roughness and normal textures. The current UV index isn't proportional to height, making scratches hard to visualize. I might consider using a custom cylinder texture and adding micro scuffs. I'll place small specks for detail at random positions while ensuring the support bolts on the mesh look right.\n\n**Examining mechanical design**\n\nI'm looking at the mechanical bracket, which currently intersects the main cylinder, hidden at the center by the threaded body and weld. There's a bright plate covering the core hole. I see the top plate ring surfaces intersecting with the main cylinder at specific points, and I need to check if the joint frames are exactly 1e-8 apart. I can write a check using world transformations, and I'll ensure the upper mass diagonal inertia is plausible with the given values.\n**Considering core adjustments**\n\nI\u2019m thinking about how to adjust the core to a range of .575 to .735 and ensure it remains compliant. It looks like the collider isn't an issue, but at full compression, the lower stop might deform. I should use visual guides to help. Also, there\u2019s a shiny shaft indicated, which looks bright, but the center being black is something to note. I may need to extend the boot to .545.\n\n**Considering design specifications**\n\nI need to focus on creating a body with a black flared bottom that has a specific diameter of .109. The area where the pressure tube connects will have a radius of .0555 and a fine finish around .064. The transition from the bottom lip to the surface should have a ring profile at r0.044 and .055. I want to add scuffs for detail but won't include textures, just the physical metadata semantics.",
+      "tool_calls": [
+        {
+          "tool_call_id": "call_DrvubSFVl3FjHhViQtZQVU2d|fc_03cfa430d65a188b016ad8186b1e0087d19dd396a724e5b077",
+          "function_name": "bash",
+          "arguments": {
+            "command": "python - <<'PY'\np='/tmp/build_asset.py';s=open(p).read()\ns=s.replace(\"mat('PocketSurface',(0.60,0.61,0.59),0.7,0.3)\",\"mat('PocketSurface',(0.60,0.61,0.59),0.7,0.3)\\nmat('SubtleSurfaceWear',(0.16,0.17,0.17),0.75,0.4)\")\ns=s.replace(\".0195,.603,.735\", \".0195,.575,.735\").replace(\"z=.606+k*.022\", \"z=.586+k*.028\")\ns=s.replace(\"slider.CreateLowerLimitAttr(-.105)\",\"slider.CreateLowerLimitAttr(-.080)\").replace('105 mm compression','80 mm compression').replace(\".Set(.115)\",\".Set(.090)\")\nstart=s.index('# Collision proxies:')\ns=s[:start]+'''# Fine isolated wear marks on the black anodized lower barrel.\n# These are sparse machined/handling scratches rather than broad dirt or decals.\nrng=np.random.default_rng(19)\nfor k in range(23):\n    phi=float(rng.uniform(-1.7,.7)); z=float(rng.uniform(.08,.24))\n    da=float(rng.uniform(.0008,.004)); length=float(rng.uniform(.00025,.0015))\n    rr=.05554\n    pts=[(rr*cos(a),.02+rr*sin(a),h) for a,h in [(phi-da,z),(phi+da,z+.00010),(phi+da,z+length),(phi-da,z+length*.7)]]\n    normal=(cos(phi),sin(phi),0)\n    mesh(lower,'AnodizedMicroScuff_%02d'%k,pts,[[0,1,2,3]],'SubtleSurfaceWear',[normal]*4)\n\n''' +s[start:]\n# clevis ear convex collision parts, retained separately from the barrel.\nold=\"cyl(lower,'MainBodyCollision',.055,.055,.310,None,n=32,collide=True)\"\nnew=old+\"\\nfor side in [-1,1]:\\n    cyl(lower,'ClevisEarCollision_'+str(side).replace('-','N'),.0225,side*.029-.0055,side*.029+.0055,None,center=(0,.02,.023),axis='X',n=20,collide=True)\"\ns=s.replace(old,new)\nopen(p,'w').write(s)\nPY\npython /tmp/build_asset.py\nTHUMB=1 python /tmp/render_asset.py\nls -lah /output/asset.usd /output/.thumbs/256x256/asset.usd.png",
+            "timeout": 120
+          }
+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_DrvubSFVl3FjHhViQtZQVU2d|fc_03cfa430d65a188b016ad8186b1e0087d19dd396a724e5b077",
+            "content": "Saved /output/asset.usd prims 201\nBounds [(-0.08660244941711426, -0.104174065887928, 0)...(0.08660244941711426, 0.10417405933141709, 0.8059254378080368)]\nrendered 56846 triangles in 8.819364070892334\n/tmp/preview.png\n-rw-r--r-- 1 actor actor  21K Oct 21 01:42 /output/.thumbs/256x256/asset.usd.png\n-rw-r--r-- 1 actor actor 4.1M Oct 21 01:42 /output/asset.usd",
+            "extra": {
+              "tool_name": "bash",
+              "is_error": false
+            }
+          }
+        ]
+      },
+      "metrics": {
+        "prompt_tokens": 50911,
+        "completion_tokens": 2469,
+        "cached_tokens": 49852,
+        "extra": {
+          "cache_write_tokens": 1056,
+          "reasoning_tokens": 1842,
+          "pi_total_tokens": 53380
+        }
+      },
+      "llm_call_count": 1,
+      "extra": {
+        "pi_event_id": "42d012b8",
+        "pi_parent_id": "301e71a1",
+        "provider": "harbor-endpoint",
+        "api": "openai-responses",
+        "response_id": "resp_03cfa430d65a188b016ad81841c15087d19b83cf8f109d797e",
+        "response_model": null,
+        "stop_reason": "toolUse",
+        "raw_stop_reason": "completed"
+      }
+    },
+    {
+      "step_id": 30,
+      "timestamp": "2026-10-21T01:42:30.112Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
+      "tool_calls": [
+        {
+          "tool_call_id": "call_M2RzpeEcl5gmiyIuB2i5ODiV|fc_03cfa430d65a188b016ad818858efc87d19d415c3c0aeeabd8",
+          "function_name": "mcp",
+          "arguments": {
+            "tool": "benchmark_validate_candidate",
+            "args": {
+              "request_id": "check-3"
+            }
+          }
+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_M2RzpeEcl5gmiyIuB2i5ODiV|fc_03cfa430d65a188b016ad818858efc87d19d415c3c0aeeabd8",
+            "content": "{\"request_id\":\"check-3\",\"snapshot_sha256\":\"4a12eba83971d3146db2314be2b2ae03942c29d820d8b5df190aa988f8de5902\",\"validation_calls_used\":3,\"validation_calls_remaining\":2,\"feedback\":{\"schema_version\":\"simready-validator-feedback-v1\",\"snapshot_sha256\":\"4a12eba83971d3146db2314be2b2ae03942c29d820d8b5df190aa988f8de5902\",\"reward\":100.0,\"simready\":{\"schema\":\"simready-validator-score-v1\",\"policy_id\":\"NVIDIA-Robotics-Prop-4.0.0-mandatory-95-plus-5-v1\",\"status\":\"scored\",\"score_percent\":100.0,\"base_credit_percent\":95.0,\"completion_bonus\":5,\"passed_count\":46,\"failed_count\":0,\"unknown_count\":0,\"applicable_count\":46,\"official_conformance\":{\"profile\":{\"id\":\"Robotics-Prop\",\"version\":\"4.0.0\"},\"passed\":true,\"filtered\":false},\"checks\":[{\"requirement_id\":\"com.nvidia.simready.HI.010\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.004\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.005\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.007\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.008\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.007\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.010\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.COL.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.COL.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.COL.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.MAT.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.QCODE.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.TIME.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SR.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SR.004\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.UN.006\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.UN.007\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VG.008\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VG.025\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VG.MESH.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.MAT.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.PS.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.TEX.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.TEX.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.AA.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.AA.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.HI.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.HI.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.HI.004\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.RB.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.RB.005\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.RB.009\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.RB.COL.004\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VG.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VG.014\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VG.027\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VG.028\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VG.029\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VM.BIND.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.VM.PS.001\",\"status\":\"pass\",\"finding_count\":0}]},\"nvidia_validator_report\":{\"available\":true,\"report_id\":\"ccab6c89414ea01829fea0c61799650c82a6a3f8bf16d7f03d9b095afee5b645\",\"sha256\":\"ccab6c89414ea01829fea0c61799650c82a6a3f8bf16d7f03d9b095afee5b645\",\"bytes\":223842,\"total_characters\":223842,\"issue_counts\":{\"issues\":0,\"soft_issues\":91,\"warnings\":0,\"infos\":0},\"complete_report_available\":true,\"delivery\":\"agent_file\",\"file_path\":\"/tmp/simready-validation-reports/ccab6c89414ea01829fea0c61799650c82a6a3f8bf16d7f03d9b095afee5b645.json\",\"report\":null,\"retrieval_tool\":\"get_validation_report\",\"offset_unit\":\"Unicode_code_points\",\"search_hint\":\"rg -n -m 20 -M 240 --max-columns-preview -F -e <rule_id> -e <candidate_prim> <file_path>; use sed -n <start>,<end>p for nearby lines\",\"redactions\":\"private host paths and credential patterns only; original diagnostic wording, suggestions and candidate USD sites retained\",\"file_available\":true,\"validation_calls_consumed\":0}},\"status\":\"completed\"}",
+            "extra": {
+              "tool_name": "mcp",
+              "is_error": false
+            }
+          }
+        ]
+      },
+      "metrics": {
+        "prompt_tokens": 53543,
+        "completion_tokens": 213,
+        "cached_tokens": 50908,
+        "extra": {
+          "cache_write_tokens": 2632,
+          "reasoning_tokens": 182,
+          "pi_total_tokens": 53756
+        }
+      },
+      "llm_call_count": 1,
+      "extra": {
+        "pi_event_id": "8312d0c7",
+        "pi_parent_id": "0bd92937",
+        "provider": "harbor-endpoint",
+        "api": "openai-responses",
+        "response_id": "resp_03cfa430d65a188b016ad8187f1f3087d1885bd5f69824e96b",
+        "response_model": null,
+        "stop_reason": "toolUse",
+        "raw_stop_reason": "completed"
+      }
+    },
+    {
+      "step_id": 31,
+      "timestamp": "2026-10-21T01:42:42.841Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
+      "tool_calls": [
+        {
+          "tool_call_id": "call_7N7lusHy7QhvrBJJxSJuqrNH|fc_03cfa430d65a188b016ad8188cda8087d1bbb825eb24a71f9f",
+          "function_name": "bash",
+          "arguments": {
+            "command": "python - <<'PY'\nfrom pxr import Usd,UsdGeom,UsdPhysics,Gf\nimport json,numpy as np\ns=Usd.Stage.Open('/output/asset.usd'); xc=UsdGeom.XformCache()\nfor p in s.Traverse():\n if p.IsA(UsdPhysics.Joint):\n  j=UsdPhysics.Joint(p)\n  a=s.GetPrimAtPath(j.GetBody0Rel().GetTargets()[0]); b=s.GetPrimAtPath(j.GetBody1Rel().GetTargets()[0])\n  w0=xc.GetLocalToWorldTransform(a).Transform(Gf.Vec3d(j.GetLocalPos0Attr().Get()))\n  w1=xc.GetLocalToWorldTransform(b).Transform(Gf.Vec3d(j.GetLocalPos1Attr().Get()))\n  print(p.GetPath(), 'frame mismatch', (w0-w1).GetLength(), 'm', 'enabled',j.GetJointEnabledAttr().Get())\n  assert (w0-w1).GetLength()<1e-6\n  if p.IsA(UsdPhysics.PrismaticJoint):\n   q=UsdPhysics.PrismaticJoint(p);print('axis',q.GetAxisAttr().Get(),'limits',q.GetLowerLimitAttr().Get(),q.GetUpperLimitAttr().Get())\ncache=UsdGeom.BBoxCache(Usd.TimeCode.Default(),['default','render'])\nr=cache.ComputeWorldBound(s.GetDefaultPrim()).ComputeAlignedRange(); print('SI size',r.GetSize())\nd=json.load(open('/tmp/simready-validation-reports/ccab6c89414ea01829fea0c61799650c82a6a3f8bf16d7f03d9b095afee5b645.json'));print('NVIDIA mandatory issues',len(d['issues']),'passed',d['passed'])\n# Verify no nonlocal asset dependencies.\nfor layer in s.GetUsedLayers():print('used layer',layer.identifier)\nPY",
+            "timeout": 60
+          }
+        }
+      ],
+      "observation": {
+        "results": [
+          {
+            "source_call_id": "call_7N7lusHy7QhvrBJJxSJuqrNH|fc_03cfa430d65a188b016ad8188cda8087d1bbb825eb24a71f9f",
+            "content": "/Coilover/Joints/DamperAxialTravel frame mismatch 5.960464455334602e-09 m enabled True\naxis Z limits -0.07999999821186066 0.009999999776482582\n/Coilover/Joints/ReservoirBracketAttachment frame mismatch 2.0544552346475106e-09 m enabled True\nSI size (0.17320489883422852, 0.2083481252193451, 0.8059254378080368)\nNVIDIA mandatory issues 0 passed True\nused layer /output/asset.usd\nused layer anon:0x1700d8b0:asset-session.usda",
+            "extra": {
+              "tool_name": "bash",
+              "is_error": false
+            }
+          }
+        ]
+      },
+      "metrics": {
+        "prompt_tokens": 55385,
+        "completion_tokens": 450,
+        "cached_tokens": 53540,
+        "extra": {
+          "cache_write_tokens": 1842,
+          "reasoning_tokens": 0,
+          "pi_total_tokens": 55835
+        }
+      },
+      "llm_call_count": 1,
+      "extra": {
+        "pi_event_id": "59c9b1e8",
+        "pi_parent_id": "37ab73a1",
+        "provider": "harbor-endpoint",
+        "api": "openai-responses",
+        "response_id": "resp_03cfa430d65a188b016ad8188b7c8c87d19d39f8bade48eb09",
+        "response_model": null,
+        "stop_reason": "toolUse",
+        "raw_stop_reason": "completed"
+      }
+    },
+    {
+      "step_id": 32,
+      "timestamp": "2026-10-21T01:42:47.795Z",
+      "source": "agent",
+      "model_name": "harbor-endpoint/gpt-6.1-sol",
+      "message": "",
+      "reasoning_content": "**Inspecting submission details**\n\nI think I need to inspect the updated preview to see if it\u2019s enough before I submit the final version. I want to make sure everything looks good and that I might need to mention something formal about the 100-word limit. Once I finalize everything, I know the tool will stop the authoring process, so double-checking now is key!",
+      "tool_calls": [
+        {
+          "tool_call_id": "call_e0TQdv9Uw74QsFmMctu0srg2|fc_03cfa430d65a188b016ad81897548087d1883ebec45df822bb",
+          "function_name": "mcp",
+          "arguments": {
+            "tool": "benchmark_submit_asset",
+            "args": {
+              "request_id": "final"
+            }
+          }
+        }
+      ],
+      "observation": {
+        "results": []
+      },
+      "metrics": {
+        "prompt_tokens": 55994,
+        "completion_tokens": 57,
+        "cached_tokens": 55382,
+        "extra": {
+          "cache_write_tokens": 609,
+          "reasoning_tokens": 28,
+          "pi_total_tokens": 56051
+        }
+      },
+      "llm_call_count": 1,
+      "extra": {
+        "pi_event_id": "b0420baf",
+        "pi_parent_id": "2c596fd3",
+        "provider": "harbor-endpoint",
+        "api": "openai-responses",
+        "response_id": "resp_03cfa430d65a188b016ad8189467dc87d1a33453097bcdb35c",
+        "response_model": null,
+        "stop_reason": "toolUse",
+        "raw_stop_reason": "completed"
+      }
+    }
+  ],
+  "final_metrics": {
+    "total_prompt_tokens": 885217,
+    "total_completion_tokens": 26670,
+    "total_cached_tokens": 829133,
+    "total_steps": 32,
+    "extra": {
+      "cache_write_tokens": 55991,
+      "reasoning_tokens": 11832,
+      "pi_total_tokens": 911887
+    }
+  }
+}
\ No newline at end of file
diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/suspension_coilover_rear_b01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/suspension_coilover_rear_b01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png
new file mode 100644
index 0000000000000000000000000000000000000000..104de40cee69d9707e2b154884327e444b3540c5
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+++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/suspension_coilover_rear_b01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44119ea45de23e87c08373161273b0552078647885941aaee587e8f8963196e0
+size 76816
diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/suspension_coilover_rear_b01/reconstruction-4/nvidia-validator.json b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/suspension_coilover_rear_b01/reconstruction-4/nvidia-validator.json
new file mode 100644
index 0000000000000000000000000000000000000000..2af7fb21f8364661d9d2cd54d1feac1ab2b110a6
--- /dev/null
+++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/suspension_coilover_rear_b01/reconstruction-4/nvidia-validator.json
@@ -0,0 +1,4755 @@
+{
+  "asset_path": "/output/asset.usd",
+  "asset_sha256": "27fc5b409bcdfdf069670c438b7589a17689188ef51062149e6ee2c7f0c82958",
+  "engine_dispatch_completed": true,
+  "features_summary": {
+    "FET_000_MUJOCO": {
+      "blocking_failure": false,
+      "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+      "optional requirements": "['com.nvidia.simready.RV.007']",
+      "passed": false,
+      "version": "0.1.0"
+    },
+    "FET_000_NEWTON": {
+      "blocking_failure": false,
+      "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+      "optional requirements": "['com.nvidia.simready.RV.004']",
+      "passed": false,
+      "version": "0.1.0"
+    },
+    "FET_000_PHYSX": {
+      "blocking_failure": false,
+      "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+      "optional requirements": "['com.nvidia.simready.RV.001']",
+      "passed": false,
+      "version": "0.1.0"
+    },
+    "FET_000_STANDARD": {
+      "blocking_failure": false,
+      "dependencies": "[]",
+      "passed": true,
+      "version": "0.2.0"
+    },
+    "FET_001_STANDARD": {
+      "blocking_failure": false,
+      "dependencies": "[]",
+      "passed": true,
+      "version": "1.0.1"
+    },
+    "FET_003_MUJOCO": {
+      "blocking_failure": false,
+      "dependencies": "[]",
+      "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+      "passed": false,
+      "version": "0.1.0"
+    },
+    "FET_003_NEWTON": {
+      "blocking_failure": false,
+      "dependencies": "[]",
+      "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
+      "passed": false,
+      "version": "0.1.0"
+    },
+    "FET_003_PHYSX": {
+      "blocking_failure": false,
+      "dependencies": "[]",
+      "passed": true,
+      "version": "0.4.0"
+    },
+    "FET_003_STANDARD": {
+      "blocking_failure": false,
+      "dependencies": "[]",
+      "passed": true,
+      "version": "0.2.0"
+    },
+    "FET_004_MUJOCO": {
+      "blocking_failure": false,
+      "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+      "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+      "passed": false,
+      "version": "0.1.0"
+    },
+    "FET_004_NEWTON": {
+      "blocking_failure": false,
+      "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+      "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
+      "passed": false,
+      "version": "0.1.0"
+    },
+    "FET_004_PHYSX": {
+      "blocking_failure": false,
+      "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+      "passed": true,
+      "version": "0.4.0"
+    },
+    "FET_004_STANDARD": {
+      "blocking_failure": false,
+      "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+      "passed": true,
+      "version": "0.2.0"
+    },
+    "FET_005_STANDARD": {
+      "blocking_failure": false,
+      "dependencies": "[]",
+      "optional requirements": "['com.nvidia.simready.GSP.001']",
+      "passed": false,
+      "version": "0.1.0"
+    },
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+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Clearing features registry"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Clearing profiles registry"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Clearing rules registry"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "No filesystem paths provided; discovering and loading installed tiers"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Discovered tier: tier_core"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "  Resolved tier 'tier_core' -> simready.foundation.tier_core:tier"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering 1 installed SimReady tier(s): tier_core"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Tier 'tier_core': importing rules package 'simready.foundation.tier_core.capabilities'"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_000_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_000_ISAAC-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_000_MUJOCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_000_MUJOCO-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_000_NEWTON' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_000_NEWTON-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_000_PHYSX' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_000_PHYSX-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_000_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_000_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_000_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_000_STANDARD-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_001_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_001_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_001_STANDARD' version '1.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_001_STANDARD-1.0.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_001_STANDARD' version '1.0.1' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_001_STANDARD-1.0.1.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_002_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_002_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_003_MUJOCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_003_MUJOCO-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_003_NEWTON' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_003_NEWTON-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_003_PHYSX' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_003_PHYSX-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_003_PHYSX' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_003_PHYSX-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_003_PHYSX' version '0.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_003_PHYSX-0.3.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_003_PHYSX' version '0.4.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_003_PHYSX-0.4.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_003_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_003_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_003_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_003_STANDARD-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_004_MUJOCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_MUJOCO-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_004_NEWTON' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_NEWTON-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_004_PHYSX' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_PHYSX-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_004_PHYSX' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_PHYSX-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_004_PHYSX' version '0.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_PHYSX-0.3.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_004_PHYSX' version '0.4.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_PHYSX-0.4.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_004_ROBOT_MUJOCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_ROBOT_MUJOCO-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_004_ROBOT_NEWTON' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_ROBOT_NEWTON-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_004_ROBOT_PHYSX' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_ROBOT_PHYSX-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_004_ROBOT_PHYSX' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_ROBOT_PHYSX-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_004_ROBOT_PHYSX' version '0.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_ROBOT_PHYSX-0.3.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_004_ROBOT_PHYSX' version '0.4.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_ROBOT_PHYSX-0.4.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_004_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_004_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_STANDARD-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_005_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_005_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_006_MDL' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_006_MDL-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_006_MDL' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_006_MDL-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_006_OPENPBR' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_006_OPENPBR-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_006_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_006_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_006_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_006_STANDARD-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_007_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_007_STANDARD-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_010_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_010_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_011_RTX' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_011_RTX-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_011_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_011_STANDARD-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_021_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_021_ISAAC-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_021_ISAAC' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_021_ISAAC-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_021_ISAAC' version '0.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_021_ISAAC-0.3.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_022_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_ISAAC-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_022_ISAAC' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_ISAAC-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_022_MUJOCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_MUJOCO-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_022_NEWTON' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_NEWTON-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_022_PHYSX' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_PHYSX-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_022_PHYSX' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_PHYSX-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_022_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_022_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_STANDARD-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_023_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_023_ISAAC-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_024_MUJOCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_024_MUJOCO-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_024_NEWTON' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_024_NEWTON-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_024_PHYSX' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_024_PHYSX-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_024_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_024_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_025_ROS' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_025_ROS-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_028_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_028_ISAAC-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_028_MUJOCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_028_MUJOCO-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_028_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_028_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_030_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_030_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_031_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_031_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_032_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_032_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_033_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_033_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_033_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_033_STANDARD-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_033_STANDARD' version '0.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_033_STANDARD-0.3.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_033_STANDARD' version '0.4.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_033_STANDARD-0.4.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_040_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_040_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_041_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_041_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_042_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_042_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_043_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_043_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_044_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_044_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_045_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_045_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_046_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_046_STANDARD-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_100_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_100_ISAAC-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_100_ISAAC' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_100_ISAAC-0.2.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_100_ISAAC' version '0.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_100_ISAAC-0.3.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_100_ISAAC' version '0.4.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_100_ISAAC-0.4.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering feature 'FET_101_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_101_ISAAC-0.1.0.json"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Open-Taxonomy-COCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Open-Taxonomy-Cityscapes' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Open-Taxonomy-ADE20K' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Open-Taxonomy-PascalVOC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Open-Taxonomy-SUNRGBD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Open-Taxonomy-ImageNet1K' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Package' version '1.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Package-NoBOM' version '1.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Package-Candidate' version '1.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Package-Candidate' version '1.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Package-Candidate' version '1.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Package-Candidate' version '1.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Robot-Body' version '2.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_body.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Robot-Body' version '2.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_body.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Robot-Body' version '2.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_body.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Robot-Body' version '2.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_body.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Robot-Body' version '3.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_body.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Robot-Gripper' version '2.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_gripper.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Robot-Gripper' version '2.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_gripper.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Robot-Gripper' version '2.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_gripper.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Robot-Gripper' version '3.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_gripper.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Robotics-Prop' version '3.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robotics_prop.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Robotics-Prop' version '3.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robotics_prop.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Robotics-Prop' version '3.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robotics_prop.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Robotics-Prop' version '3.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robotics_prop.toml"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Registering profile 'Robotics-Prop' version '4.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robotics_prop.toml"
+    },
+    {
+      "level": "WARNING",
+      "logger": "root",
+      "message": "DeprecationWarning: Use find() instead"
+    },
+    {
+      "level": "WARNING",
+      "logger": "root",
+      "message": "File /opt/simready/venv/lib/python3.12/site-packages/simready/validate/api.py, line 485, in _build_features_validation_summary"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Optional requirements ['com.nvidia.simready.RV.001'] did not pass for feature FET_000_PHYSX."
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Optional requirements ['com.nvidia.simready.NVM.001', 'com.nvidia.simready.NVM.002', 'com.nvidia.simready.NVM.003'] did not pass for feature FET_007_STANDARD."
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Optional requirements ['com.nvidia.simready.GSP.001'] did not pass for feature FET_005_STANDARD."
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Optional requirements ['com.nvidia.simready.ISA.001'] did not pass for feature FET_100_ISAAC."
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Optional requirements ['com.nvidia.simready.MUJOCO.COL.001'] did not pass for feature FET_003_MUJOCO."
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Optional requirements ['com.nvidia.simready.RV.007'] did not pass for feature FET_000_MUJOCO."
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Optional requirements ['com.nvidia.simready.VM.MDL.003'] did not pass for feature FET_006_MDL."
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Optional requirements ['com.nvidia.simready.NEWTON.COL.001'] did not pass for feature FET_003_NEWTON."
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Optional requirements ['com.nvidia.simready.MUJOCO.COL.001'] did not pass for feature FET_004_MUJOCO."
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Optional requirements ['com.nvidia.simready.VM.PBR.001'] did not pass for feature FET_006_OPENPBR."
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Optional requirements ['com.nvidia.simready.RV.004'] did not pass for feature FET_000_NEWTON."
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Optional requirements ['com.nvidia.simready.NEWTON.COL.001'] did not pass for feature FET_004_NEWTON."
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Clearing requirements registry"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Clearing features registry"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Clearing profiles registry"
+    },
+    {
+      "level": "INFO",
+      "logger": "simready.validate",
+      "message": "Clearing rules registry"
+    }
+  ],
+  "outcome": "success",
+  "passed": true,
+  "profile_id": "Robotics-Prop",
+  "profile_version": "4.0.0",
+  "rule_execution": {
+    "buckets": [
+      {
+        "bucket": "neutral",
+        "declared_requirement_codes": [
+          "com.nvidia.simready.DISP.001",
+          "com.nvidia.simready.DISP.002",
+          "com.nvidia.simready.DISP.003",
+          "com.nvidia.simready.GSP.001",
+          "com.nvidia.simready.HI.010",
+          "com.nvidia.simready.ISA.001",
+          "com.nvidia.simready.JT.001",
+          "com.nvidia.simready.JT.ART.003",
+          "com.nvidia.simready.NP.002",
+          "com.nvidia.simready.NP.003",
+          "com.nvidia.simready.NP.004",
+          "com.nvidia.simready.NP.005",
+          "com.nvidia.simready.NP.006",
+          "com.nvidia.simready.NP.007",
+          "com.nvidia.simready.NP.008",
+          "com.nvidia.simready.NVM.001",
+          "com.nvidia.simready.NVM.002",
+          "com.nvidia.simready.NVM.003",
+          "com.nvidia.simready.NVM.004",
+          "com.nvidia.simready.NVM.005",
+          "com.nvidia.simready.NVM.006",
+          "com.nvidia.simready.PMT.001",
+          "com.nvidia.simready.RB.001",
+          "com.nvidia.simready.RB.007",
+          "com.nvidia.simready.RB.010",
+          "com.nvidia.simready.RB.011",
+          "com.nvidia.simready.RB.012",
+          "com.nvidia.simready.RB.COL.001",
+          "com.nvidia.simready.RB.COL.002",
+          "com.nvidia.simready.RB.COL.003",
+          "com.nvidia.simready.RB.MB.001",
+          "com.nvidia.simready.RV.010",
+          "com.nvidia.simready.RV.011",
+          "com.nvidia.simready.SL.001",
+          "com.nvidia.simready.SL.002",
+          "com.nvidia.simready.SL.003",
+          "com.nvidia.simready.SL.MAT.001",
+          "com.nvidia.simready.SL.QCODE.001",
+          "com.nvidia.simready.SL.TIME.001",
+          "com.nvidia.simready.SR.001",
+          "com.nvidia.simready.SR.002",
+          "com.nvidia.simready.SR.004",
+          "com.nvidia.simready.UN.006",
+          "com.nvidia.simready.UN.007",
+          "com.nvidia.simready.VG.008",
+          "com.nvidia.simready.VG.025",
+          "com.nvidia.simready.VG.MESH.001",
+          "com.nvidia.simready.VM.BIND.002",
+          "com.nvidia.simready.VM.MAT.001",
+          "com.nvidia.simready.VM.MDL.001",
+          "com.nvidia.simready.VM.MDL.003",
+          "com.nvidia.simready.VM.PBR.001",
+          "com.nvidia.simready.VM.PBR.002",
+          "com.nvidia.simready.VM.PBR.003",
+          "com.nvidia.simready.VM.PS.002",
+          "com.nvidia.simready.VM.TEX.001",
+          "com.nvidia.simready.VM.TEX.003",
+          "com.nvidia.simready.VM.TEX.004",
+          "com.nvidia.simready.VM.TEX.005",
+          "com.nvidia.usd.AA.001",
+          "com.nvidia.usd.AA.002",
+          "com.nvidia.usd.HI.001",
+          "com.nvidia.usd.HI.003",
+          "com.nvidia.usd.HI.004",
+          "com.nvidia.usd.JT.002",
+          "com.nvidia.usd.JT.003",
+          "com.nvidia.usd.JT.ART.002",
+          "com.nvidia.usd.JT.ART.004",
+          "com.nvidia.usd.RB.003",
+          "com.nvidia.usd.RB.005",
+          "com.nvidia.usd.RB.009",
+          "com.nvidia.usd.RB.COL.004",
+          "com.nvidia.usd.VG.002",
+          "com.nvidia.usd.VG.014",
+          "com.nvidia.usd.VG.027",
+          "com.nvidia.usd.VG.028",
+          "com.nvidia.usd.VG.029",
+          "com.nvidia.usd.VM.BIND.001",
+          "com.nvidia.usd.VM.MDL.002",
+          "com.nvidia.usd.VM.PS.001"
+        ],
+        "enabled_rules": [
+          "simready.foundation.tier_core.capabilities.core.naming_paths.validation.AssetFolderStructureChecker",
+          "simready.foundation.tier_core.capabilities.core.naming_paths.validation.DirectoryStructureChecker",
+          "simready.foundation.tier_core.capabilities.core.naming_paths.validation.FileNamingConventionChecker",
+          "simready.foundation.tier_core.capabilities.core.naming_paths.validation.MetadataLocationChecker",
+          "simready.foundation.tier_core.capabilities.core.naming_paths.validation.PathLengthLimitsChecker",
+          "simready.foundation.tier_core.capabilities.core.naming_paths.validation.PathsExistChecker",
+          "simready.foundation.tier_core.capabilities.core.naming_paths.validation.RelativePathsChecker",
+          "simready.foundation.tier_core.capabilities.core.runtime_variants.validation.RuntimePhysicsIsolationChecker",
+          "simready.foundation.tier_core.capabilities.core.runtime_variants.validation.RuntimeVariantSectionPurityChecker",
+          "simready.foundation.tier_core.capabilities.core.sim_ready.validation.MetadataUnion",
+          "simready.foundation.tier_core.capabilities.core.sim_ready.validation.SimReadyCapabilityChecker",
+          "simready.foundation.tier_core.capabilities.core.sim_ready.validation.ThumbnailExists",
+          "simready.foundation.tier_core.capabilities.core.units.validation.MetersPerUnit1Checker",
+          "simready.foundation.tier_core.capabilities.core.units.validation.UpAxisZChecker",
+          "simready.foundation.tier_core.capabilities.hierarchy.validation.UndefinedPrimsChecker",
+          "simready.foundation.tier_core.capabilities.isaac_sim.composition.validation.IsaacCompositionCapabilityChecker",
+          "simready.foundation.tier_core.capabilities.nonvisual_sensors.nonvisual_materials.validation.NonVisualMaterialsCapabilityChecker",
+          "simready.foundation.tier_core.capabilities.physics_bodies.physics_graspable.validation.GraspableVectorLineChecker",
+          "simready.foundation.tier_core.capabilities.physics_bodies.physics_joints.validation.ArticulationChecker",
+          "simready.foundation.tier_core.capabilities.physics_bodies.physics_joints.validation.PhysicsJointCapabilityChecker",
+          "simready.foundation.tier_core.capabilities.physics_bodies.physics_materials.validation.PhysicsMaterialsCapabilityChecker",
+          "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.InvisibleCollisionMeshHasPurposeGuide",
+          "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.MultibodyChecker",
+          "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.NestedRigidBodyMassChecker",
+          "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.NoNestedRigidBodyWithoutJointChecker",
+          "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.RigidBodyCapabilityChecker",
+          "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.RigidBodyColliderCapabilityChecker",
+          "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.RigidBodyColliderMeshChecker",
+          "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.RigidBodyColliderNonUniformScaleChecker",
+          "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.RigidBodyMassChecker",
+          "simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsCapabilityChecker",
+          "simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker",
+          "simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsWikidataChecker",
+          "simready.foundation.tier_core.capabilities.visualization.display_color.validation.DisplayColorCapabilityChecker",
+          "simready.foundation.tier_core.capabilities.visualization.geometry.validation.AssetOriginPositioningChecker",
+          "simready.foundation.tier_core.capabilities.visualization.geometry.validation.CoincidentMeshChecker",
+          "simready.foundation.tier_core.capabilities.visualization.geometry.validation.GeomShallBeMeshChecker",
+          "simready.foundation.tier_core.capabilities.visualization.materials.validation.VisualMaterialsCapabilityChecker",
+          "usd_validation_nvidia.rules._atomic_asset.AnchoredAssetPathsChecker",
+          "usd_validation_nvidia.rules._atomic_asset.SupportedFileTypesChecker",
+          "usd_validation_nvidia.rules._basic.ExtentsChecker",
+          "usd_validation_nvidia.rules._geometry.NormalsExistChecker",
+          "usd_validation_nvidia.rules._geometry.NormalsValidChecker",
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+      "rule": "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.MuJoCoColliderAPIChecker",
+      "rule_id": "com.nvidia.simready.MUJOCO.COL.001",
+      "severity": "failure",
+      "suggestions": []
+    },
+    {
+      "asset": "StageId(root_layer=LayerId(identifier='/output/asset.usd'))",
+      "location": "PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover)",
+      "message": "Default prim </Coilover> must declare a 'MuJoCo' physics runtime variant set.",
+      "prim_path": "/Coilover",
+      "requirement_version": "0.1.0",
+      "rule": "simready.foundation.tier_core.capabilities.core.runtime_variants.validation.MuJoCoVariantSetChecker",
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+    },
+    {
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+      "location": "PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/DamperBody/Colliders/MainBodyCollision)",
+      "message": "Newton mesh collider '/Coilover/DamperBody/Colliders/MainBodyCollision' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.",
+      "prim_path": "/Coilover/DamperBody/Colliders/MainBodyCollision",
+      "requirement_version": "0.1.0",
+      "rule": "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.NewtonColliderAPIChecker",
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+      "location": "PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/DamperBody/Colliders/ClevisEarCollision_N1)",
+      "message": "Newton mesh collider '/Coilover/DamperBody/Colliders/ClevisEarCollision_N1' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.",
+      "prim_path": "/Coilover/DamperBody/Colliders/ClevisEarCollision_N1",
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+      "rule": "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.NewtonColliderAPIChecker",
+      "rule_id": "com.nvidia.simready.NEWTON.COL.001",
+      "severity": "failure",
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+    },
+    {
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+      "location": "PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/DamperBody/Colliders/ClevisEarCollision_1)",
+      "message": "Newton mesh collider '/Coilover/DamperBody/Colliders/ClevisEarCollision_1' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.",
+      "prim_path": "/Coilover/DamperBody/Colliders/ClevisEarCollision_1",
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+      "rule": "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.NewtonColliderAPIChecker",
+      "rule_id": "com.nvidia.simready.NEWTON.COL.001",
+      "severity": "failure",
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+    },
+    {
+      "asset": "StageId(root_layer=LayerId(identifier='/output/asset.usd'))",
+      "location": "PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/DamperBody/Colliders/ThreadedNeckCollision)",
+      "message": "Newton mesh collider '/Coilover/DamperBody/Colliders/ThreadedNeckCollision' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.",
+      "prim_path": "/Coilover/DamperBody/Colliders/ThreadedNeckCollision",
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+      "rule": "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.NewtonColliderAPIChecker",
+      "rule_id": "com.nvidia.simready.NEWTON.COL.001",
+      "severity": "failure",
+      "suggestions": []
+    },
+    {
+      "asset": "StageId(root_layer=LayerId(identifier='/output/asset.usd'))",
+      "location": "PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/DamperBody/Colliders/LowerPerchCollision)",
+      "message": "Newton mesh collider '/Coilover/DamperBody/Colliders/LowerPerchCollision' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.",
+      "prim_path": "/Coilover/DamperBody/Colliders/LowerPerchCollision",
+      "requirement_version": "0.1.0",
+      "rule": "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.NewtonColliderAPIChecker",
+      "rule_id": "com.nvidia.simready.NEWTON.COL.001",
+      "severity": "failure",
+      "suggestions": []
+    },
+    {
+      "asset": "StageId(root_layer=LayerId(identifier='/output/asset.usd'))",
+      "location": "PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/PistonAndTopMount/Colliders/ShaftCollision)",
+      "message": "Newton mesh collider '/Coilover/PistonAndTopMount/Colliders/ShaftCollision' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.",
+      "prim_path": "/Coilover/PistonAndTopMount/Colliders/ShaftCollision",
+      "requirement_version": "0.1.0",
+      "rule": "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.NewtonColliderAPIChecker",
+      "rule_id": "com.nvidia.simready.NEWTON.COL.001",
+      "severity": "failure",
+      "suggestions": []
+    },
+    {
+      "asset": "StageId(root_layer=LayerId(identifier='/output/asset.usd'))",
+      "location": "PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/PistonAndTopMount/Colliders/UpperMountCollision)",
+      "message": "Newton mesh collider '/Coilover/PistonAndTopMount/Colliders/UpperMountCollision' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.",
+      "prim_path": "/Coilover/PistonAndTopMount/Colliders/UpperMountCollision",
+      "requirement_version": "0.1.0",
+      "rule": "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.NewtonColliderAPIChecker",
+      "rule_id": "com.nvidia.simready.NEWTON.COL.001",
+      "severity": "failure",
+      "suggestions": []
+    },
+    {
+      "asset": "StageId(root_layer=LayerId(identifier='/output/asset.usd'))",
+      "location": "PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/PistonAndTopMount/Colliders/TopPlateCollision)",
+      "message": "Newton mesh collider '/Coilover/PistonAndTopMount/Colliders/TopPlateCollision' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.",
+      "prim_path": "/Coilover/PistonAndTopMount/Colliders/TopPlateCollision",
+      "requirement_version": "0.1.0",
+      "rule": "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.NewtonColliderAPIChecker",
+      "rule_id": "com.nvidia.simready.NEWTON.COL.001",
+      "severity": "failure",
+      "suggestions": []
+    },
+    {
+      "asset": "StageId(root_layer=LayerId(identifier='/output/asset.usd'))",
+      "location": "PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover/SideReservoir/Colliders/ReservoirCollision)",
+      "message": "Newton mesh collider '/Coilover/SideReservoir/Colliders/ReservoirCollision' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.",
+      "prim_path": "/Coilover/SideReservoir/Colliders/ReservoirCollision",
+      "requirement_version": "0.1.0",
+      "rule": "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.NewtonColliderAPIChecker",
+      "rule_id": "com.nvidia.simready.NEWTON.COL.001",
+      "severity": "failure",
+      "suggestions": []
+    },
+    {
+      "asset": "StageId(root_layer=LayerId(identifier='/output/asset.usd'))",
+      "location": "PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover)",
+      "message": "Default prim </Coilover> must declare a 'Newton' physics runtime variant set.",
+      "prim_path": "/Coilover",
+      "requirement_version": "0.1.0",
+      "rule": "simready.foundation.tier_core.capabilities.core.runtime_variants.validation.NewtonVariantSetChecker",
+      "rule_id": "com.nvidia.simready.RV.004",
+      "severity": "failure",
+      "suggestions": []
+    },
+    {
+      "asset": "StageId(root_layer=LayerId(identifier='/output/asset.usd'))",
+      "location": "PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Coilover)",
+      "message": "Default prim </Coilover> must declare a 'PhysX' physics runtime variant set.",
+      "prim_path": "/Coilover",
+      "requirement_version": "0.1.0",
+      "rule": "simready.foundation.tier_core.capabilities.core.runtime_variants.validation.PhysXVariantSetChecker",
+      "rule_id": "com.nvidia.simready.RV.001",
+      "severity": "failure",
+      "suggestions": []
+    }
+  ],
+  "warnings": []
+}
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-<!doctype html><html lang="en"><meta charset="utf-8"><meta name="viewport" content="width=device-width"><meta http-equiv="Content-Security-Policy" content="default-src 'none'; img-src 'self'; style-src 'unsafe-inline'"><title>SimReadyBench results</title><style>body{font:16px Georgia,serif;line-height:1.6;max-width:1200px;margin:3rem auto;padding:0 1.5rem;background:#fff;color:#202020}a{color:#254e75}h1,h2,h3{line-height:1.25}summary{cursor:pointer}details{margin:1rem 0}.images{display:grid;grid-template-columns:repeat(auto-fit,minmax(260px,1fr));gap:1.5rem}figure{margin:0}img{width:100%;height:auto}figcaption{font-size:14px}table{border-collapse:collapse;width:100%;font-size:14px}th,td{text-align:left;vertical-align:top;border-bottom:1px solid #ddd;padding:8px}.table{overflow-x:auto;margin:1rem 0}section{border-top:1px solid #ddd;padding:1.5rem 0}.artefacts{font-size:14px}</style><h1>SimReadyBench results</h1><p>Formal fidelity measures SimReady Robotics-Prop requirements. Visual fidelity combines shape and appearance materials. Kinematic fidelity measures joint recovery and motion correspondence. Each score is reported independently.</p><p>53 of 100 reconstruction attempts completed.</p><p><a href="scores.csv">Scores CSV</a> | <a href="results.json">Detailed results JSON</a></p><h2>Results by asset</h2><div class="table"><table><thead><tr><th>Asset</th><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>accessory_eyeglasses_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>40.21% (0.804287/2)</td><td>0% (0/2)</td><td>72.55% (37/51)</td><td>52.24% (0.5224/1)</td><td>19.32% (0.772785/4)</td><td>0% (0/29)</td><td>13.91% (2134/15341)</td><td>50</td><td>3</td><td>0</td><td>782.55</td><td>685.58</td><td>1496445</td><td>30258</td><td>1526703</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>accessory_eyeglasses_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>66.28% (1.32561/2)</td><td>0% (0/2)</td><td>64.71% (33/51)</td><td>79.03% (0.790262/1)</td><td>37.83% (1.51339/4)</td><td>62.07% (18/29)</td><td>56.49% (8666/15341)</td><td>40</td><td>3</td><td>0</td><td>578.87</td><td>501.9</td><td>977861</td><td>22812</td><td>1000673</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>accessory_eyeglasses_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>85.47% (1.7094/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>84.81% (0.848127/1)</td><td>46.21% (1.84845/4)</td><td>62.07% (18/29)</td><td>58.59% (8988/15341)</td><td>38</td><td>4</td><td>0</td><td>691.4</td><td>595.07</td><td>1047023</td><td>28367</td><td>1075390</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>accessory_eyeglasses_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>63.84% (1.27689/2)</td><td>0% (0/2)</td><td>72.55% (37/51)</td><td>77.15% (0.771528/1)</td><td>37.55% (1.50198/4)</td><td>62.07% (18/29)</td><td>20.42% (3132/15341)</td><td>37</td><td>3</td><td>0</td><td>631.73</td><td>558.26</td><td>1069125</td><td>25375</td><td>1094500</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>box_cardboard_open_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>80.4% (1.60807/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>82.18% (0.821836/1)</td><td>82.18% (0.821836/1)</td><td>N/A</td><td>44.95% (6444/14336)</td><td>29</td><td>3</td><td>0</td><td>431.15</td><td>384.27</td><td>558400</td><td>16418</td><td>574818</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>box_cardboard_open_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>83.63% (0.836295/1)</td><td>83.63% (0.836295/1)</td><td>N/A</td><td>34.05% (4881/14336)</td><td>29</td><td>2</td><td>0</td><td>407.12</td><td>352.85</td><td>574540</td><td>16108</td><td>590648</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>box_cardboard_open_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>77.87% (0.778707/1)</td><td>77.87% (0.778707/1)</td><td>N/A</td><td>30.91% (4431/14336)</td><td>32</td><td>3</td><td>0</td><td>463.45</td><td>405.81</td><td>717656</td><td>17729</td><td>735385</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>box_cardboard_open_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>76.59% (1.53173/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>77.8% (0.778012/1)</td><td>77.8% (0.778012/1)</td><td>N/A</td><td>43.08% (6176/14336)</td><td>41</td><td>3</td><td>0</td><td>576.55</td><td>510.91</td><td>1062333</td><td>21815</td><td>1084148</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>bucket_utility_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>41.49% (0.829812/2)</td><td>0.01% (0.000121476/1)</td><td>76.47% (39/51)</td><td>54.74% (0.547449/1)</td><td>28.71% (0.574159/2)</td><td>63.64% (7/11)</td><td>31.4% (5136/16356)</td><td>43</td><td>4</td><td>0</td><td>805.12</td><td>716.05</td><td>1649778</td><td>31556</td><td>1681334</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>bucket_utility_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>43.33% (0.866571/2)</td><td>0.34% (0.00336069/1)</td><td>70.59% (36/51)</td><td>58.21% (0.58211/1)</td><td>29.27% (0.585487/2)</td><td>54.55% (6/11)</td><td>32.31% (5285/16356)</td><td>35</td><td>2</td><td>0</td><td>532.75</td><td>470.83</td><td>789652</td><td>20782</td><td>810434</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>bucket_utility_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>0.01% (8.61068e-05/1)</td><td>72.55% (37/51)</td><td>73.1% (0.730956/1)</td><td>37.68% (0.753671/2)</td><td>72.73% (8/11)</td><td>9.62% (1573/16356)</td><td>36</td><td>3</td><td>0</td><td>607.49</td><td>534.77</td><td>951282</td><td>24345</td><td>975627</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>bucket_utility_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>35.87% (0.717405/2)</td><td>0.27% (0.00266133/1)</td><td>72.55% (37/51)</td><td>47.74% (0.477375/1)</td><td>36.57% (0.731475/2)</td><td>63.64% (7/11)</td><td>13.35% (2184/16356)</td><td>35</td><td>3</td><td>0</td><td>573.88</td><td>507.19</td><td>763684</td><td>22833</td><td>786517</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>chair_office_amf_black_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>76.44% (1.52878/2)</td><td>0% (0/1)</td><td>68.63% (35/51)</td><td>74.46% (0.744639/1)</td><td>21.7% (0.216991/1)</td><td>N/A</td><td>31.78% (5207/16384)</td><td>34</td><td>3</td><td>0</td><td>703.39</td><td>625.71</td><td>898085</td><td>27574</td><td>925659</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>chair_office_amf_black_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>43.66% (0.873218/2)</td><td>N/A</td><td>68.63% (35/51)</td><td>59.83% (0.598322/1)</td><td>59.83% (0.598322/1)</td><td>N/A</td><td>23.96% (3925/16384)</td><td>40</td><td>3</td><td>0</td><td>633.2</td><td>558.55</td><td>1060920</td><td>24443</td><td>1085363</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>chair_office_amf_black_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>80.58% (1.61164/2)</td><td>0% (0/1)</td><td>76.47% (39/51)</td><td>79.3% (0.793004/1)</td><td>26.9% (0.268992/1)</td><td>N/A</td><td>30.74% (5036/16384)</td><td>39</td><td>3</td><td>0</td><td>685.16</td><td>618.7</td><td>891533</td><td>28320</td><td>919853</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>chair_office_amf_black_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>53.63% (1.07263/2)</td><td>0% (0/1)</td><td>76.47% (39/51)</td><td>74.19% (0.741903/1)</td><td>16.1% (0.16101/1)</td><td>N/A</td><td>29.11% (4770/16384)</td><td>39</td><td>4</td><td>0</td><td>573.97</td><td>493.46</td><td>1135730</td><td>22000</td><td>1157730</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>cleaning_cloth_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>97.57% (0.975744/1)</td><td>97.57% (0.975744/1)</td><td>N/A</td><td>14.29% (2048/14336)</td><td>37</td><td>2</td><td>0</td><td>634.25</td><td>500.96</td><td>874517</td><td>21134</td><td>895651</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>cleaning_cloth_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>99.24% (1.98482/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>98.49% (0.984882/1)</td><td>98.49% (0.984882/1)</td><td>N/A</td><td>28.57% (4096/14336)</td><td>36</td><td>4</td><td>0</td><td>723.44</td><td>563.47</td><td>1049555</td><td>24686</td><td>1074241</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>container_bottle_glass_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>80.72% (1.61437/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>81.71% (0.817125/1)</td><td>81.71% (0.817125/1)</td><td>N/A</td><td>29.9% (4899/16384)</td><td>36</td><td>3</td><td>0</td><td>562.03</td><td>496.66</td><td>896829</td><td>21319</td><td>918148</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>container_bottle_glass_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>90.98% (1.81958/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>90.94% (0.909423/1)</td><td>90.94% (0.909423/1)</td><td>N/A</td><td>68.26% (11184/16384)</td><td>32</td><td>2</td><td>0</td><td>366.66</td><td>320.67</td><td>520124</td><td>14220</td><td>534344</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>container_bottle_glass_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>66.67% (34/51)</td><td>81.06% (0.810559/1)</td><td>81.06% (0.810559/1)</td><td>N/A</td><td>49.19% (8060/16384)</td><td>29</td><td>2</td><td>0</td><td>383.45</td><td>331.67</td><td>523142</td><td>14382</td><td>537524</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>container_bottle_glass_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>86.65% (1.73301/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>87.47% (0.874685/1)</td><td>87.47% (0.874685/1)</td><td>N/A</td><td>64.38% (10548/16384)</td><td>31</td><td>3</td><td>0</td><td>427.21</td><td>364.45</td><td>583865</td><td>17011</td><td>600876</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>engineComponent_camshaft_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>88.94% (1.77876/2)</td><td>N/A</td><td>68.63% (35/51)</td><td>83.03% (0.83032/1)</td><td>83.03% (0.83032/1)</td><td>N/A</td><td>68.05% (9755/14336)</td><td>35</td><td>2</td><td>0</td><td>585.38</td><td>498.69</td><td>685698</td><td>20938</td><td>706636</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>engineComponent_camshaft_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>92.25% (0.922452/1)</td><td>92.25% (0.922452/1)</td><td>N/A</td><td>13.35% (1914/14336)</td><td>35</td><td>3</td><td>0</td><td>476.47</td><td>420.94</td><td>792475</td><td>18052</td><td>810527</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>engineComponent_camshaft_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>94.44% (1.88877/2)</td><td>0% (0/1)</td><td>76.47% (39/51)</td><td>93.91% (0.939092/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>65.85% (9440/14336)</td><td>28</td><td>2</td><td>0</td><td>476.92</td><td>398.76</td><td>631113</td><td>17682</td><td>648795</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>engineComponent_camshaft_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>64.71% (33/51)</td><td>82.91% (0.829092/1)</td><td>82.91% (0.829092/1)</td><td>N/A</td><td>12.8% (1835/14336)</td><td>35</td><td>2</td><td>0</td><td>495.14</td><td>421.45</td><td>861161</td><td>16684</td><td>877845</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>food_beverage_coffeeCup_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>72.53% (1.45061/2)</td><td>100% (1/1)</td><td>74.51% (38/51)</td><td>95.87% (0.95874/1)</td><td>95.2% (1.90396/2)</td><td>88.89% (8/9)</td><td>31.53% (6458/20480)</td><td>47</td><td>3</td><td>0</td><td>595.82</td><td>538.51</td><td>1221647</td><td>21670</td><td>1243317</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>food_produce_broccoli_b01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>19.37% (0.387413/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>32.63% (0.326308/1)</td><td>32.63% (0.326308/1)</td><td>N/A</td><td>19.79% (4052/20480)</td><td>41</td><td>3</td><td>0</td><td>578.42</td><td>489.11</td><td>919313</td><td>20121</td><td>939434</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>food_produce_broccoli_b01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>14.87% (0.297407/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>28% (0.279981/1)</td><td>28% (0.279981/1)</td><td>N/A</td><td>6% (1228/20480)</td><td>30</td><td>2</td><td>0</td><td>540.6</td><td>429.05</td><td>674005</td><td>18334</td><td>692339</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>food_produce_broccoli_b01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>11.69% (0.2338/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>22.17% (0.22168/1)</td><td>22.17% (0.22168/1)</td><td>N/A</td><td>9.12% (1867/20480)</td><td>31</td><td>3</td><td>0</td><td>878.56</td><td>747.76</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>food_produce_broccoli_b01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>15.27% (0.305363/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>21.29% (0.212897/1)</td><td>21.29% (0.212897/1)</td><td>N/A</td><td>12.43% (2545/20480)</td><td>34</td><td>3</td><td>0</td><td>628.61</td><td>455.92</td><td>761914</td><td>19385</td><td>781299</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTool_hammer_crossPeen_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>96.62% (1.93244/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>97.72% (0.97724/1)</td><td>97.72% (0.97724/1)</td><td>N/A</td><td>56.41% (8397/14886)</td><td>34</td><td>3</td><td>0</td><td>647.77</td><td>573.35</td><td>1080321</td><td>25872</td><td>1106193</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTool_hammer_crossPeen_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>30.61% (0.612167/2)</td><td>N/A</td><td>72.55% (37/51)</td><td>89.45% (0.894505/1)</td><td>89.45% (0.894505/1)</td><td>N/A</td><td>40% (5955/14886)</td><td>38</td><td>3</td><td>0</td><td>681.27</td><td>567.85</td><td>1207554</td><td>26511</td><td>1234065</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTool_hammer_crossPeen_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>84.12% (1.68244/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>88.42% (0.884239/1)</td><td>88.42% (0.884239/1)</td><td>N/A</td><td>50.14% (7464/14886)</td><td>34</td><td>3</td><td>0</td><td>529.57</td><td>448.06</td><td>947887</td><td>22185</td><td>970072</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTool_hammer_crossPeen_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>92.03% (1.84065/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>93.59% (0.935882/1)</td><td>93.59% (0.935882/1)</td><td>N/A</td><td>41.05% (6110/14886)</td><td>37</td><td>3</td><td>0</td><td>695.31</td><td>575.08</td><td>1091634</td><td>25232</td><td>1116866</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTool_wrench_adjustable_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>12.98% (0.129841/1)</td><td>74.51% (38/51)</td><td>94.04% (0.940356/1)</td><td>85.22% (2.55663/3)</td><td>85.71% (18/21)</td><td>13.55% (1943/14342)</td><td>37</td><td>3</td><td>0</td><td>832.49</td><td>753.37</td><td>1128020</td><td>36729</td><td>1164749</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTruck_convertible_steel_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>11.49% (0.229774/2)</td><td>1.92% (0.0191566/1)</td><td>76.47% (39/51)</td><td>61.9% (0.619044/1)</td><td>34.39% (3.78339/11)</td><td>35.64% (36/101)</td><td>13.52% (2216/16395)</td><td>38</td><td>3</td><td>0</td><td>702.5</td><td>625.83</td><td>1006459</td><td>28758</td><td>1035217</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTruck_convertible_steel_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>52.4% (1.04797/2)</td><td>7.47% (0.0746683/1)</td><td>68.63% (35/51)</td><td>67.09% (0.670874/1)</td><td>25.25% (2.77789/11)</td><td>36.63% (37/101)</td><td>19.09% (3129/16395)</td><td>38</td><td>3</td><td>0</td><td>694.82</td><td>639.45</td><td>1008585</td><td>28396</td><td>1036981</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTruck_convertible_steel_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>44.33% (0.886592/2)</td><td>1.03% (0.0103275/1)</td><td>76.47% (39/51)</td><td>59.81% (0.59815/1)</td><td>24.62% (2.70797/11)</td><td>31.68% (32/101)</td><td>35.39% (5803/16395)</td><td>43</td><td>3</td><td>0</td><td>687.1</td><td>611.92</td><td>1356378</td><td>27848</td><td>1384226</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTruck_convertible_steel_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>11.43% (0.228673/2)</td><td>2.08% (0.0207818/1)</td><td>74.51% (38/51)</td><td>57.37% (0.57371/1)</td><td>25.4% (2.7936/11)</td><td>35.64% (36/101)</td><td>8.06% (1322/16395)</td><td>48</td><td>4</td><td>0</td><td>645.05</td><td>568.03</td><td>1640122</td><td>23578</td><td>1663700</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>kitchenware_kettle_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>57.28% (1.14561/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>82.68% (0.826772/1)</td><td>40.14% (1.60573/4)</td><td>25.81% (8/31)</td><td>24.6% (5039/20480)</td><td>38</td><td>3</td><td>0</td><td>758.22</td><td>649.57</td><td>1173908</td><td>29697</td><td>1203605</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>kitchenware_kettle_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>52.94% (1.05874/2)</td><td>0% (0/2)</td><td>66.67% (34/51)</td><td>77.69% (0.776879/1)</td><td>55.92% (2.23685/4)</td><td>54.84% (17/31)</td><td>23.71% (4856/20480)</td><td>35</td><td>2</td><td>0</td><td>566.63</td><td>501.09</td><td>875218</td><td>21685</td><td>896903</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>ppe_helmet_hardHat_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>70.08% (0.70082/1)</td><td>70.08% (0.70082/1)</td><td>N/A</td><td>28.51% (4482/15722)</td><td>39</td><td>3</td><td>0</td><td>742.31</td><td>651.14</td><td>1240702</td><td>28463</td><td>1269165</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>ppe_helmet_hardHat_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>51.62% (1.03245/2)</td><td>0% (0/1)</td><td>74.51% (38/51)</td><td>61.36% (0.613561/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>42.9% (6745/15722)</td><td>43</td><td>4</td><td>0</td><td>631.73</td><td>539.34</td><td>1164052</td><td>24743</td><td>1188795</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>ppe_helmet_hardHat_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>42.26% (0.8451/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>50.75% (0.507519/1)</td><td>50.75% (0.507519/1)</td><td>N/A</td><td>13.55% (2130/15722)</td><td>32</td><td>3</td><td>0</td><td>510.66</td><td>438.32</td><td>643908</td><td>20213</td><td>664121</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>ppe_helmet_hardHat_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>39.15% (0.78302/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>47.74% (0.477441/1)</td><td>47.74% (0.477441/1)</td><td>N/A</td><td>24.53% (3856/15722)</td><td>38</td><td>3</td><td>0</td><td>536.05</td><td>410.9</td><td>760089</td><td>18154</td><td>778243</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>serviceTool_funnel_flexibleSpout_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>19.39% (0.387886/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>27.12% (0.271244/1)</td><td>27.12% (0.271244/1)</td><td>N/A</td><td>6.53% (1066/16337)</td><td>33</td><td>3</td><td>0</td><td>603.45</td><td>489.27</td><td>708585</td><td>22174</td><td>730759</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>serviceTool_funnel_flexibleSpout_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>19.37% (0.387495/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>26.46% (0.26464/1)</td><td>26.46% (0.26464/1)</td><td>N/A</td><td>13.34% (2180/16337)</td><td>31</td><td>3</td><td>0</td><td>596.15</td><td>515.32</td><td>688980</td><td>22564</td><td>711544</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>serviceTool_funnel_flexibleSpout_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>12.27% (0.245403/2)</td><td>N/A</td><td>72.55% (37/51)</td><td>18.08% (0.180844/1)</td><td>18.08% (0.180844/1)</td><td>N/A</td><td>8.01% (1308/16337)</td><td>48</td><td>3</td><td>0</td><td>743.68</td><td>614.79</td><td>1276209</td><td>26532</td><td>1302741</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>serviceTool_funnel_flexibleSpout_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>23.47% (0.234665/1)</td><td>23.47% (0.234665/1)</td><td>N/A</td><td>8.1% (1323/16337)</td><td>40</td><td>3</td><td>0</td><td>673.26</td><td>612.46</td><td>1116578</td><td>27075</td><td>1143653</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>suspension_coilover_rear_b01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>74.05% (1.48097/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>71.03% (0.710278/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>22.06% (3162/14336)</td><td>35</td><td>4</td><td>0</td><td>594.38</td><td>483.32</td><td>1125764</td><td>21918</td><td>1147682</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>suspension_coilover_rear_b01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>79.53% (0.795253/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>11.75% (1685/14336)</td><td>29</td><td>3</td><td>0</td><td>604.82</td><td>509.72</td><td>712051</td><td>23817</td><td>735868</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>suspension_coilover_rear_b01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>77.37% (1.54744/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>76.87% (0.768669/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>23.45% (3362/14336)</td><td>33</td><td>3</td><td>0</td><td>551.09</td><td>474.09</td><td>781173</td><td>23042</td><td>804215</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><section id="attempt-1"><h2>accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>40.21% (0.804287/2)</td><td>0% (0/2)</td><td>72.55% (37/51)</td><td>52.24% (0.5224/1)</td><td>19.32% (0.772785/4)</td><td>0% (0/29)</td><td>13.91% (2134/15341)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>50</td><td>3</td><td>0</td><td>782.55</td><td>685.58</td><td>1496445</td><td>30258</td><td>1526703</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>52.24</td><td>0.5224/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>19.32</td><td>0.772785/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>0</td><td>0/29</td><td>29</td><td>29</td><td>100</td></tr><tr><td>Materials</td><td>13.91</td><td>2134/15341</td><td>15341</td><td>15341</td><td>62.42</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>30.96</td><td>634/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>0</td><td>0/4</td><td>4/4</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_arm_02_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_arm_01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_glass_01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>55.91</td><td>49.02</td><td>2048</td><td>3.34</td><td>9.19</td><td>22.17</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/arm_01_obj_00</td><td>/Sunglasses/RightTemple</td><td>0</td></tr><tr><td>/RootNode/Geometry/arm_02_obj_00</td><td>/Sunglasses/LeftTemple</td><td>0</td></tr><tr><td>/RootNode/Geometry/base_01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/glass_01_obj_00</td><td>/Sunglasses/Front</td><td>77.28</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>3</td><td>2</td><td>0/29</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>3/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>3/4</td><td>4/4</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>0/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>0/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>0/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>0/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>0/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>0/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>0/2</td><td>2/2</td></tr><tr><td>relative_orientation</td><td>0/3</td><td>3/3</td></tr><tr><td>limits</td><td>0/2</td><td>2/2</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1004/2048</td><td>49.02</td></tr><tr><td>visual:metallic</td><td>126/1005</td><td>12.54</td></tr><tr><td>visual:opacity</td><td>1004/2048</td><td>49.02</td></tr></tbody></table></div><p class="artefacts"><a href="assets/accessory_eyeglasses_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/accessory_eyeglasses_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-front-3.png" alt="accessory_eyeglasses_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-front-6.png" alt="accessory_eyeglasses_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-isometric-2.png" alt="accessory_eyeglasses_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-isometric-5.png" alt="accessory_eyeglasses_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="accessory_eyeglasses_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-side-4.png" alt="accessory_eyeglasses_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-side-7.png" alt="accessory_eyeglasses_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-2"><h2>accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>66.28% (1.32561/2)</td><td>0% (0/2)</td><td>64.71% (33/51)</td><td>79.03% (0.790262/1)</td><td>37.83% (1.51339/4)</td><td>62.07% (18/29)</td><td>56.49% (8666/15341)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>40</td><td>3</td><td>0</td><td>578.87</td><td>501.9</td><td>977861</td><td>22812</td><td>1000673</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>79.03</td><td>0.790262/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>37.83</td><td>1.51339/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>62.07</td><td>18/29</td><td>29</td><td>29</td><td>100</td></tr><tr><td>Materials</td><td>56.49</td><td>8666/15341</td><td>15341</td><td>15341</td><td>62.42</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>55.59</td><td>1138.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>7.96</td><td>0.318493/4</td><td>4/4</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_arm_02_joint_00</td><td>/Sunglasses/RightFoldingHinge</td><td>7.74</td><td>9.06</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_arm_01_joint_00</td><td>/Sunglasses/LeftFoldingHinge</td><td>8.18</td><td>8.77</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_glass_01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>81.54</td><td>76.66</td><td>2048</td><td>3.34</td><td>3.45</td><td>7.18</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/arm_01_obj_00</td><td>/Sunglasses/LeftTemple</td><td>55.43</td></tr><tr><td>/RootNode/Geometry/arm_02_obj_00</td><td>/Sunglasses/RightTemple</td><td>52.82</td></tr><tr><td>/RootNode/Geometry/base_01_obj_00</td><td>/Sunglasses/FrontAssembly</td><td>43.09</td></tr><tr><td>/RootNode/Geometry/glass_01_obj_00</td><td>Not measured</td><td>0</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>3</td><td>2</td><td>18/29</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>3/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>3/4</td><td>4/4</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>2/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>2/2</td><td>2/2</td></tr><tr><td>relative_orientation</td><td>2/3</td><td>3/3</td></tr><tr><td>limits</td><td>2/2</td><td>2/2</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1570/2048</td><td>76.66</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1259/2048</td><td>61.47</td></tr><tr><td>physics:restitution</td><td>1306/2048</td><td>63.77</td></tr><tr><td>physics:staticFriction</td><td>1259/2048</td><td>61.47</td></tr><tr><td>visual:assignment</td><td>1570/2048</td><td>76.66</td></tr><tr><td>visual:metallic</td><td>132/1005</td><td>13.13</td></tr><tr><td>visual:opacity</td><td>1570/2048</td><td>76.66</td></tr></tbody></table></div><p class="artefacts"><a href="assets/accessory_eyeglasses_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/accessory_eyeglasses_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-2/reference-front-3.png" alt="accessory_eyeglasses_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-2/candidate-front-6.png" alt="accessory_eyeglasses_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-2/reference-isometric-2.png" alt="accessory_eyeglasses_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-2/candidate-isometric-5.png" alt="accessory_eyeglasses_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="accessory_eyeglasses_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-2/reference-side-4.png" alt="accessory_eyeglasses_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-2/candidate-side-7.png" alt="accessory_eyeglasses_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-3"><h2>accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>85.47% (1.7094/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>84.81% (0.848127/1)</td><td>46.21% (1.84845/4)</td><td>62.07% (18/29)</td><td>58.59% (8988/15341)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>38</td><td>4</td><td>0</td><td>691.4</td><td>595.07</td><td>1047023</td><td>28367</td><td>1075390</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>84.81</td><td>0.848127/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>46.21</td><td>1.84845/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>62.07</td><td>18/29</td><td>29</td><td>29</td><td>100</td></tr><tr><td>Materials</td><td>58.59</td><td>8988/15341</td><td>15341</td><td>15341</td><td>62.42</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>86.13</td><td>1764/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>32.55</td><td>1.30209/4</td><td>4/4</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_arm_02_joint_00</td><td>/Sunglasses/Joints/LeftFoldingHinge</td><td>27.45</td><td>5.42</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_arm_01_joint_00</td><td>/Sunglasses/Joints/RightFoldingHinge</td><td>37.65</td><td>4.29</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_glass_01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>83.35</td><td>86.33</td><td>2048</td><td>3.34</td><td>3.39</td><td>7.42</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/arm_01_obj_00</td><td>/Sunglasses/RightTemple</td><td>69.21</td></tr><tr><td>/RootNode/Geometry/arm_02_obj_00</td><td>/Sunglasses/LeftTemple</td><td>61.57</td></tr><tr><td>/RootNode/Geometry/base_01_obj_00</td><td>/Sunglasses/FrontFrame</td><td>54.07</td></tr><tr><td>/RootNode/Geometry/glass_01_obj_00</td><td>Not measured</td><td>0</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>3</td><td>2</td><td>18/29</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>3/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>3/4</td><td>4/4</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>2/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>2/2</td><td>2/2</td></tr><tr><td>relative_orientation</td><td>2/3</td><td>3/3</td></tr><tr><td>limits</td><td>2/2</td><td>2/2</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1729/2048</td><td>84.42</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>1422/2048</td><td>69.43</td></tr><tr><td>physics:staticFriction</td><td>1304/2048</td><td>63.67</td></tr><tr><td>visual:assignment</td><td>1768/2048</td><td>86.33</td></tr><tr><td>visual:metallic</td><td>997/1005</td><td>99.2</td></tr><tr><td>visual:opacity</td><td>1768/2048</td><td>86.33</td></tr></tbody></table></div><p class="artefacts"><a href="assets/accessory_eyeglasses_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/accessory_eyeglasses_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-3/reference-front-3.png" alt="accessory_eyeglasses_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-3/candidate-front-6.png" alt="accessory_eyeglasses_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-3/reference-isometric-2.png" alt="accessory_eyeglasses_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-3/candidate-isometric-5.png" alt="accessory_eyeglasses_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="accessory_eyeglasses_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-3/reference-side-4.png" alt="accessory_eyeglasses_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-3/candidate-side-7.png" alt="accessory_eyeglasses_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-4"><h2>accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>63.84% (1.27689/2)</td><td>0% (0/2)</td><td>72.55% (37/51)</td><td>77.15% (0.771528/1)</td><td>37.55% (1.50198/4)</td><td>62.07% (18/29)</td><td>20.42% (3132/15341)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>37</td><td>3</td><td>0</td><td>631.73</td><td>558.26</td><td>1069125</td><td>25375</td><td>1094500</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>77.15</td><td>0.771528/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>37.55</td><td>1.50198/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>62.07</td><td>18/29</td><td>29</td><td>29</td><td>100</td></tr><tr><td>Materials</td><td>20.42</td><td>3132/15341</td><td>15341</td><td>15341</td><td>62.42</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>52.83</td><td>1082/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>33.05</td><td>1.32211/4</td><td>4/4</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_arm_02_joint_00</td><td>/Sunglasses/Joints/LeftFoldingHinge</td><td>28.23</td><td>5.32</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_arm_01_joint_00</td><td>/Sunglasses/Joints/RightFoldingHinge</td><td>37.87</td><td>4.27</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_glass_01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>80.91</td><td>73.73</td><td>2048</td><td>3.34</td><td>4.03</td><td>9.33</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/arm_01_obj_00</td><td>/Sunglasses/RightTemple</td><td>55.08</td></tr><tr><td>/RootNode/Geometry/arm_02_obj_00</td><td>/Sunglasses/LeftTemple</td><td>51.74</td></tr><tr><td>/RootNode/Geometry/base_01_obj_00</td><td>/Sunglasses/FrontAssembly</td><td>43.37</td></tr><tr><td>/RootNode/Geometry/glass_01_obj_00</td><td>Not measured</td><td>0</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>3</td><td>2</td><td>18/29</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>3/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>3/4</td><td>4/4</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>2/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>2/2</td><td>2/2</td></tr><tr><td>relative_orientation</td><td>2/3</td><td>3/3</td></tr><tr><td>limits</td><td>2/2</td><td>2/2</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1510/2048</td><td>73.73</td></tr><tr><td>visual:metallic</td><td>112/1005</td><td>11.14</td></tr><tr><td>visual:opacity</td><td>1510/2048</td><td>73.73</td></tr></tbody></table></div><p class="artefacts"><a href="assets/accessory_eyeglasses_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/accessory_eyeglasses_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-4/reference-front-3.png" alt="accessory_eyeglasses_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-4/candidate-front-6.png" alt="accessory_eyeglasses_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-4/reference-isometric-2.png" alt="accessory_eyeglasses_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-4/candidate-isometric-5.png" alt="accessory_eyeglasses_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="accessory_eyeglasses_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-4/reference-side-4.png" alt="accessory_eyeglasses_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-4/candidate-side-7.png" alt="accessory_eyeglasses_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-5"><h2>box_cardboard_open_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>80.4% (1.60807/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>82.18% (0.821836/1)</td><td>82.18% (0.821836/1)</td><td>N/A</td><td>44.95% (6444/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>29</td><td>3</td><td>0</td><td>431.15</td><td>384.27</td><td>558400</td><td>16418</td><td>574818</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>82.18</td><td>0.821836/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>82.18</td><td>0.821836/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>44.95</td><td>6444/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>78.66</td><td>1611/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>86.04</td><td>78.66</td><td>2048</td><td>9.7</td><td>6.39</td><td>12.84</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_box_a01_obj_00</td><td>/CardboardTray</td><td>82.18</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1611/2048</td><td>78.66</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>1611/2048</td><td>78.66</td></tr><tr><td>visual:assignment</td><td>1611/2048</td><td>78.66</td></tr><tr><td>visual:opacity</td><td>1611/2048</td><td>78.66</td></tr></tbody></table></div><p class="artefacts"><a href="assets/box_cardboard_open_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/box_cardboard_open_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/reference-front-3.png" alt="box_cardboard_open_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/candidate-front-6.png" alt="box_cardboard_open_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/reference-isometric-2.png" alt="box_cardboard_open_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/candidate-isometric-5.png" alt="box_cardboard_open_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="box_cardboard_open_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/reference-side-4.png" alt="box_cardboard_open_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/candidate-side-7.png" alt="box_cardboard_open_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-6"><h2>box_cardboard_open_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>83.63% (0.836295/1)</td><td>83.63% (0.836295/1)</td><td>N/A</td><td>34.05% (4881/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>29</td><td>2</td><td>0</td><td>407.12</td><td>352.85</td><td>574540</td><td>16108</td><td>590648</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>83.63</td><td>0.836295/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>83.63</td><td>0.836295/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>34.05</td><td>4881/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>88.28</td><td>79.44</td><td>2048</td><td>9.7</td><td>6.13</td><td>12.98</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_box_a01_obj_00</td><td>/CardboardBox</td><td>83.63</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1627/2048</td><td>79.44</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>1627/2048</td><td>79.44</td></tr><tr><td>visual:assignment</td><td>1627/2048</td><td>79.44</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/box_cardboard_open_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/box_cardboard_open_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/box_cardboard_open_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-2/reference-front-3.png" alt="box_cardboard_open_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-2/candidate-front-6.png" alt="box_cardboard_open_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-2/reference-isometric-2.png" alt="box_cardboard_open_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-2/candidate-isometric-5.png" alt="box_cardboard_open_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="box_cardboard_open_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-2/reference-side-4.png" alt="box_cardboard_open_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-2/candidate-side-7.png" alt="box_cardboard_open_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-7"><h2>box_cardboard_open_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>77.87% (0.778707/1)</td><td>77.87% (0.778707/1)</td><td>N/A</td><td>30.91% (4431/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>32</td><td>3</td><td>0</td><td>463.45</td><td>405.81</td><td>717656</td><td>17729</td><td>735385</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>77.87</td><td>0.778707/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>77.87</td><td>0.778707/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>30.91</td><td>4431/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>84.62</td><td>72.12</td><td>2048</td><td>9.7</td><td>7.09</td><td>14.29</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_box_a01_obj_00</td><td>/CardboardTray</td><td>77.87</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1477/2048</td><td>72.12</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>1477/2048</td><td>72.12</td></tr><tr><td>visual:assignment</td><td>1477/2048</td><td>72.12</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/box_cardboard_open_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/box_cardboard_open_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/box_cardboard_open_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-3/reference-front-3.png" alt="box_cardboard_open_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-3/candidate-front-6.png" alt="box_cardboard_open_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-3/reference-isometric-2.png" alt="box_cardboard_open_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-3/candidate-isometric-5.png" alt="box_cardboard_open_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="box_cardboard_open_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-3/reference-side-4.png" alt="box_cardboard_open_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-3/candidate-side-7.png" alt="box_cardboard_open_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-8"><h2>box_cardboard_open_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>76.59% (1.53173/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>77.8% (0.778012/1)</td><td>77.8% (0.778012/1)</td><td>N/A</td><td>43.08% (6176/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>41</td><td>3</td><td>0</td><td>576.55</td><td>510.91</td><td>1062333</td><td>21815</td><td>1084148</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>77.8</td><td>0.778012/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>77.8</td><td>0.778012/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>43.08</td><td>6176/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>75.39</td><td>1544/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>80.37</td><td>75.39</td><td>2048</td><td>9.7</td><td>7.08</td><td>13.23</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_box_a01_obj_00</td><td>/CardboardTray</td><td>77.8</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1544/2048</td><td>75.39</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>1544/2048</td><td>75.39</td></tr><tr><td>visual:assignment</td><td>1544/2048</td><td>75.39</td></tr><tr><td>visual:opacity</td><td>1544/2048</td><td>75.39</td></tr></tbody></table></div><p class="artefacts"><a href="assets/box_cardboard_open_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/box_cardboard_open_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/box_cardboard_open_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-4/reference-front-3.png" alt="box_cardboard_open_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-4/candidate-front-6.png" alt="box_cardboard_open_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-4/reference-isometric-2.png" alt="box_cardboard_open_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-4/candidate-isometric-5.png" alt="box_cardboard_open_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="box_cardboard_open_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-4/reference-side-4.png" alt="box_cardboard_open_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-4/candidate-side-7.png" alt="box_cardboard_open_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-9"><h2>bucket_utility_red_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>41.49% (0.829812/2)</td><td>0.01% (0.000121476/1)</td><td>76.47% (39/51)</td><td>54.74% (0.547449/1)</td><td>28.71% (0.574159/2)</td><td>63.64% (7/11)</td><td>31.4% (5136/16356)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>43</td><td>4</td><td>0</td><td>805.12</td><td>716.05</td><td>1649778</td><td>31556</td><td>1681334</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>54.74</td><td>0.547449/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>28.71</td><td>0.574159/2</td><td>2</td><td>2</td><td>100</td></tr><tr><td>Joints</td><td>63.64</td><td>7/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Materials</td><td>31.4</td><td>5136/16356</td><td>16356</td><td>16356</td><td>66.55</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>31.45</td><td>644/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>0.01</td><td>0.000364428/3</td><td>3/3</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_handle_a01_01_joint_00</td><td>/Bucket/Joints/Bail_Swing</td><td>0.02</td><td>316.54</td><td>measured_motion</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>48.58</td><td>62.7</td><td>2048</td><td>6.38</td><td>8.31</td><td>14.26</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_bucket_utility_a01_obj_00</td><td>/Bucket/Body</td><td>56.03</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_01_obj_00</td><td>/Bucket/Bail</td><td>1.39</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>1</td><td>2</td><td>7/11</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body_kinematic</td><td>2/2</td><td>2/2</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>anchors</td><td>0/1</td><td>1/1</td></tr><tr><td>axes</td><td>0/1</td><td>1/1</td></tr><tr><td>relative_orientation</td><td>1/1</td><td>1/1</td></tr><tr><td>limits</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1284/2048</td><td>62.7</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1257/2048</td><td>61.38</td></tr><tr><td>physics:restitution</td><td>27/2048</td><td>1.32</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1284/2048</td><td>62.7</td></tr><tr><td>visual:diffuseColor</td><td>0/2020</td><td>0</td></tr><tr><td>visual:opacity</td><td>1284/2048</td><td>62.7</td></tr></tbody></table></div><p class="artefacts"><a href="assets/bucket_utility_red_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/bucket_utility_red_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/bucket_utility_red_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-1/reference-front-3.png" alt="bucket_utility_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-1/candidate-front-6.png" alt="bucket_utility_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-1/reference-isometric-2.png" alt="bucket_utility_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-1/candidate-isometric-5.png" alt="bucket_utility_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="bucket_utility_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-1/reference-side-4.png" alt="bucket_utility_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-1/candidate-side-7.png" alt="bucket_utility_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-10"><h2>bucket_utility_red_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>43.33% (0.866571/2)</td><td>0.34% (0.00336069/1)</td><td>70.59% (36/51)</td><td>58.21% (0.58211/1)</td><td>29.27% (0.585487/2)</td><td>54.55% (6/11)</td><td>32.31% (5285/16356)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>35</td><td>2</td><td>0</td><td>532.75</td><td>470.83</td><td>789652</td><td>20782</td><td>810434</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>58.21</td><td>0.58211/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>29.27</td><td>0.585487/2</td><td>2</td><td>2</td><td>100</td></tr><tr><td>Joints</td><td>54.55</td><td>6/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Materials</td><td>32.31</td><td>5285/16356</td><td>16356</td><td>16356</td><td>66.55</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>32.25</td><td>660.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>0.34</td><td>0.0100821/3</td><td>3/3</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_handle_a01_01_joint_00</td><td>/Bucket/Joints/BailHinge</td><td>0.5</td><td>66.31</td><td>measured_motion</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>53.27</td><td>64.16</td><td>2048</td><td>6.38</td><td>6.88</td><td>11.39</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_bucket_utility_a01_obj_00</td><td>/Bucket/Body</td><td>58.02</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_01_obj_00</td><td>/Bucket/Bail</td><td>0.53</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>1</td><td>2</td><td>6/11</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body_kinematic</td><td>2/2</td><td>2/2</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>anchors</td><td>0/1</td><td>1/1</td></tr><tr><td>axes</td><td>0/1</td><td>1/1</td></tr><tr><td>relative_orientation</td><td>0/1</td><td>1/1</td></tr><tr><td>limits</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1314/2048</td><td>64.16</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1314/2048</td><td>64.16</td></tr><tr><td>physics:restitution</td><td>29/2048</td><td>1.42</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1314/2048</td><td>64.16</td></tr><tr><td>visual:diffuseColor</td><td>0/2020</td><td>0</td></tr><tr><td>visual:opacity</td><td>1314/2048</td><td>64.16</td></tr></tbody></table></div><p class="artefacts"><a href="assets/bucket_utility_red_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/bucket_utility_red_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/bucket_utility_red_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-2/reference-front-3.png" alt="bucket_utility_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-2/candidate-front-6.png" alt="bucket_utility_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-2/reference-isometric-2.png" alt="bucket_utility_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-2/candidate-isometric-5.png" alt="bucket_utility_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="bucket_utility_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-2/reference-side-4.png" alt="bucket_utility_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-2/candidate-side-7.png" alt="bucket_utility_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-11"><h2>bucket_utility_red_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>0.01% (8.61068e-05/1)</td><td>72.55% (37/51)</td><td>73.1% (0.730956/1)</td><td>37.68% (0.753671/2)</td><td>72.73% (8/11)</td><td>9.62% (1573/16356)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>36</td><td>3</td><td>0</td><td>607.49</td><td>534.77</td><td>951282</td><td>24345</td><td>975627</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>73.1</td><td>0.730956/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>37.68</td><td>0.753671/2</td><td>2</td><td>2</td><td>100</td></tr><tr><td>Joints</td><td>72.73</td><td>8/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Materials</td><td>9.62</td><td>1573/16356</td><td>16356</td><td>16356</td><td>66.55</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>0.01</td><td>0.00025832/3</td><td>3/3</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_handle_a01_01_joint_00</td><td>/Bucket/Joints/Bail_hinge</td><td>0.01</td><td>256.43</td><td>measured_motion</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>69.73</td><td>76.81</td><td>2048</td><td>6.38</td><td>7.57</td><td>11.49</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_bucket_utility_a01_obj_00</td><td>/Bucket/Pail</td><td>73.34</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_01_obj_00</td><td>/Bucket/WireBail</td><td>2.03</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>1</td><td>2</td><td>8/11</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body_kinematic</td><td>2/2</td><td>2/2</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>anchors</td><td>0/1</td><td>1/1</td></tr><tr><td>axes</td><td>1/1</td><td>1/1</td></tr><tr><td>relative_orientation</td><td>1/1</td><td>1/1</td></tr><tr><td>limits</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1573/2048</td><td>76.81</td></tr><tr><td>visual:diffuseColor</td><td>0/2020</td><td>0</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/bucket_utility_red_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/bucket_utility_red_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/bucket_utility_red_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-3/reference-front-3.png" alt="bucket_utility_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-3/candidate-front-6.png" alt="bucket_utility_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-3/reference-isometric-2.png" alt="bucket_utility_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-3/candidate-isometric-5.png" alt="bucket_utility_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="bucket_utility_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-3/reference-side-4.png" alt="bucket_utility_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-3/candidate-side-7.png" alt="bucket_utility_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-12"><h2>bucket_utility_red_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>35.87% (0.717405/2)</td><td>0.27% (0.00266133/1)</td><td>72.55% (37/51)</td><td>47.74% (0.477375/1)</td><td>36.57% (0.731475/2)</td><td>63.64% (7/11)</td><td>13.35% (2184/16356)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>35</td><td>3</td><td>0</td><td>573.88</td><td>507.19</td><td>763684</td><td>22833</td><td>786517</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>47.74</td><td>0.477375/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>36.57</td><td>0.731475/2</td><td>2</td><td>2</td><td>100</td></tr><tr><td>Joints</td><td>63.64</td><td>7/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Materials</td><td>13.35</td><td>2184/16356</td><td>16356</td><td>16356</td><td>66.55</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>26.95</td><td>552/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>0.27</td><td>0.00798398/3</td><td>3/3</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_handle_a01_01_joint_00</td><td>/Bucket/Joints/BailPivot</td><td>0.4</td><td>55.26</td><td>measured_motion</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>43.21</td><td>53.32</td><td>2048</td><td>6.38</td><td>7.49</td><td>12.19</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_bucket_utility_a01_obj_00</td><td>/Bucket/Pail</td><td>48.04</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_01_obj_00</td><td>/Bucket/Bail</td><td>25.11</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>1</td><td>2</td><td>7/11</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body_kinematic</td><td>2/2</td><td>2/2</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>anchors</td><td>0/1</td><td>1/1</td></tr><tr><td>axes</td><td>1/1</td><td>1/1</td></tr><tr><td>relative_orientation</td><td>0/1</td><td>1/1</td></tr><tr><td>limits</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1092/2048</td><td>53.32</td></tr><tr><td>visual:diffuseColor</td><td>0/2020</td><td>0</td></tr><tr><td>visual:opacity</td><td>1092/2048</td><td>53.32</td></tr></tbody></table></div><p class="artefacts"><a href="assets/bucket_utility_red_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/bucket_utility_red_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/bucket_utility_red_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-4/reference-front-3.png" alt="bucket_utility_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-4/candidate-front-6.png" alt="bucket_utility_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-4/reference-isometric-2.png" alt="bucket_utility_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-4/candidate-isometric-5.png" alt="bucket_utility_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="bucket_utility_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-4/reference-side-4.png" alt="bucket_utility_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-4/candidate-side-7.png" alt="bucket_utility_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-13"><h2>chair_office_amf_black_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>76.44% (1.52878/2)</td><td>0% (0/1)</td><td>68.63% (35/51)</td><td>74.46% (0.744639/1)</td><td>21.7% (0.216991/1)</td><td>N/A</td><td>31.78% (5207/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>34</td><td>3</td><td>0</td><td>703.39</td><td>625.71</td><td>898085</td><td>27574</td><td>925659</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>74.46</td><td>0.744639/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>21.7</td><td>0.216991/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>31.78</td><td>5207/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>78.47</td><td>1607/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/2</td><td>2/2</td><td>100</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>70.85</td><td>78.47</td><td>2048</td><td>12.29</td><td>18.15</td><td>39.56</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_chair_office_amf_a01_obj_00</td><td>/Chair/SteelFrame</td><td>21.7</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>2</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>193/2048</td><td>9.42</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>193/2048</td><td>9.42</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1607/2048</td><td>78.47</td></tr><tr><td>visual:diffuseColor</td><td>1607/2048</td><td>78.47</td></tr><tr><td>visual:opacity</td><td>1607/2048</td><td>78.47</td></tr></tbody></table></div><p class="artefacts"><a href="assets/chair_office_amf_black_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/chair_office_amf_black_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-1/reference-front-3.png" alt="chair_office_amf_black_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-1/candidate-front-6.png" alt="chair_office_amf_black_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-1/reference-isometric-2.png" alt="chair_office_amf_black_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-1/candidate-isometric-5.png" alt="chair_office_amf_black_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="chair_office_amf_black_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-1/reference-side-4.png" alt="chair_office_amf_black_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-1/candidate-side-7.png" alt="chair_office_amf_black_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-14"><h2>chair_office_amf_black_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>43.66% (0.873218/2)</td><td>N/A</td><td>68.63% (35/51)</td><td>59.83% (0.598322/1)</td><td>59.83% (0.598322/1)</td><td>N/A</td><td>23.96% (3925/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>40</td><td>3</td><td>0</td><td>633.2</td><td>558.55</td><td>1060920</td><td>24443</td><td>1085363</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>59.83</td><td>0.598322/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>59.83</td><td>0.598322/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>23.96</td><td>3925/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>31.86</td><td>652.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>56.2</td><td>63.96</td><td>2048</td><td>12.29</td><td>24.13</td><td>53.74</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_chair_office_amf_a01_obj_00</td><td>/Chair</td><td>59.83</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1310/2048</td><td>63.96</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1310/2048</td><td>63.96</td></tr><tr><td>visual:diffuseColor</td><td>1305/2048</td><td>63.72</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/chair_office_amf_black_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/chair_office_amf_black_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-2/reference-front-3.png" alt="chair_office_amf_black_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-2/candidate-front-6.png" alt="chair_office_amf_black_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-2/reference-isometric-2.png" alt="chair_office_amf_black_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-2/candidate-isometric-5.png" alt="chair_office_amf_black_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="chair_office_amf_black_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-2/reference-side-4.png" alt="chair_office_amf_black_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-2/candidate-side-7.png" alt="chair_office_amf_black_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-15"><h2>chair_office_amf_black_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>80.58% (1.61164/2)</td><td>0% (0/1)</td><td>76.47% (39/51)</td><td>79.3% (0.793004/1)</td><td>26.9% (0.268992/1)</td><td>N/A</td><td>30.74% (5036/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>39</td><td>3</td><td>0</td><td>685.16</td><td>618.7</td><td>891533</td><td>28320</td><td>919853</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>79.3</td><td>0.793004/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>26.9</td><td>0.268992/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>30.74</td><td>5036/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>81.88</td><td>1677/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/2</td><td>2/2</td><td>100</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>76.66</td><td>82.13</td><td>2048</td><td>12.29</td><td>12.51</td><td>30.05</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_chair_office_amf_a01_obj_00</td><td>/Chair/Frame</td><td>26.9</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>2</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1682/2048</td><td>82.13</td></tr><tr><td>visual:diffuseColor</td><td>1672/2048</td><td>81.64</td></tr><tr><td>visual:opacity</td><td>1682/2048</td><td>82.13</td></tr></tbody></table></div><p class="artefacts"><a href="assets/chair_office_amf_black_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/chair_office_amf_black_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/reference-front-3.png" alt="chair_office_amf_black_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-front-6.png" alt="chair_office_amf_black_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/reference-isometric-2.png" alt="chair_office_amf_black_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-isometric-5.png" alt="chair_office_amf_black_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="chair_office_amf_black_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/reference-side-4.png" alt="chair_office_amf_black_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-side-7.png" alt="chair_office_amf_black_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-16"><h2>chair_office_amf_black_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>53.63% (1.07263/2)</td><td>0% (0/1)</td><td>76.47% (39/51)</td><td>74.19% (0.741903/1)</td><td>16.1% (0.16101/1)</td><td>N/A</td><td>29.11% (4770/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>39</td><td>4</td><td>0</td><td>573.97</td><td>493.46</td><td>1135730</td><td>22000</td><td>1157730</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>74.19</td><td>0.741903/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>16.1</td><td>0.16101/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>29.11</td><td>4770/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>38.77</td><td>794/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/2</td><td>2/2</td><td>100</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>71</td><td>77.69</td><td>2048</td><td>12.29</td><td>19.92</td><td>52.6</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_chair_office_amf_a01_obj_00</td><td>/Chair/Frame</td><td>16.1</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>2</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1591/2048</td><td>77.69</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1591/2048</td><td>77.69</td></tr><tr><td>visual:diffuseColor</td><td>1588/2048</td><td>77.54</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/chair_office_amf_black_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/chair_office_amf_black_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-4/reference-front-3.png" alt="chair_office_amf_black_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-4/candidate-front-6.png" alt="chair_office_amf_black_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-4/reference-isometric-2.png" alt="chair_office_amf_black_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-4/candidate-isometric-5.png" alt="chair_office_amf_black_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="chair_office_amf_black_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-4/reference-side-4.png" alt="chair_office_amf_black_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-4/candidate-side-7.png" alt="chair_office_amf_black_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-17"><h2>cleaning_cloth_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>97.57% (0.975744/1)</td><td>97.57% (0.975744/1)</td><td>N/A</td><td>14.29% (2048/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>37</td><td>2</td><td>0</td><td>634.25</td><td>500.96</td><td>874517</td><td>21134</td><td>895651</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>97.57</td><td>0.975744/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>97.57</td><td>0.975744/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>14.29</td><td>2048/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>95.26</td><td>100</td><td>2048</td><td>4.5</td><td>2</td><td>3.89</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/cleaningCloth_01_obj_00</td><td>/Cloth</td><td>97.57</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>2048/2048</td><td>100</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/cleaning_cloth_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/cleaning_cloth_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/cleaning_cloth_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/cleaning_cloth_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/cleaning_cloth_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-2/reference-front-3.png" alt="cleaning_cloth_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-2/candidate-front-6.png" alt="cleaning_cloth_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-2/reference-isometric-2.png" alt="cleaning_cloth_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-2/candidate-isometric-5.png" alt="cleaning_cloth_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="cleaning_cloth_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-2/reference-side-4.png" alt="cleaning_cloth_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-2/candidate-side-7.png" alt="cleaning_cloth_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-18"><h2>cleaning_cloth_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>99.24% (1.98482/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>98.49% (0.984882/1)</td><td>98.49% (0.984882/1)</td><td>N/A</td><td>28.57% (4096/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>36</td><td>4</td><td>0</td><td>723.44</td><td>563.47</td><td>1049555</td><td>24686</td><td>1074241</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>98.49</td><td>0.984882/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>98.49</td><td>0.984882/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>28.57</td><td>4096/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>100</td><td>2048/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>97.02</td><td>100</td><td>2048</td><td>4.5</td><td>1.8</td><td>3.56</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/cleaningCloth_01_obj_00</td><td>/MicrofiberCloth</td><td>98.49</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>2048/2048</td><td>100</td></tr><tr><td>visual:opacity</td><td>2048/2048</td><td>100</td></tr></tbody></table></div><p class="artefacts"><a href="assets/cleaning_cloth_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/cleaning_cloth_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/cleaning_cloth_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/cleaning_cloth_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/cleaning_cloth_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-4/reference-front-3.png" alt="cleaning_cloth_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-4/candidate-front-6.png" alt="cleaning_cloth_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-4/reference-isometric-2.png" alt="cleaning_cloth_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-4/candidate-isometric-5.png" alt="cleaning_cloth_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="cleaning_cloth_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-4/reference-side-4.png" alt="cleaning_cloth_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-4/candidate-side-7.png" alt="cleaning_cloth_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-19"><h2>container_bottle_glass_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>80.72% (1.61437/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>81.71% (0.817125/1)</td><td>81.71% (0.817125/1)</td><td>N/A</td><td>29.9% (4899/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>36</td><td>3</td><td>0</td><td>562.03</td><td>496.66</td><td>896829</td><td>21319</td><td>918148</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>81.71</td><td>0.817125/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>81.71</td><td>0.817125/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>29.9</td><td>4899/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>79.74</td><td>1633/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>83.79</td><td>79.74</td><td>2048</td><td>4.51</td><td>3.58</td><td>7.77</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/bottle_01_obj_00</td><td>/Vessel</td><td>81.71</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1633/2048</td><td>79.74</td></tr><tr><td>visual:metallic</td><td>1633/2048</td><td>79.74</td></tr><tr><td>visual:opacity</td><td>1633/2048</td><td>79.74</td></tr></tbody></table></div><p class="artefacts"><a href="assets/container_bottle_glass_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/container_bottle_glass_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/reference-front-3.png" alt="container_bottle_glass_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/candidate-front-6.png" alt="container_bottle_glass_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/reference-isometric-2.png" alt="container_bottle_glass_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/candidate-isometric-5.png" alt="container_bottle_glass_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="container_bottle_glass_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/reference-side-4.png" alt="container_bottle_glass_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/candidate-side-7.png" alt="container_bottle_glass_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-20"><h2>container_bottle_glass_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>90.98% (1.81958/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>90.94% (0.909423/1)</td><td>90.94% (0.909423/1)</td><td>N/A</td><td>68.26% (11184/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>32</td><td>2</td><td>0</td><td>366.66</td><td>320.67</td><td>520124</td><td>14220</td><td>534344</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>90.94</td><td>0.909423/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>90.94</td><td>0.909423/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>68.26</td><td>11184/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>91.02</td><td>1864/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>90.87</td><td>91.02</td><td>2048</td><td>4.51</td><td>2.82</td><td>5.2</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/bottle_01_obj_00</td><td>/Bottle</td><td>90.94</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1864/2048</td><td>91.02</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1864/2048</td><td>91.02</td></tr><tr><td>physics:restitution</td><td>1864/2048</td><td>91.02</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1864/2048</td><td>91.02</td></tr><tr><td>visual:metallic</td><td>1864/2048</td><td>91.02</td></tr><tr><td>visual:opacity</td><td>1864/2048</td><td>91.02</td></tr></tbody></table></div><p class="artefacts"><a href="assets/container_bottle_glass_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/container_bottle_glass_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/container_bottle_glass_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-2/reference-front-3.png" alt="container_bottle_glass_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-2/candidate-front-6.png" alt="container_bottle_glass_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-2/reference-isometric-2.png" alt="container_bottle_glass_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-2/candidate-isometric-5.png" alt="container_bottle_glass_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="container_bottle_glass_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-2/reference-side-4.png" alt="container_bottle_glass_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-2/candidate-side-7.png" alt="container_bottle_glass_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-21"><h2>container_bottle_glass_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>66.67% (34/51)</td><td>81.06% (0.810559/1)</td><td>81.06% (0.810559/1)</td><td>N/A</td><td>49.19% (8060/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>29</td><td>2</td><td>0</td><td>383.45</td><td>331.67</td><td>523142</td><td>14382</td><td>537524</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>81.06</td><td>0.810559/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>81.06</td><td>0.810559/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>49.19</td><td>8060/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>83.54</td><td>78.71</td><td>2048</td><td>4.51</td><td>3.83</td><td>9</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/bottle_01_obj_00</td><td>/Vessel</td><td>81.06</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1612/2048</td><td>78.71</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1612/2048</td><td>78.71</td></tr><tr><td>physics:restitution</td><td>1612/2048</td><td>78.71</td></tr><tr><td>physics:staticFriction</td><td>1612/2048</td><td>78.71</td></tr><tr><td>visual:assignment</td><td>1612/2048</td><td>78.71</td></tr><tr><td>visual:metallic</td><td>0/2048</td><td>0</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/container_bottle_glass_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/container_bottle_glass_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/container_bottle_glass_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-3/reference-front-3.png" alt="container_bottle_glass_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-3/candidate-front-6.png" alt="container_bottle_glass_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-3/reference-isometric-2.png" alt="container_bottle_glass_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-3/candidate-isometric-5.png" alt="container_bottle_glass_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="container_bottle_glass_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-3/reference-side-4.png" alt="container_bottle_glass_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-3/candidate-side-7.png" alt="container_bottle_glass_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-22"><h2>container_bottle_glass_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>86.65% (1.73301/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>87.47% (0.874685/1)</td><td>87.47% (0.874685/1)</td><td>N/A</td><td>64.38% (10548/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>31</td><td>3</td><td>0</td><td>427.21</td><td>364.45</td><td>583865</td><td>17011</td><td>600876</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>87.47</td><td>0.874685/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>87.47</td><td>0.874685/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>64.38</td><td>10548/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>85.84</td><td>1758/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>89.16</td><td>85.84</td><td>2048</td><td>4.51</td><td>3.23</td><td>7.86</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/bottle_01_obj_00</td><td>/Bottle</td><td>87.47</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1758/2048</td><td>85.84</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>1758/2048</td><td>85.84</td></tr><tr><td>physics:staticFriction</td><td>1758/2048</td><td>85.84</td></tr><tr><td>visual:assignment</td><td>1758/2048</td><td>85.84</td></tr><tr><td>visual:metallic</td><td>1758/2048</td><td>85.84</td></tr><tr><td>visual:opacity</td><td>1758/2048</td><td>85.84</td></tr></tbody></table></div><p class="artefacts"><a href="assets/container_bottle_glass_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/container_bottle_glass_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/container_bottle_glass_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-4/reference-front-3.png" alt="container_bottle_glass_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-4/candidate-front-6.png" alt="container_bottle_glass_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-4/reference-isometric-2.png" alt="container_bottle_glass_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-4/candidate-isometric-5.png" alt="container_bottle_glass_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="container_bottle_glass_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-4/reference-side-4.png" alt="container_bottle_glass_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-4/candidate-side-7.png" alt="container_bottle_glass_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-23"><h2>engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>88.94% (1.77876/2)</td><td>N/A</td><td>68.63% (35/51)</td><td>83.03% (0.83032/1)</td><td>83.03% (0.83032/1)</td><td>N/A</td><td>68.05% (9755/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>35</td><td>2</td><td>0</td><td>585.38</td><td>498.69</td><td>685698</td><td>20938</td><td>706636</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>83.03</td><td>0.83032/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>83.03</td><td>0.83032/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>68.05</td><td>9755/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>95.26</td><td>1951/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>73.58</td><td>95.26</td><td>2048</td><td>6.88</td><td>5.08</td><td>11.45</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/camshaft_01_obj_00</td><td>/Camshaft/Body</td><td>83.03</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1951/2048</td><td>95.26</td></tr><tr><td>physics:density</td><td>1951/2048</td><td>95.26</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>1951/2048</td><td>95.26</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1951/2048</td><td>95.26</td></tr><tr><td>visual:opacity</td><td>1951/2048</td><td>95.26</td></tr></tbody></table></div><p class="artefacts"><a href="assets/engineComponent_camshaft_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/engineComponent_camshaft_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-1/reference-front-3.png" alt="engineComponent_camshaft_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-1/candidate-front-6.png" alt="engineComponent_camshaft_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-1/reference-isometric-2.png" alt="engineComponent_camshaft_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-1/candidate-isometric-5.png" alt="engineComponent_camshaft_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="engineComponent_camshaft_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-1/reference-side-4.png" alt="engineComponent_camshaft_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-1/candidate-side-7.png" alt="engineComponent_camshaft_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-24"><h2>engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>92.25% (0.922452/1)</td><td>92.25% (0.922452/1)</td><td>N/A</td><td>13.35% (1914/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>35</td><td>3</td><td>0</td><td>476.47</td><td>420.94</td><td>792475</td><td>18052</td><td>810527</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>92.25</td><td>0.922452/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>92.25</td><td>0.922452/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>13.35</td><td>1914/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>91.06</td><td>93.46</td><td>2048</td><td>6.88</td><td>3.77</td><td>8.01</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/camshaft_01_obj_00</td><td>/Camshaft/Body</td><td>92.25</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1914/2048</td><td>93.46</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/engineComponent_camshaft_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/engineComponent_camshaft_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-2/reference-front-3.png" alt="engineComponent_camshaft_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-2/candidate-front-6.png" alt="engineComponent_camshaft_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-2/reference-isometric-2.png" alt="engineComponent_camshaft_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-2/candidate-isometric-5.png" alt="engineComponent_camshaft_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="engineComponent_camshaft_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-2/reference-side-4.png" alt="engineComponent_camshaft_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-2/candidate-side-7.png" alt="engineComponent_camshaft_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-25"><h2>engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>94.44% (1.88877/2)</td><td>0% (0/1)</td><td>76.47% (39/51)</td><td>93.91% (0.939092/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>65.85% (9440/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>28</td><td>2</td><td>0</td><td>476.92</td><td>398.76</td><td>631113</td><td>17682</td><td>648795</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>93.91</td><td>0.939092/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>50</td><td>0.5/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>65.85</td><td>9440/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>94.97</td><td>1945/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/2</td><td>2/2</td><td>100</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>92.87</td><td>94.97</td><td>2048</td><td>6.88</td><td>3.21</td><td>7.52</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/camshaft_01_obj_00</td><td>/Camshaft/Shaft</td><td>84.74</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>2</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1850/2048</td><td>90.33</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1850/2048</td><td>90.33</td></tr><tr><td>physics:restitution</td><td>1850/2048</td><td>90.33</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1945/2048</td><td>94.97</td></tr><tr><td>visual:opacity</td><td>1945/2048</td><td>94.97</td></tr></tbody></table></div><p class="artefacts"><a href="assets/engineComponent_camshaft_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/engineComponent_camshaft_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-3/reference-front-3.png" alt="engineComponent_camshaft_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-3/candidate-front-6.png" alt="engineComponent_camshaft_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-3/reference-isometric-2.png" alt="engineComponent_camshaft_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-3/candidate-isometric-5.png" alt="engineComponent_camshaft_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="engineComponent_camshaft_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-3/reference-side-4.png" alt="engineComponent_camshaft_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-3/candidate-side-7.png" alt="engineComponent_camshaft_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-26"><h2>engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>64.71% (33/51)</td><td>82.91% (0.829092/1)</td><td>82.91% (0.829092/1)</td><td>N/A</td><td>12.8% (1835/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>35</td><td>2</td><td>0</td><td>495.14</td><td>421.45</td><td>861161</td><td>16684</td><td>877845</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>82.91</td><td>0.829092/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>82.91</td><td>0.829092/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>12.8</td><td>1835/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>77.15</td><td>89.6</td><td>2048</td><td>6.88</td><td>5.06</td><td>10.25</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/camshaft_01_obj_00</td><td>/Camshaft</td><td>82.91</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1835/2048</td><td>89.6</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/engineComponent_camshaft_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/engineComponent_camshaft_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-4/reference-front-3.png" alt="engineComponent_camshaft_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-4/candidate-front-6.png" alt="engineComponent_camshaft_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-4/reference-isometric-2.png" alt="engineComponent_camshaft_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-4/candidate-isometric-5.png" alt="engineComponent_camshaft_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="engineComponent_camshaft_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-4/reference-side-4.png" alt="engineComponent_camshaft_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-4/candidate-side-7.png" alt="engineComponent_camshaft_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-27"><h2>food_beverage_coffeeCup_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>72.53% (1.45061/2)</td><td>100% (1/1)</td><td>74.51% (38/51)</td><td>95.87% (0.95874/1)</td><td>95.2% (1.90396/2)</td><td>88.89% (8/9)</td><td>31.53% (6458/20480)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>47</td><td>3</td><td>0</td><td>595.82</td><td>538.51</td><td>1221647</td><td>21670</td><td>1243317</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>95.87</td><td>0.95874/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>95.2</td><td>1.90396/2</td><td>2</td><td>2</td><td>100</td></tr><tr><td>Joints</td><td>88.89</td><td>8/9</td><td>9</td><td>9</td><td>100</td></tr><tr><td>Materials</td><td>31.53</td><td>6458/20480</td><td>20480</td><td>20480</td><td>83.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>54.87</td><td>1123.75/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>100</td><td>2/2</td><td>2/2</td><td>100</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_food_beverage_coffeeCup_a01_lid_joint_00</td><td>/CoffeeCup/LidSnapFit</td><td>100</td><td>0</td><td>measured_motion</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>95.9</td><td>95.85</td><td>2048</td><td>2.68</td><td>1.14</td><td>2.12</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_body_obj_00</td><td>/CoffeeCup/Body</td><td>94.28</td></tr><tr><td>/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_lid_obj_00</td><td>/CoffeeCup/Lid</td><td>96.12</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>1</td><td>1</td><td>8/9</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body_kinematic</td><td>2/2</td><td>2/2</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>anchors</td><td>0/1</td><td>1/1</td></tr><tr><td>relative_orientation</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_count</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1963/2048</td><td>95.85</td></tr><tr><td>visual:diffuseColor</td><td>491/2048</td><td>23.97</td></tr><tr><td>visual:metallic</td><td>1963/2048</td><td>95.85</td></tr><tr><td>visual:opacity</td><td>1963/2048</td><td>95.85</td></tr><tr><td>visual:roughness</td><td>78/2048</td><td>3.81</td></tr></tbody></table></div><p class="artefacts"><a href="assets/food_beverage_coffeeCup_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/food_beverage_coffeeCup_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-front-3.png" alt="food_beverage_coffeeCup_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-front-6.png" alt="food_beverage_coffeeCup_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-isometric-2.png" alt="food_beverage_coffeeCup_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-isometric-5.png" alt="food_beverage_coffeeCup_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="food_beverage_coffeeCup_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-side-4.png" alt="food_beverage_coffeeCup_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-side-7.png" alt="food_beverage_coffeeCup_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-28"><h2>food_produce_broccoli_b01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>19.37% (0.387413/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>32.63% (0.326308/1)</td><td>32.63% (0.326308/1)</td><td>N/A</td><td>19.79% (4052/20480)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>41</td><td>3</td><td>0</td><td>578.42</td><td>489.11</td><td>919313</td><td>20121</td><td>939434</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>32.63</td><td>0.326308/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>32.63</td><td>0.326308/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>19.79</td><td>4052/20480</td><td>20480</td><td>20480</td><td>83.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>11.5</td><td>235.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>35.25</td><td>30.37</td><td>2048</td><td>3.68</td><td>11.87</td><td>25.22</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00</td><td>/Broccoli</td><td>32.63</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>622/2048</td><td>30.37</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>622/2048</td><td>30.37</td></tr><tr><td>physics:restitution</td><td>622/2048</td><td>30.37</td></tr><tr><td>physics:staticFriction</td><td>622/2048</td><td>30.37</td></tr><tr><td>visual:assignment</td><td>622/2048</td><td>30.37</td></tr><tr><td>visual:diffuseColor</td><td>28/2048</td><td>1.37</td></tr><tr><td>visual:metallic</td><td>622/2048</td><td>30.37</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr><tr><td>visual:roughness</td><td>292/2048</td><td>14.26</td></tr></tbody></table></div><p class="artefacts"><a href="assets/food_produce_broccoli_b01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/food_produce_broccoli_b01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-1/reference-front-3.png" alt="food_produce_broccoli_b01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-1/candidate-front-6.png" alt="food_produce_broccoli_b01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-1/reference-isometric-2.png" alt="food_produce_broccoli_b01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-1/candidate-isometric-5.png" alt="food_produce_broccoli_b01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="food_produce_broccoli_b01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-1/reference-side-4.png" alt="food_produce_broccoli_b01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-1/candidate-side-7.png" alt="food_produce_broccoli_b01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-29"><h2>food_produce_broccoli_b01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>14.87% (0.297407/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>28% (0.279981/1)</td><td>28% (0.279981/1)</td><td>N/A</td><td>6% (1228/20480)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>30</td><td>2</td><td>0</td><td>540.6</td><td>429.05</td><td>674005</td><td>18334</td><td>692339</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>28</td><td>0.279981/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>28</td><td>0.279981/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>6</td><td>1228/20480</td><td>20480</td><td>20480</td><td>83.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>7.9</td><td>161.75/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>27.64</td><td>28.37</td><td>2048</td><td>3.68</td><td>11.5</td><td>23.96</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00</td><td>/Broccoli</td><td>28</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>581/2048</td><td>28.37</td></tr><tr><td>visual:diffuseColor</td><td>20/2048</td><td>0.98</td></tr><tr><td>visual:metallic</td><td>581/2048</td><td>28.37</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr><tr><td>visual:roughness</td><td>46/2048</td><td>2.25</td></tr></tbody></table></div><p class="artefacts"><a href="assets/food_produce_broccoli_b01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/food_produce_broccoli_b01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-2/reference-front-3.png" alt="food_produce_broccoli_b01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-2/candidate-front-6.png" alt="food_produce_broccoli_b01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-2/reference-isometric-2.png" alt="food_produce_broccoli_b01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-2/candidate-isometric-5.png" alt="food_produce_broccoli_b01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="food_produce_broccoli_b01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-2/reference-side-4.png" alt="food_produce_broccoli_b01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-2/candidate-side-7.png" alt="food_produce_broccoli_b01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-30"><h2>food_produce_broccoli_b01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>11.69% (0.2338/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>22.17% (0.22168/1)</td><td>22.17% (0.22168/1)</td><td>N/A</td><td>9.12% (1867/20480)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>31</td><td>3</td><td>0</td><td>878.56</td><td>747.76</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>22.17</td><td>0.22168/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>22.17</td><td>0.22168/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>9.12</td><td>1867/20480</td><td>20480</td><td>20480</td><td>83.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>6.16</td><td>126.25/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>22.17</td><td>22.17</td><td>2048</td><td>3.68</td><td>14.37</td><td>28.67</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00</td><td>/Broccoli</td><td>22.17</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>454/2048</td><td>22.17</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>454/2048</td><td>22.17</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>454/2048</td><td>22.17</td></tr><tr><td>visual:diffuseColor</td><td>13/2048</td><td>0.63</td></tr><tr><td>visual:metallic</td><td>454/2048</td><td>22.17</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr><tr><td>visual:roughness</td><td>38/2048</td><td>1.86</td></tr></tbody></table></div><p class="artefacts"><a href="assets/food_produce_broccoli_b01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/food_produce_broccoli_b01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-3/reference-front-3.png" alt="food_produce_broccoli_b01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-3/candidate-front-6.png" alt="food_produce_broccoli_b01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-3/reference-isometric-2.png" alt="food_produce_broccoli_b01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-3/candidate-isometric-5.png" alt="food_produce_broccoli_b01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="food_produce_broccoli_b01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-3/reference-side-4.png" alt="food_produce_broccoli_b01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-3/candidate-side-7.png" alt="food_produce_broccoli_b01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-31"><h2>food_produce_broccoli_b01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>15.27% (0.305363/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>21.29% (0.212897/1)</td><td>21.29% (0.212897/1)</td><td>N/A</td><td>12.43% (2545/20480)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>34</td><td>3</td><td>0</td><td>628.61</td><td>455.92</td><td>761914</td><td>19385</td><td>781299</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>21.29</td><td>0.212897/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>21.29</td><td>0.212897/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>12.43</td><td>2545/20480</td><td>20480</td><td>20480</td><td>83.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>10.95</td><td>224.25/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>22.61</td><td>20.12</td><td>2048</td><td>3.68</td><td>15.02</td><td>31.69</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00</td><td>/Broccoli</td><td>21.29</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>412/2048</td><td>20.12</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>412/2048</td><td>20.12</td></tr><tr><td>physics:restitution</td><td>412/2048</td><td>20.12</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>412/2048</td><td>20.12</td></tr><tr><td>visual:diffuseColor</td><td>15/2048</td><td>0.73</td></tr><tr><td>visual:metallic</td><td>412/2048</td><td>20.12</td></tr><tr><td>visual:opacity</td><td>412/2048</td><td>20.12</td></tr><tr><td>visual:roughness</td><td>58/2048</td><td>2.83</td></tr></tbody></table></div><p class="artefacts"><a href="assets/food_produce_broccoli_b01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/food_produce_broccoli_b01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-4/reference-front-3.png" alt="food_produce_broccoli_b01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-4/candidate-front-6.png" alt="food_produce_broccoli_b01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-4/reference-isometric-2.png" alt="food_produce_broccoli_b01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-4/candidate-isometric-5.png" alt="food_produce_broccoli_b01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="food_produce_broccoli_b01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-4/reference-side-4.png" alt="food_produce_broccoli_b01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-4/candidate-side-7.png" alt="food_produce_broccoli_b01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-32"><h2>handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>96.62% (1.93244/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>97.72% (0.97724/1)</td><td>97.72% (0.97724/1)</td><td>N/A</td><td>56.41% (8397/14886)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>34</td><td>3</td><td>0</td><td>647.77</td><td>573.35</td><td>1080321</td><td>25872</td><td>1106193</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>97.72</td><td>0.97724/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>97.72</td><td>0.97724/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>56.41</td><td>8397/14886</td><td>14886</td><td>14886</td><td>60.57</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>95.53</td><td>1956.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>99.46</td><td>96.04</td><td>2048</td><td>5.18</td><td>2.07</td><td>4.51</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/hammer_01_obj_00</td><td>/Hammer</td><td>97.72</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1967/2048</td><td>96.04</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>1967/2048</td><td>96.04</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1967/2048</td><td>96.04</td></tr><tr><td>visual:diffuseColor</td><td>529/550</td><td>96.18</td></tr><tr><td>visual:opacity</td><td>1967/2048</td><td>96.04</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTool_hammer_crossPeen_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/handTool_hammer_crossPeen_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/reference-front-3.png" alt="handTool_hammer_crossPeen_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/candidate-front-6.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/reference-isometric-2.png" alt="handTool_hammer_crossPeen_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/candidate-isometric-5.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/reference-side-4.png" alt="handTool_hammer_crossPeen_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/candidate-side-7.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-33"><h2>handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>30.61% (0.612167/2)</td><td>N/A</td><td>72.55% (37/51)</td><td>89.45% (0.894505/1)</td><td>89.45% (0.894505/1)</td><td>N/A</td><td>40% (5955/14886)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>38</td><td>3</td><td>0</td><td>681.27</td><td>567.85</td><td>1207554</td><td>26511</td><td>1234065</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>89.45</td><td>0.894505/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>89.45</td><td>0.894505/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>40</td><td>5955/14886</td><td>14886</td><td>14886</td><td>60.57</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>10.47</td><td>214.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>88.96</td><td>89.94</td><td>2048</td><td>5.18</td><td>3.19</td><td>7.19</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/hammer_01_obj_00</td><td>/Sledgehammer</td><td>89.45</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1842/2048</td><td>89.94</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>1842/2048</td><td>89.94</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1842/2048</td><td>89.94</td></tr><tr><td>visual:diffuseColor</td><td>429/550</td><td>78</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTool_hammer_crossPeen_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/handTool_hammer_crossPeen_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/reference-front-3.png" alt="handTool_hammer_crossPeen_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/candidate-front-6.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/reference-isometric-2.png" alt="handTool_hammer_crossPeen_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/candidate-isometric-5.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/reference-side-4.png" alt="handTool_hammer_crossPeen_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/candidate-side-7.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-34"><h2>handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>84.12% (1.68244/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>88.42% (0.884239/1)</td><td>88.42% (0.884239/1)</td><td>N/A</td><td>50.14% (7464/14886)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>34</td><td>3</td><td>0</td><td>529.57</td><td>448.06</td><td>947887</td><td>22185</td><td>970072</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>88.42</td><td>0.884239/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>88.42</td><td>0.884239/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>50.14</td><td>7464/14886</td><td>14886</td><td>14886</td><td>60.57</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>80.03</td><td>1639/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>85.89</td><td>91.11</td><td>2048</td><td>5.18</td><td>3.3</td><td>7.02</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/hammer_01_obj_00</td><td>/Sledgehammer</td><td>88.42</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1866/2048</td><td>91.11</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>1866/2048</td><td>91.11</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1866/2048</td><td>91.11</td></tr><tr><td>visual:diffuseColor</td><td>0/550</td><td>0</td></tr><tr><td>visual:opacity</td><td>1866/2048</td><td>91.11</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTool_hammer_crossPeen_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/handTool_hammer_crossPeen_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/reference-front-3.png" alt="handTool_hammer_crossPeen_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/candidate-front-6.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/reference-isometric-2.png" alt="handTool_hammer_crossPeen_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/candidate-isometric-5.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/reference-side-4.png" alt="handTool_hammer_crossPeen_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/candidate-side-7.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-35"><h2>handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>92.03% (1.84065/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>93.59% (0.935882/1)</td><td>93.59% (0.935882/1)</td><td>N/A</td><td>41.05% (6110/14886)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>37</td><td>3</td><td>0</td><td>695.31</td><td>575.08</td><td>1091634</td><td>25232</td><td>1116866</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>93.59</td><td>0.935882/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>93.59</td><td>0.935882/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>41.05</td><td>6110/14886</td><td>14886</td><td>14886</td><td>60.57</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>90.5</td><td>1853.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>95.56</td><td>91.7</td><td>2048</td><td>5.18</td><td>2.83</td><td>5.61</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/hammer_01_obj_00</td><td>/ClubHammer</td><td>93.59</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1878/2048</td><td>91.7</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1878/2048</td><td>91.7</td></tr><tr><td>visual:diffuseColor</td><td>476/550</td><td>86.55</td></tr><tr><td>visual:opacity</td><td>1878/2048</td><td>91.7</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTool_hammer_crossPeen_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/handTool_hammer_crossPeen_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/reference-front-3.png" alt="handTool_hammer_crossPeen_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/candidate-front-6.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/reference-isometric-2.png" alt="handTool_hammer_crossPeen_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/candidate-isometric-5.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/reference-side-4.png" alt="handTool_hammer_crossPeen_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/candidate-side-7.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-36"><h2>handTool_wrench_adjustable_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>12.98% (0.129841/1)</td><td>74.51% (38/51)</td><td>94.04% (0.940356/1)</td><td>85.22% (2.55663/3)</td><td>85.71% (18/21)</td><td>13.55% (1943/14342)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>37</td><td>3</td><td>0</td><td>832.49</td><td>753.37</td><td>1128020</td><td>36729</td><td>1164749</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>94.04</td><td>0.940356/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>85.22</td><td>2.55663/3</td><td>3</td><td>3</td><td>100</td></tr><tr><td>Joints</td><td>85.71</td><td>18/21</td><td>21</td><td>21</td><td>100</td></tr><tr><td>Materials</td><td>13.55</td><td>1943/14342</td><td>14342</td><td>14342</td><td>58.36</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>12.98</td><td>0.519363/4</td><td>4/4</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_knurl_01_joint_00</td><td>/Wrench/Joints/WormAxle</td><td>24.67</td><td>5.55</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_jaw_01_joint_00</td><td>/Wrench/Joints/JawSlide</td><td>1.3</td><td>7.6</td><td>measured_motion</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>93.21</td><td>94.87</td><td>2048</td><td>3.17</td><td>1.53</td><td>3.58</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Wrench/Body</td><td>90.55</td></tr><tr><td>/RootNode/Geometry/jaw_01_obj_00</td><td>/Wrench/SlidingJaw</td><td>77.29</td></tr><tr><td>/RootNode/Geometry/knurl_01_obj_00</td><td>/Wrench/AdjustmentWorm</td><td>87.82</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>2</td><td>2</td><td>18/21</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>3/3</td><td>3/3</td></tr><tr><td>body_kinematic</td><td>3/3</td><td>3/3</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>2/2</td><td>2/2</td></tr><tr><td>joint_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body0_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body0_kinematic</td><td>2/2</td><td>2/2</td></tr><tr><td>body1_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body1_kinematic</td><td>2/2</td><td>2/2</td></tr><tr><td>anchors</td><td>0/2</td><td>2/2</td></tr><tr><td>axes</td><td>2/2</td><td>2/2</td></tr><tr><td>relative_orientation</td><td>2/2</td><td>2/2</td></tr><tr><td>limits</td><td>1/2</td><td>2/2</td></tr><tr><td>joint_count</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1943/2048</td><td>94.87</td></tr><tr><td>visual:diffuseColor</td><td>0/6</td><td>0</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTool_wrench_adjustable_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/handTool_wrench_adjustable_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/handTool_wrench_adjustable_a01/reconstruction-1/reference-front-3.png" alt="handTool_wrench_adjustable_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/handTool_wrench_adjustable_a01/reconstruction-1/candidate-front-6.png" alt="handTool_wrench_adjustable_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/handTool_wrench_adjustable_a01/reconstruction-1/reference-isometric-2.png" alt="handTool_wrench_adjustable_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTool_wrench_adjustable_a01/reconstruction-1/candidate-isometric-5.png" alt="handTool_wrench_adjustable_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTool_wrench_adjustable_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="handTool_wrench_adjustable_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/handTool_wrench_adjustable_a01/reconstruction-1/reference-side-4.png" alt="handTool_wrench_adjustable_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/handTool_wrench_adjustable_a01/reconstruction-1/candidate-side-7.png" alt="handTool_wrench_adjustable_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-37"><h2>handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>11.49% (0.229774/2)</td><td>1.92% (0.0191566/1)</td><td>76.47% (39/51)</td><td>61.9% (0.619044/1)</td><td>34.39% (3.78339/11)</td><td>35.64% (36/101)</td><td>13.52% (2216/16395)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>38</td><td>3</td><td>0</td><td>702.5</td><td>625.83</td><td>1006459</td><td>28758</td><td>1035217</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>61.9</td><td>0.619044/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>34.39</td><td>3.78339/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Joints</td><td>35.64</td><td>36/101</td><td>101</td><td>101</td><td>100</td></tr><tr><td>Materials</td><td>13.52</td><td>2216/16395</td><td>16395</td><td>16395</td><td>66.71</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>2.13</td><td>43.6667/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>1.92</td><td>0.344818/18</td><td>18/18</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00</td><td>/HandTruck/Joints/LeftCasterAxle</td><td>3.86</td><td>80.62</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_handle_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00</td><td>/HandTruck/Joints/RightMainWheelAxle</td><td>4.26</td><td>76.65</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00</td><td>/HandTruck/Joints/LeftMainWheelAxle</td><td>5.49</td><td>67.09</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_mount_a01_joint_01</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00</td><td>/HandTruck/Joints/RightCasterAxle</td><td>3.63</td><td>83.26</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>60.06</td><td>63.87</td><td>2048</td><td>16.16</td><td>19.96</td><td>40.33</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_body_a01_obj_00</td><td>/HandTruck/Frame</td><td>50.21</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel1_a01_obj_00</td><td>/HandTruck/RightWheel</td><td>58.18</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel2_a01_obj_00</td><td>/HandTruck/LeftWheel</td><td>58.24</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_obj_00</td><td>/HandTruck/SlidingHandle</td><td>39.7</td></tr><tr><td>/RootNode/Geometry/sm_lock1_a01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_lock2_a01_obj_00</td><td>/HandTruck/ReleaseLatch</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_mount_a01_obj_01</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame1_a01_obj_00</td><td>/HandTruck/RightCasterFork</td><td>49.02</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame2_a01_obj_00</td><td>/HandTruck/LeftCasterFork</td><td>43.4</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel1_a01_obj_00</td><td>/HandTruck/RightCasterWheel</td><td>38.82</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel2_a01_obj_00</td><td>/HandTruck/LeftCasterWheel</td><td>40.76</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>10</td><td>8</td><td>36/101</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>9/11</td><td>11/11</td></tr><tr><td>body_kinematic</td><td>9/11</td><td>11/11</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>anchors</td><td>0/10</td><td>10/10</td></tr><tr><td>axes</td><td>4/10</td><td>10/10</td></tr><tr><td>relative_orientation</td><td>4/10</td><td>10/10</td></tr><tr><td>limits</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>777/2048</td><td>37.94</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1308/2048</td><td>63.87</td></tr><tr><td>visual:diffuseColor</td><td>0/1439</td><td>0</td></tr><tr><td>visual:metallic</td><td>131/310</td><td>42.26</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr><tr><td>visual:roughness</td><td>0/310</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTruck_convertible_steel_red_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/handTruck_convertible_steel_red_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/reference-front-3.png" alt="handTruck_convertible_steel_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/candidate-front-6.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/reference-isometric-2.png" alt="handTruck_convertible_steel_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/candidate-isometric-5.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/reference-side-4.png" alt="handTruck_convertible_steel_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/candidate-side-7.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-38"><h2>handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>52.4% (1.04797/2)</td><td>7.47% (0.0746683/1)</td><td>68.63% (35/51)</td><td>67.09% (0.670874/1)</td><td>25.25% (2.77789/11)</td><td>36.63% (37/101)</td><td>19.09% (3129/16395)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>38</td><td>3</td><td>0</td><td>694.82</td><td>639.45</td><td>1008585</td><td>28396</td><td>1036981</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>67.09</td><td>0.670874/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>25.25</td><td>2.77789/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Joints</td><td>36.63</td><td>37/101</td><td>101</td><td>101</td><td>100</td></tr><tr><td>Materials</td><td>19.09</td><td>3129/16395</td><td>16395</td><td>16395</td><td>66.71</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>40.93</td><td>838.167/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>7.47</td><td>1.34403/18</td><td>18/18</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00</td><td>/HandTruck/Joints/Left_Caster_Roll</td><td>1.19</td><td>147.14</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_handle_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00</td><td>/HandTruck/Joints/Right_Axle_Rotation</td><td>28.31</td><td>25.72</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00</td><td>/HandTruck/Joints/Left_Axle_Rotation</td><td>36.48</td><td>21.33</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_mount_a01_joint_01</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00</td><td>/HandTruck/Joints/Right_Caster_Roll</td><td>1.21</td><td>146.01</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>63.09</td><td>71.63</td><td>2048</td><td>16.16</td><td>21.5</td><td>45.65</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_body_a01_obj_00</td><td>/HandTruck/Frame</td><td>63.14</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel1_a01_obj_00</td><td>/HandTruck/Right_Main_Wheel</td><td>70.07</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel2_a01_obj_00</td><td>/HandTruck/Left_Main_Wheel</td><td>90.48</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_obj_00</td><td>/HandTruck/Telescopic_Handle</td><td>49.4</td></tr><tr><td>/RootNode/Geometry/sm_lock1_a01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_lock2_a01_obj_00</td><td>/HandTruck/Release_Latch</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_mount_a01_obj_01</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame1_a01_obj_00</td><td>/HandTruck/Right_Caster_Fork</td><td>4.23</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame2_a01_obj_00</td><td>/HandTruck/Left_Caster_Fork</td><td>0.47</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel1_a01_obj_00</td><td>/HandTruck/Right_Caster_Wheel</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel2_a01_obj_00</td><td>/HandTruck/Left_Caster_Wheel</td><td>0</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>10</td><td>8</td><td>37/101</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>9/11</td><td>11/11</td></tr><tr><td>body_kinematic</td><td>9/11</td><td>11/11</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>anchors</td><td>1/10</td><td>10/10</td></tr><tr><td>axes</td><td>4/10</td><td>10/10</td></tr><tr><td>relative_orientation</td><td>4/10</td><td>10/10</td></tr><tr><td>limits</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1467/2048</td><td>71.63</td></tr><tr><td>visual:diffuseColor</td><td>0/1439</td><td>0</td></tr><tr><td>visual:metallic</td><td>195/310</td><td>62.9</td></tr><tr><td>visual:opacity</td><td>1467/2048</td><td>71.63</td></tr><tr><td>visual:roughness</td><td>0/310</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTruck_convertible_steel_red_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/handTruck_convertible_steel_red_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/reference-front-3.png" alt="handTruck_convertible_steel_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/candidate-front-6.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/reference-isometric-2.png" alt="handTruck_convertible_steel_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/candidate-isometric-5.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/reference-side-4.png" alt="handTruck_convertible_steel_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/candidate-side-7.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-39"><h2>handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>44.33% (0.886592/2)</td><td>1.03% (0.0103275/1)</td><td>76.47% (39/51)</td><td>59.81% (0.59815/1)</td><td>24.62% (2.70797/11)</td><td>31.68% (32/101)</td><td>35.39% (5803/16395)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>43</td><td>3</td><td>0</td><td>687.1</td><td>611.92</td><td>1356378</td><td>27848</td><td>1384226</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>59.81</td><td>0.59815/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>24.62</td><td>2.70797/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Joints</td><td>31.68</td><td>32/101</td><td>101</td><td>101</td><td>100</td></tr><tr><td>Materials</td><td>35.39</td><td>5803/16395</td><td>16395</td><td>16395</td><td>66.71</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>32.85</td><td>672.833/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>1.03</td><td>0.185895/18</td><td>18/18</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00</td><td>/HandTruck/Joints/CasterWheel_L_Rolling</td><td>1.87</td><td>117.19</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_handle_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00</td><td>/HandTruck/Joints/MainWheel_R_Axle</td><td>2.32</td><td>104.9</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00</td><td>/HandTruck/Joints/MainWheel_L_Axle</td><td>3.17</td><td>89.39</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_mount_a01_joint_01</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00</td><td>/HandTruck/Joints/CasterWheel_R_Rolling</td><td>1.94</td><td>114.83</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>61.04</td><td>58.64</td><td>2048</td><td>16.16</td><td>25.92</td><td>55.05</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_body_a01_obj_00</td><td>/HandTruck/Frame</td><td>48.5</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel1_a01_obj_00</td><td>/HandTruck/MainWheel_R</td><td>61.04</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel2_a01_obj_00</td><td>/HandTruck/MainWheel_L</td><td>66.13</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_obj_00</td><td>/HandTruck/SlidingHandle</td><td>70.4</td></tr><tr><td>/RootNode/Geometry/sm_lock1_a01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_lock2_a01_obj_00</td><td>/HandTruck/ReleasePin</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_mount_a01_obj_01</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame1_a01_obj_00</td><td>/HandTruck/CasterFork_R</td><td>12.48</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame2_a01_obj_00</td><td>/HandTruck/CasterFork_L</td><td>3.55</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel1_a01_obj_00</td><td>/HandTruck/CasterWheel_R</td><td>2.89</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel2_a01_obj_00</td><td>/HandTruck/CasterWheel_L</td><td>5.8</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>10</td><td>8</td><td>32/101</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>9/11</td><td>11/11</td></tr><tr><td>body_kinematic</td><td>9/11</td><td>11/11</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>anchors</td><td>0/10</td><td>10/10</td></tr><tr><td>axes</td><td>0/10</td><td>10/10</td></tr><tr><td>relative_orientation</td><td>4/10</td><td>10/10</td></tr><tr><td>limits</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1201/2048</td><td>58.64</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>976/2048</td><td>47.66</td></tr><tr><td>physics:restitution</td><td>1056/2048</td><td>51.56</td></tr><tr><td>physics:staticFriction</td><td>55/2048</td><td>2.69</td></tr><tr><td>visual:assignment</td><td>1201/2048</td><td>58.64</td></tr><tr><td>visual:diffuseColor</td><td>0/1439</td><td>0</td></tr><tr><td>visual:metallic</td><td>113/310</td><td>36.45</td></tr><tr><td>visual:opacity</td><td>1201/2048</td><td>58.64</td></tr><tr><td>visual:roughness</td><td>0/310</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTruck_convertible_steel_red_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/handTruck_convertible_steel_red_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/reference-front-3.png" alt="handTruck_convertible_steel_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/candidate-front-6.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/reference-isometric-2.png" alt="handTruck_convertible_steel_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/candidate-isometric-5.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/reference-side-4.png" alt="handTruck_convertible_steel_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/candidate-side-7.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-40"><h2>handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>11.43% (0.228673/2)</td><td>2.08% (0.0207818/1)</td><td>74.51% (38/51)</td><td>57.37% (0.57371/1)</td><td>25.4% (2.7936/11)</td><td>35.64% (36/101)</td><td>8.06% (1322/16395)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>48</td><td>4</td><td>0</td><td>645.05</td><td>568.03</td><td>1640122</td><td>23578</td><td>1663700</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>57.37</td><td>0.57371/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>25.4</td><td>2.7936/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Joints</td><td>35.64</td><td>36/101</td><td>101</td><td>101</td><td>100</td></tr><tr><td>Materials</td><td>8.06</td><td>1322/16395</td><td>16395</td><td>16395</td><td>66.71</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>2.28</td><td>46.6667/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>2.08</td><td>0.353291/17</td><td>17/17</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00</td><td>/HandTruck/Joints/CasterRollLeft</td><td>3.03</td><td>91.51</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_handle_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00</td><td>/HandTruck/Joints/AxleRotationRight</td><td>6.02</td><td>63.85</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00</td><td>/HandTruck/Joints/AxleRotationLeft</td><td>5.61</td><td>66.27</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_mount_a01_joint_01</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00</td><td>/HandTruck/Joints/CasterRollRight</td><td>3</td><td>91.86</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>57.03</td><td>57.71</td><td>2048</td><td>16.16</td><td>21.02</td><td>41.61</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_body_a01_obj_00</td><td>/HandTruck/Frame</td><td>56.88</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel1_a01_obj_00</td><td>/HandTruck/MainWheelRight</td><td>61.37</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel2_a01_obj_00</td><td>/HandTruck/MainWheelLeft</td><td>61.42</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_obj_00</td><td>/HandTruck/Handle</td><td>31.19</td></tr><tr><td>/RootNode/Geometry/sm_lock1_a01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_lock2_a01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_mount_a01_obj_01</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame1_a01_obj_00</td><td>/HandTruck/CasterForkRight</td><td>16</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame2_a01_obj_00</td><td>/HandTruck/CasterForkLeft</td><td>19.33</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel1_a01_obj_00</td><td>/HandTruck/CasterWheelRight</td><td>16.76</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel2_a01_obj_00</td><td>/HandTruck/CasterWheelLeft</td><td>16.42</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>10</td><td>7</td><td>36/101</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>8/11</td><td>11/11</td></tr><tr><td>body_kinematic</td><td>8/11</td><td>11/11</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>anchors</td><td>0/10</td><td>10/10</td></tr><tr><td>axes</td><td>4/10</td><td>10/10</td></tr><tr><td>relative_orientation</td><td>4/10</td><td>10/10</td></tr><tr><td>limits</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1182/2048</td><td>57.71</td></tr><tr><td>visual:diffuseColor</td><td>0/1439</td><td>0</td></tr><tr><td>visual:metallic</td><td>140/310</td><td>45.16</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr><tr><td>visual:roughness</td><td>0/310</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTruck_convertible_steel_red_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/handTruck_convertible_steel_red_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/reference-front-3.png" alt="handTruck_convertible_steel_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/candidate-front-6.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/reference-isometric-2.png" alt="handTruck_convertible_steel_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/candidate-isometric-5.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/reference-side-4.png" alt="handTruck_convertible_steel_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/candidate-side-7.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-41"><h2>kitchenware_kettle_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>57.28% (1.14561/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>82.68% (0.826772/1)</td><td>40.14% (1.60573/4)</td><td>25.81% (8/31)</td><td>24.6% (5039/20480)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>38</td><td>3</td><td>0</td><td>758.22</td><td>649.57</td><td>1173908</td><td>29697</td><td>1203605</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>82.68</td><td>0.826772/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>40.14</td><td>1.60573/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>25.81</td><td>8/31</td><td>31</td><td>31</td><td>100</td></tr><tr><td>Materials</td><td>24.6</td><td>5039/20480</td><td>20480</td><td>20480</td><td>83.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>39.69</td><td>812.75/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>1.35</td><td>0.0809969/6</td><td>6/6</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_kitchenware_kettle_a01_switch_joint_00</td><td>/Kettle/Joints/PowerRockerPivot</td><td>4.05</td><td>9.02</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_kitchenware_kettle_a01_button_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_kitchenware_kettle_a01_lid_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>78.52</td><td>87.3</td><td>2048</td><td>4.7</td><td>4.79</td><td>10.84</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_body_obj_01</td><td>/Kettle/Vessel</td><td>83.28</td></tr><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_button_obj_00</td><td>/Kettle/LidRelease</td><td>16.7</td></tr><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_lid_obj_01</td><td>/Kettle/Lid</td><td>53.71</td></tr><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00</td><td>/Kettle/PowerRocker</td><td>6.88</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>3</td><td>4</td><td>8/31</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>4/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>4/4</td><td>4/4</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>1/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>1/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>1/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>1/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>1/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>1/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>1/3</td><td>3/3</td></tr><tr><td>relative_orientation</td><td>1/3</td><td>3/3</td></tr><tr><td>limits</td><td>0/3</td><td>3/3</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1788/2048</td><td>87.3</td></tr><tr><td>visual:diffuseColor</td><td>372/2048</td><td>18.16</td></tr><tr><td>visual:metallic</td><td>1523/2048</td><td>74.37</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr><tr><td>visual:roughness</td><td>1356/2048</td><td>66.21</td></tr></tbody></table></div><p class="artefacts"><a href="assets/kitchenware_kettle_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/kitchenware_kettle_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/kitchenware_kettle_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/kitchenware_kettle_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-1/reference-front-3.png" alt="kitchenware_kettle_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-1/candidate-front-6.png" alt="kitchenware_kettle_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-1/reference-isometric-2.png" alt="kitchenware_kettle_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-1/candidate-isometric-5.png" alt="kitchenware_kettle_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="kitchenware_kettle_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-1/reference-side-4.png" alt="kitchenware_kettle_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-1/candidate-side-7.png" alt="kitchenware_kettle_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-42"><h2>kitchenware_kettle_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>52.94% (1.05874/2)</td><td>0% (0/2)</td><td>66.67% (34/51)</td><td>77.69% (0.776879/1)</td><td>55.92% (2.23685/4)</td><td>54.84% (17/31)</td><td>23.71% (4856/20480)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>35</td><td>2</td><td>0</td><td>566.63</td><td>501.09</td><td>875218</td><td>21685</td><td>896903</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>77.69</td><td>0.776879/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>55.92</td><td>2.23685/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>54.84</td><td>17/31</td><td>31</td><td>31</td><td>100</td></tr><tr><td>Materials</td><td>23.71</td><td>4856/20480</td><td>20480</td><td>20480</td><td>83.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>36.07</td><td>738.75/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>4.46</td><td>0.267646/6</td><td>6/6</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_kitchenware_kettle_a01_switch_joint_00</td><td>/Kettle/Joints/Power_rocker_hinge</td><td>13.38</td><td>5.9</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_kitchenware_kettle_a01_button_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_kitchenware_kettle_a01_lid_joint_00</td><td>/Kettle/Joints/Lid_hinge</td><td>0</td><td>92.95</td><td>measured_motion</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>66.8</td><td>92.82</td><td>2048</td><td>4.7</td><td>4.86</td><td>11.36</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_body_obj_01</td><td>/Kettle/Vessel</td><td>71.08</td></tr><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_button_obj_00</td><td>/Kettle/LidRelease</td><td>26.44</td></tr><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_lid_obj_01</td><td>/Kettle/Lid</td><td>75.83</td></tr><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00</td><td>/Kettle/PowerSwitch</td><td>50.33</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>3</td><td>4</td><td>17/31</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>4/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>4/4</td><td>4/4</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>2/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>2/3</td><td>3/3</td></tr><tr><td>relative_orientation</td><td>2/3</td><td>3/3</td></tr><tr><td>limits</td><td>1/3</td><td>3/3</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1901/2048</td><td>92.82</td></tr><tr><td>visual:diffuseColor</td><td>448/2048</td><td>21.88</td></tr><tr><td>visual:metallic</td><td>1492/2048</td><td>72.85</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr><tr><td>visual:roughness</td><td>1015/2048</td><td>49.56</td></tr></tbody></table></div><p class="artefacts"><a href="assets/kitchenware_kettle_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/kitchenware_kettle_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/kitchenware_kettle_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/kitchenware_kettle_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-2/reference-front-3.png" alt="kitchenware_kettle_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-2/candidate-front-6.png" alt="kitchenware_kettle_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-2/reference-isometric-2.png" alt="kitchenware_kettle_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-2/candidate-isometric-5.png" alt="kitchenware_kettle_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="kitchenware_kettle_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-2/reference-side-4.png" alt="kitchenware_kettle_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-2/candidate-side-7.png" alt="kitchenware_kettle_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-43"><h2>ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>70.08% (0.70082/1)</td><td>70.08% (0.70082/1)</td><td>N/A</td><td>28.51% (4482/15722)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>39</td><td>3</td><td>0</td><td>742.31</td><td>651.14</td><td>1240702</td><td>28463</td><td>1269165</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>70.08</td><td>0.70082/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>70.08</td><td>0.70082/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>28.51</td><td>4482/15722</td><td>15722</td><td>15722</td><td>63.97</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>67.43</td><td>72.95</td><td>2048</td><td>4.96</td><td>5.22</td><td>11.21</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/HardHat</td><td>70.08</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1494/2048</td><td>72.95</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1494/2048</td><td>72.95</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1494/2048</td><td>72.95</td></tr><tr><td>visual:diffuseColor</td><td>0/1386</td><td>0</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/ppe_helmet_hardHat_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/ppe_helmet_hardHat_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-1/reference-front-3.png" alt="ppe_helmet_hardHat_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-1/candidate-front-6.png" alt="ppe_helmet_hardHat_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-1/reference-isometric-2.png" alt="ppe_helmet_hardHat_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-1/candidate-isometric-5.png" alt="ppe_helmet_hardHat_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-1/reference-side-4.png" alt="ppe_helmet_hardHat_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-1/candidate-side-7.png" alt="ppe_helmet_hardHat_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-44"><h2>ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>51.62% (1.03245/2)</td><td>0% (0/1)</td><td>74.51% (38/51)</td><td>61.36% (0.613561/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>42.9% (6745/15722)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>43</td><td>4</td><td>0</td><td>631.73</td><td>539.34</td><td>1164052</td><td>24743</td><td>1188795</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>61.36</td><td>0.613561/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>50</td><td>0.5/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>42.9</td><td>6745/15722</td><td>15722</td><td>15722</td><td>63.97</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>43.43</td><td>889.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>57.42</td><td>65.87</td><td>2048</td><td>4.96</td><td>8.56</td><td>20.21</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/HardHat/Shell</td><td>67.17</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>1</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1349/2048</td><td>65.87</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1349/2048</td><td>65.87</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>1349/2048</td><td>65.87</td></tr><tr><td>visual:assignment</td><td>1349/2048</td><td>65.87</td></tr><tr><td>visual:diffuseColor</td><td>0/1386</td><td>0</td></tr><tr><td>visual:opacity</td><td>1349/2048</td><td>65.87</td></tr></tbody></table></div><p class="artefacts"><a href="assets/ppe_helmet_hardHat_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/ppe_helmet_hardHat_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-2/reference-front-3.png" alt="ppe_helmet_hardHat_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-2/candidate-front-6.png" alt="ppe_helmet_hardHat_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-2/reference-isometric-2.png" alt="ppe_helmet_hardHat_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-2/candidate-isometric-5.png" alt="ppe_helmet_hardHat_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-2/reference-side-4.png" alt="ppe_helmet_hardHat_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-2/candidate-side-7.png" alt="ppe_helmet_hardHat_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-45"><h2>ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>42.26% (0.8451/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>50.75% (0.507519/1)</td><td>50.75% (0.507519/1)</td><td>N/A</td><td>13.55% (2130/15722)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>32</td><td>3</td><td>0</td><td>510.66</td><td>438.32</td><td>643908</td><td>20213</td><td>664121</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>50.75</td><td>0.507519/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>50.75</td><td>0.507519/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>13.55</td><td>2130/15722</td><td>15722</td><td>15722</td><td>63.97</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>35.18</td><td>720.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>49.56</td><td>52</td><td>2048</td><td>4.96</td><td>8.34</td><td>18.44</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/HardHat/Body</td><td>50.75</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1065/2048</td><td>52</td></tr><tr><td>visual:diffuseColor</td><td>0/1386</td><td>0</td></tr><tr><td>visual:opacity</td><td>1065/2048</td><td>52</td></tr></tbody></table></div><p class="artefacts"><a href="assets/ppe_helmet_hardHat_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/ppe_helmet_hardHat_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-3/reference-front-3.png" alt="ppe_helmet_hardHat_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-3/candidate-front-6.png" alt="ppe_helmet_hardHat_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-3/reference-isometric-2.png" alt="ppe_helmet_hardHat_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-3/candidate-isometric-5.png" alt="ppe_helmet_hardHat_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-3/reference-side-4.png" alt="ppe_helmet_hardHat_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-3/candidate-side-7.png" alt="ppe_helmet_hardHat_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-46"><h2>ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>39.15% (0.78302/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>47.74% (0.477441/1)</td><td>47.74% (0.477441/1)</td><td>N/A</td><td>24.53% (3856/15722)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>38</td><td>3</td><td>0</td><td>536.05</td><td>410.9</td><td>760089</td><td>18154</td><td>778243</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>47.74</td><td>0.477441/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>47.74</td><td>0.477441/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>24.53</td><td>3856/15722</td><td>15722</td><td>15722</td><td>63.97</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>32.1</td><td>657.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>48.44</td><td>47.07</td><td>2048</td><td>4.96</td><td>8.86</td><td>20.21</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/HardHat</td><td>47.74</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>964/2048</td><td>47.07</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>964/2048</td><td>47.07</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>964/2048</td><td>47.07</td></tr><tr><td>visual:diffuseColor</td><td>0/1386</td><td>0</td></tr><tr><td>visual:opacity</td><td>964/2048</td><td>47.07</td></tr></tbody></table></div><p class="artefacts"><a href="assets/ppe_helmet_hardHat_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/ppe_helmet_hardHat_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-4/reference-front-3.png" alt="ppe_helmet_hardHat_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-4/candidate-front-6.png" alt="ppe_helmet_hardHat_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-4/reference-isometric-2.png" alt="ppe_helmet_hardHat_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-4/candidate-isometric-5.png" alt="ppe_helmet_hardHat_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-4/reference-side-4.png" alt="ppe_helmet_hardHat_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-4/candidate-side-7.png" alt="ppe_helmet_hardHat_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-47"><h2>serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>19.39% (0.387886/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>27.12% (0.271244/1)</td><td>27.12% (0.271244/1)</td><td>N/A</td><td>6.53% (1066/16337)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>33</td><td>3</td><td>0</td><td>603.45</td><td>489.27</td><td>708585</td><td>22174</td><td>730759</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>27.12</td><td>0.271244/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>27.12</td><td>0.271244/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>6.53</td><td>1066/16337</td><td>16337</td><td>16337</td><td>66.48</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>13.87</td><td>284/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>28.32</td><td>26.03</td><td>2048</td><td>4.99</td><td>18.45</td><td>35.69</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Funnel</td><td>27.12</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>533/2048</td><td>26.03</td></tr><tr><td>visual:diffuseColor</td><td>0/2001</td><td>0</td></tr><tr><td>visual:opacity</td><td>533/2048</td><td>26.03</td></tr></tbody></table></div><p class="artefacts"><a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/reference-front-3.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate-front-6.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/reference-isometric-2.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate-isometric-5.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/reference-side-4.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate-side-7.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-48"><h2>serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>19.37% (0.387495/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>26.46% (0.26464/1)</td><td>26.46% (0.26464/1)</td><td>N/A</td><td>13.34% (2180/16337)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>31</td><td>3</td><td>0</td><td>596.15</td><td>515.32</td><td>688980</td><td>22564</td><td>711544</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>26.46</td><td>0.26464/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>26.46</td><td>0.26464/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>13.34</td><td>2180/16337</td><td>16337</td><td>16337</td><td>66.48</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>14.18</td><td>290.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>26.32</td><td>26.61</td><td>2048</td><td>4.99</td><td>15.23</td><td>30.53</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Funnel</td><td>26.46</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>545/2048</td><td>26.61</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>545/2048</td><td>26.61</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>545/2048</td><td>26.61</td></tr><tr><td>visual:diffuseColor</td><td>0/2001</td><td>0</td></tr><tr><td>visual:opacity</td><td>545/2048</td><td>26.61</td></tr></tbody></table></div><p class="artefacts"><a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/reference-front-3.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate-front-6.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/reference-isometric-2.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate-isometric-5.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/reference-side-4.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate-side-7.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-49"><h2>serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>12.27% (0.245403/2)</td><td>N/A</td><td>72.55% (37/51)</td><td>18.08% (0.180844/1)</td><td>18.08% (0.180844/1)</td><td>N/A</td><td>8.01% (1308/16337)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>48</td><td>3</td><td>0</td><td>743.68</td><td>614.79</td><td>1276209</td><td>26532</td><td>1302741</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>18.08</td><td>0.180844/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>18.08</td><td>0.180844/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>8.01</td><td>1308/16337</td><td>16337</td><td>16337</td><td>66.48</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>8.33</td><td>170.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>20.85</td><td>15.97</td><td>2048</td><td>4.99</td><td>19.42</td><td>34.42</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Funnel</td><td>18.08</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>327/2048</td><td>15.97</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>327/2048</td><td>15.97</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>327/2048</td><td>15.97</td></tr><tr><td>visual:diffuseColor</td><td>0/2001</td><td>0</td></tr><tr><td>visual:opacity</td><td>327/2048</td><td>15.97</td></tr></tbody></table></div><p class="artefacts"><a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/reference-front-3.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate-front-6.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/reference-isometric-2.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate-isometric-5.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/reference-side-4.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate-side-7.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-50"><h2>serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>23.47% (0.234665/1)</td><td>23.47% (0.234665/1)</td><td>N/A</td><td>8.1% (1323/16337)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>40</td><td>3</td><td>0</td><td>673.26</td><td>612.46</td><td>1116578</td><td>27075</td><td>1143653</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>23.47</td><td>0.234665/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>23.47</td><td>0.234665/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>8.1</td><td>1323/16337</td><td>16337</td><td>16337</td><td>66.48</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>25.78</td><td>21.53</td><td>2048</td><td>4.99</td><td>15.57</td><td>31.58</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Funnel</td><td>23.47</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>441/2048</td><td>21.53</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>441/2048</td><td>21.53</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>441/2048</td><td>21.53</td></tr><tr><td>visual:diffuseColor</td><td>0/2001</td><td>0</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/reference-front-3.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate-front-6.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/reference-isometric-2.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate-isometric-5.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/reference-side-4.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate-side-7.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-51"><h2>suspension_coilover_rear_b01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>74.05% (1.48097/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>71.03% (0.710278/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>22.06% (3162/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>35</td><td>4</td><td>0</td><td>594.38</td><td>483.32</td><td>1125764</td><td>21918</td><td>1147682</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>71.03</td><td>0.710278/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>50</td><td>0.5/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>22.06</td><td>3162/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>77.2</td><td>1581/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/2</td><td>2/2</td><td>100</td></tr><tr><td>Moving joints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>65.77</td><td>77.2</td><td>2048</td><td>9.5</td><td>12.36</td><td>25.14</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Coilover/DamperHousing</td><td>61.84</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>3</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1581/2048</td><td>77.2</td></tr><tr><td>visual:opacity</td><td>1581/2048</td><td>77.2</td></tr></tbody></table></div><p class="artefacts"><a href="assets/suspension_coilover_rear_b01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/suspension_coilover_rear_b01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/suspension_coilover_rear_b01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/suspension_coilover_rear_b01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p></section><section id="attempt-52"><h2>suspension_coilover_rear_b01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>79.53% (0.795253/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>11.75% (1685/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>29</td><td>3</td><td>0</td><td>604.82</td><td>509.72</td><td>712051</td><td>23817</td><td>735868</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>79.53</td><td>0.795253/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>50</td><td>0.5/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>11.75</td><td>1685/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>76.95</td><td>82.28</td><td>2048</td><td>9.5</td><td>12.29</td><td>25.1</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Coilover/Housing</td><td>66.37</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>2</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1685/2048</td><td>82.28</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/suspension_coilover_rear_b01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/suspension_coilover_rear_b01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/suspension_coilover_rear_b01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/suspension_coilover_rear_b01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p></section><section id="attempt-53"><h2>suspension_coilover_rear_b01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>77.37% (1.54744/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>76.87% (0.768669/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>23.45% (3362/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>33</td><td>3</td><td>0</td><td>551.09</td><td>474.09</td><td>781173</td><td>23042</td><td>804215</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>76.87</td><td>0.768669/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>50</td><td>0.5/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>23.45</td><td>3362/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>77.88</td><td>1595/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>75.88</td><td>77.88</td><td>2048</td><td>9.5</td><td>10.99</td><td>22.6</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Coilover/DamperHousing</td><td>61.86</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>2</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>86/2048</td><td>4.2</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>86/2048</td><td>4.2</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1595/2048</td><td>77.88</td></tr><tr><td>visual:opacity</td><td>1595/2048</td><td>77.88</td></tr></tbody></table></div><p class="artefacts"><a href="assets/suspension_coilover_rear_b01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/suspension_coilover_rear_b01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/suspension_coilover_rear_b01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/suspension_coilover_rear_b01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p></section></html>
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+<!doctype html><html lang="en"><meta charset="utf-8"><meta name="viewport" content="width=device-width"><meta http-equiv="Content-Security-Policy" content="default-src 'none'; img-src 'self'; style-src 'unsafe-inline'"><title>SimReadyBench results</title><style>body{font:16px Georgia,serif;line-height:1.6;max-width:1200px;margin:3rem auto;padding:0 1.5rem;background:#fff;color:#202020}a{color:#254e75}h1,h2,h3{line-height:1.25}summary{cursor:pointer}details{margin:1rem 0}.images{display:grid;grid-template-columns:repeat(auto-fit,minmax(260px,1fr));gap:1.5rem}figure{margin:0}img{width:100%;height:auto}figcaption{font-size:14px}table{border-collapse:collapse;width:100%;font-size:14px}th,td{text-align:left;vertical-align:top;border-bottom:1px solid #ddd;padding:8px}.table{overflow-x:auto;margin:1rem 0}section{border-top:1px solid #ddd;padding:1.5rem 0}.artefacts{font-size:14px}</style><h1>SimReadyBench results</h1><p>Formal fidelity measures SimReady Robotics-Prop requirements. Visual fidelity combines shape and appearance materials. Kinematic fidelity measures joint recovery and motion correspondence. Each score is reported independently.</p><p>54 of 100 reconstruction attempts completed.</p><p><a href="scores.csv">Scores CSV</a> | <a href="results.json">Detailed results JSON</a></p><h2>Results by asset</h2><div class="table"><table><thead><tr><th>Asset</th><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>accessory_eyeglasses_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>40.21% (0.804287/2)</td><td>0% (0/2)</td><td>72.55% (37/51)</td><td>52.24% (0.5224/1)</td><td>19.32% (0.772785/4)</td><td>0% (0/29)</td><td>13.91% (2134/15341)</td><td>50</td><td>3</td><td>0</td><td>782.55</td><td>685.58</td><td>1496445</td><td>30258</td><td>1526703</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>accessory_eyeglasses_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>66.28% (1.32561/2)</td><td>0% (0/2)</td><td>64.71% (33/51)</td><td>79.03% (0.790262/1)</td><td>37.83% (1.51339/4)</td><td>62.07% (18/29)</td><td>56.49% (8666/15341)</td><td>40</td><td>3</td><td>0</td><td>578.87</td><td>501.9</td><td>977861</td><td>22812</td><td>1000673</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>accessory_eyeglasses_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>85.47% (1.7094/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>84.81% (0.848127/1)</td><td>46.21% (1.84845/4)</td><td>62.07% (18/29)</td><td>58.59% (8988/15341)</td><td>38</td><td>4</td><td>0</td><td>691.4</td><td>595.07</td><td>1047023</td><td>28367</td><td>1075390</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>accessory_eyeglasses_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>63.84% (1.27689/2)</td><td>0% (0/2)</td><td>72.55% (37/51)</td><td>77.15% (0.771528/1)</td><td>37.55% (1.50198/4)</td><td>62.07% (18/29)</td><td>20.42% (3132/15341)</td><td>37</td><td>3</td><td>0</td><td>631.73</td><td>558.26</td><td>1069125</td><td>25375</td><td>1094500</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>box_cardboard_open_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>80.4% (1.60807/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>82.18% (0.821836/1)</td><td>82.18% (0.821836/1)</td><td>N/A</td><td>44.95% (6444/14336)</td><td>29</td><td>3</td><td>0</td><td>431.15</td><td>384.27</td><td>558400</td><td>16418</td><td>574818</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>box_cardboard_open_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>83.63% (0.836295/1)</td><td>83.63% (0.836295/1)</td><td>N/A</td><td>34.05% (4881/14336)</td><td>29</td><td>2</td><td>0</td><td>407.12</td><td>352.85</td><td>574540</td><td>16108</td><td>590648</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>box_cardboard_open_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>77.87% (0.778707/1)</td><td>77.87% (0.778707/1)</td><td>N/A</td><td>30.91% (4431/14336)</td><td>32</td><td>3</td><td>0</td><td>463.45</td><td>405.81</td><td>717656</td><td>17729</td><td>735385</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>box_cardboard_open_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>76.59% (1.53173/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>77.8% (0.778012/1)</td><td>77.8% (0.778012/1)</td><td>N/A</td><td>43.08% (6176/14336)</td><td>41</td><td>3</td><td>0</td><td>576.55</td><td>510.91</td><td>1062333</td><td>21815</td><td>1084148</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>bucket_utility_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>41.49% (0.829812/2)</td><td>0.01% (0.000121476/1)</td><td>76.47% (39/51)</td><td>54.74% (0.547449/1)</td><td>28.71% (0.574159/2)</td><td>63.64% (7/11)</td><td>31.4% (5136/16356)</td><td>43</td><td>4</td><td>0</td><td>805.12</td><td>716.05</td><td>1649778</td><td>31556</td><td>1681334</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>bucket_utility_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>43.33% (0.866571/2)</td><td>0.34% (0.00336069/1)</td><td>70.59% (36/51)</td><td>58.21% (0.58211/1)</td><td>29.27% (0.585487/2)</td><td>54.55% (6/11)</td><td>32.31% (5285/16356)</td><td>35</td><td>2</td><td>0</td><td>532.75</td><td>470.83</td><td>789652</td><td>20782</td><td>810434</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>bucket_utility_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>0.01% (8.61068e-05/1)</td><td>72.55% (37/51)</td><td>73.1% (0.730956/1)</td><td>37.68% (0.753671/2)</td><td>72.73% (8/11)</td><td>9.62% (1573/16356)</td><td>36</td><td>3</td><td>0</td><td>607.49</td><td>534.77</td><td>951282</td><td>24345</td><td>975627</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>bucket_utility_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>35.87% (0.717405/2)</td><td>0.27% (0.00266133/1)</td><td>72.55% (37/51)</td><td>47.74% (0.477375/1)</td><td>36.57% (0.731475/2)</td><td>63.64% (7/11)</td><td>13.35% (2184/16356)</td><td>35</td><td>3</td><td>0</td><td>573.88</td><td>507.19</td><td>763684</td><td>22833</td><td>786517</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>chair_office_amf_black_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>76.44% (1.52878/2)</td><td>0% (0/1)</td><td>68.63% (35/51)</td><td>74.46% (0.744639/1)</td><td>21.7% (0.216991/1)</td><td>N/A</td><td>31.78% (5207/16384)</td><td>34</td><td>3</td><td>0</td><td>703.39</td><td>625.71</td><td>898085</td><td>27574</td><td>925659</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>chair_office_amf_black_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>43.66% (0.873218/2)</td><td>N/A</td><td>68.63% (35/51)</td><td>59.83% (0.598322/1)</td><td>59.83% (0.598322/1)</td><td>N/A</td><td>23.96% (3925/16384)</td><td>40</td><td>3</td><td>0</td><td>633.2</td><td>558.55</td><td>1060920</td><td>24443</td><td>1085363</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>chair_office_amf_black_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>80.58% (1.61164/2)</td><td>0% (0/1)</td><td>76.47% (39/51)</td><td>79.3% (0.793004/1)</td><td>26.9% (0.268992/1)</td><td>N/A</td><td>30.74% (5036/16384)</td><td>39</td><td>3</td><td>0</td><td>685.16</td><td>618.7</td><td>891533</td><td>28320</td><td>919853</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>chair_office_amf_black_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>53.63% (1.07263/2)</td><td>0% (0/1)</td><td>76.47% (39/51)</td><td>74.19% (0.741903/1)</td><td>16.1% (0.16101/1)</td><td>N/A</td><td>29.11% (4770/16384)</td><td>39</td><td>4</td><td>0</td><td>573.97</td><td>493.46</td><td>1135730</td><td>22000</td><td>1157730</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>cleaning_cloth_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>97.57% (0.975744/1)</td><td>97.57% (0.975744/1)</td><td>N/A</td><td>14.29% (2048/14336)</td><td>37</td><td>2</td><td>0</td><td>634.25</td><td>500.96</td><td>874517</td><td>21134</td><td>895651</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>cleaning_cloth_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>99.24% (1.98482/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>98.49% (0.984882/1)</td><td>98.49% (0.984882/1)</td><td>N/A</td><td>28.57% (4096/14336)</td><td>36</td><td>4</td><td>0</td><td>723.44</td><td>563.47</td><td>1049555</td><td>24686</td><td>1074241</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>container_bottle_glass_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>80.72% (1.61437/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>81.71% (0.817125/1)</td><td>81.71% (0.817125/1)</td><td>N/A</td><td>29.9% (4899/16384)</td><td>36</td><td>3</td><td>0</td><td>562.03</td><td>496.66</td><td>896829</td><td>21319</td><td>918148</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>container_bottle_glass_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>90.98% (1.81958/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>90.94% (0.909423/1)</td><td>90.94% (0.909423/1)</td><td>N/A</td><td>68.26% (11184/16384)</td><td>32</td><td>2</td><td>0</td><td>366.66</td><td>320.67</td><td>520124</td><td>14220</td><td>534344</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>container_bottle_glass_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>66.67% (34/51)</td><td>81.06% (0.810559/1)</td><td>81.06% (0.810559/1)</td><td>N/A</td><td>49.19% (8060/16384)</td><td>29</td><td>2</td><td>0</td><td>383.45</td><td>331.67</td><td>523142</td><td>14382</td><td>537524</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>container_bottle_glass_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>86.65% (1.73301/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>87.47% (0.874685/1)</td><td>87.47% (0.874685/1)</td><td>N/A</td><td>64.38% (10548/16384)</td><td>31</td><td>3</td><td>0</td><td>427.21</td><td>364.45</td><td>583865</td><td>17011</td><td>600876</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>engineComponent_camshaft_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>88.94% (1.77876/2)</td><td>N/A</td><td>68.63% (35/51)</td><td>83.03% (0.83032/1)</td><td>83.03% (0.83032/1)</td><td>N/A</td><td>68.05% (9755/14336)</td><td>35</td><td>2</td><td>0</td><td>585.38</td><td>498.69</td><td>685698</td><td>20938</td><td>706636</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>engineComponent_camshaft_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>92.25% (0.922452/1)</td><td>92.25% (0.922452/1)</td><td>N/A</td><td>13.35% (1914/14336)</td><td>35</td><td>3</td><td>0</td><td>476.47</td><td>420.94</td><td>792475</td><td>18052</td><td>810527</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>engineComponent_camshaft_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>94.44% (1.88877/2)</td><td>0% (0/1)</td><td>76.47% (39/51)</td><td>93.91% (0.939092/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>65.85% (9440/14336)</td><td>28</td><td>2</td><td>0</td><td>476.92</td><td>398.76</td><td>631113</td><td>17682</td><td>648795</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>engineComponent_camshaft_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>64.71% (33/51)</td><td>82.91% (0.829092/1)</td><td>82.91% (0.829092/1)</td><td>N/A</td><td>12.8% (1835/14336)</td><td>35</td><td>2</td><td>0</td><td>495.14</td><td>421.45</td><td>861161</td><td>16684</td><td>877845</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>food_beverage_coffeeCup_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>72.53% (1.45061/2)</td><td>100% (1/1)</td><td>74.51% (38/51)</td><td>95.87% (0.95874/1)</td><td>95.2% (1.90396/2)</td><td>88.89% (8/9)</td><td>31.53% (6458/20480)</td><td>47</td><td>3</td><td>0</td><td>595.82</td><td>538.51</td><td>1221647</td><td>21670</td><td>1243317</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>food_produce_broccoli_b01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>19.37% (0.387413/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>32.63% (0.326308/1)</td><td>32.63% (0.326308/1)</td><td>N/A</td><td>19.79% (4052/20480)</td><td>41</td><td>3</td><td>0</td><td>578.42</td><td>489.11</td><td>919313</td><td>20121</td><td>939434</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>food_produce_broccoli_b01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>14.87% (0.297407/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>28% (0.279981/1)</td><td>28% (0.279981/1)</td><td>N/A</td><td>6% (1228/20480)</td><td>30</td><td>2</td><td>0</td><td>540.6</td><td>429.05</td><td>674005</td><td>18334</td><td>692339</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>food_produce_broccoli_b01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>11.69% (0.2338/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>22.17% (0.22168/1)</td><td>22.17% (0.22168/1)</td><td>N/A</td><td>9.12% (1867/20480)</td><td>31</td><td>3</td><td>0</td><td>878.56</td><td>747.76</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>food_produce_broccoli_b01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>15.27% (0.305363/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>21.29% (0.212897/1)</td><td>21.29% (0.212897/1)</td><td>N/A</td><td>12.43% (2545/20480)</td><td>34</td><td>3</td><td>0</td><td>628.61</td><td>455.92</td><td>761914</td><td>19385</td><td>781299</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTool_hammer_crossPeen_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>96.62% (1.93244/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>97.72% (0.97724/1)</td><td>97.72% (0.97724/1)</td><td>N/A</td><td>56.41% (8397/14886)</td><td>34</td><td>3</td><td>0</td><td>647.77</td><td>573.35</td><td>1080321</td><td>25872</td><td>1106193</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTool_hammer_crossPeen_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>30.61% (0.612167/2)</td><td>N/A</td><td>72.55% (37/51)</td><td>89.45% (0.894505/1)</td><td>89.45% (0.894505/1)</td><td>N/A</td><td>40% (5955/14886)</td><td>38</td><td>3</td><td>0</td><td>681.27</td><td>567.85</td><td>1207554</td><td>26511</td><td>1234065</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTool_hammer_crossPeen_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>84.12% (1.68244/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>88.42% (0.884239/1)</td><td>88.42% (0.884239/1)</td><td>N/A</td><td>50.14% (7464/14886)</td><td>34</td><td>3</td><td>0</td><td>529.57</td><td>448.06</td><td>947887</td><td>22185</td><td>970072</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTool_hammer_crossPeen_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>92.03% (1.84065/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>93.59% (0.935882/1)</td><td>93.59% (0.935882/1)</td><td>N/A</td><td>41.05% (6110/14886)</td><td>37</td><td>3</td><td>0</td><td>695.31</td><td>575.08</td><td>1091634</td><td>25232</td><td>1116866</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTool_wrench_adjustable_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>12.98% (0.129841/1)</td><td>74.51% (38/51)</td><td>94.04% (0.940356/1)</td><td>85.22% (2.55663/3)</td><td>85.71% (18/21)</td><td>13.55% (1943/14342)</td><td>37</td><td>3</td><td>0</td><td>832.49</td><td>753.37</td><td>1128020</td><td>36729</td><td>1164749</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTruck_convertible_steel_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>11.49% (0.229774/2)</td><td>1.92% (0.0191566/1)</td><td>76.47% (39/51)</td><td>61.9% (0.619044/1)</td><td>34.39% (3.78339/11)</td><td>35.64% (36/101)</td><td>13.52% (2216/16395)</td><td>38</td><td>3</td><td>0</td><td>702.5</td><td>625.83</td><td>1006459</td><td>28758</td><td>1035217</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTruck_convertible_steel_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>52.4% (1.04797/2)</td><td>7.47% (0.0746683/1)</td><td>68.63% (35/51)</td><td>67.09% (0.670874/1)</td><td>25.25% (2.77789/11)</td><td>36.63% (37/101)</td><td>19.09% (3129/16395)</td><td>38</td><td>3</td><td>0</td><td>694.82</td><td>639.45</td><td>1008585</td><td>28396</td><td>1036981</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTruck_convertible_steel_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>44.33% (0.886592/2)</td><td>1.03% (0.0103275/1)</td><td>76.47% (39/51)</td><td>59.81% (0.59815/1)</td><td>24.62% (2.70797/11)</td><td>31.68% (32/101)</td><td>35.39% (5803/16395)</td><td>43</td><td>3</td><td>0</td><td>687.1</td><td>611.92</td><td>1356378</td><td>27848</td><td>1384226</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>handTruck_convertible_steel_red_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>11.43% (0.228673/2)</td><td>2.08% (0.0207818/1)</td><td>74.51% (38/51)</td><td>57.37% (0.57371/1)</td><td>25.4% (2.7936/11)</td><td>35.64% (36/101)</td><td>8.06% (1322/16395)</td><td>48</td><td>4</td><td>0</td><td>645.05</td><td>568.03</td><td>1640122</td><td>23578</td><td>1663700</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>kitchenware_kettle_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>57.28% (1.14561/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>82.68% (0.826772/1)</td><td>40.14% (1.60573/4)</td><td>25.81% (8/31)</td><td>24.6% (5039/20480)</td><td>38</td><td>3</td><td>0</td><td>758.22</td><td>649.57</td><td>1173908</td><td>29697</td><td>1203605</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>kitchenware_kettle_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>52.94% (1.05874/2)</td><td>0% (0/2)</td><td>66.67% (34/51)</td><td>77.69% (0.776879/1)</td><td>55.92% (2.23685/4)</td><td>54.84% (17/31)</td><td>23.71% (4856/20480)</td><td>35</td><td>2</td><td>0</td><td>566.63</td><td>501.09</td><td>875218</td><td>21685</td><td>896903</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>ppe_helmet_hardHat_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>70.08% (0.70082/1)</td><td>70.08% (0.70082/1)</td><td>N/A</td><td>28.51% (4482/15722)</td><td>39</td><td>3</td><td>0</td><td>742.31</td><td>651.14</td><td>1240702</td><td>28463</td><td>1269165</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>ppe_helmet_hardHat_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>51.62% (1.03245/2)</td><td>0% (0/1)</td><td>74.51% (38/51)</td><td>61.36% (0.613561/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>42.9% (6745/15722)</td><td>43</td><td>4</td><td>0</td><td>631.73</td><td>539.34</td><td>1164052</td><td>24743</td><td>1188795</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>ppe_helmet_hardHat_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>42.26% (0.8451/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>50.75% (0.507519/1)</td><td>50.75% (0.507519/1)</td><td>N/A</td><td>13.55% (2130/15722)</td><td>32</td><td>3</td><td>0</td><td>510.66</td><td>438.32</td><td>643908</td><td>20213</td><td>664121</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>ppe_helmet_hardHat_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>39.15% (0.78302/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>47.74% (0.477441/1)</td><td>47.74% (0.477441/1)</td><td>N/A</td><td>24.53% (3856/15722)</td><td>38</td><td>3</td><td>0</td><td>536.05</td><td>410.9</td><td>760089</td><td>18154</td><td>778243</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>serviceTool_funnel_flexibleSpout_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>19.39% (0.387886/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>27.12% (0.271244/1)</td><td>27.12% (0.271244/1)</td><td>N/A</td><td>6.53% (1066/16337)</td><td>33</td><td>3</td><td>0</td><td>603.45</td><td>489.27</td><td>708585</td><td>22174</td><td>730759</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>serviceTool_funnel_flexibleSpout_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>19.37% (0.387495/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>26.46% (0.26464/1)</td><td>26.46% (0.26464/1)</td><td>N/A</td><td>13.34% (2180/16337)</td><td>31</td><td>3</td><td>0</td><td>596.15</td><td>515.32</td><td>688980</td><td>22564</td><td>711544</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>serviceTool_funnel_flexibleSpout_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>12.27% (0.245403/2)</td><td>N/A</td><td>72.55% (37/51)</td><td>18.08% (0.180844/1)</td><td>18.08% (0.180844/1)</td><td>N/A</td><td>8.01% (1308/16337)</td><td>48</td><td>3</td><td>0</td><td>743.68</td><td>614.79</td><td>1276209</td><td>26532</td><td>1302741</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>serviceTool_funnel_flexibleSpout_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>23.47% (0.234665/1)</td><td>23.47% (0.234665/1)</td><td>N/A</td><td>8.1% (1323/16337)</td><td>40</td><td>3</td><td>0</td><td>673.26</td><td>612.46</td><td>1116578</td><td>27075</td><td>1143653</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>suspension_coilover_rear_b01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>74.05% (1.48097/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>71.03% (0.710278/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>22.06% (3162/14336)</td><td>35</td><td>4</td><td>0</td><td>594.38</td><td>483.32</td><td>1125764</td><td>21918</td><td>1147682</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>suspension_coilover_rear_b01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>100% (46/46)</td><td>0% (0/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>79.53% (0.795253/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>11.75% (1685/14336)</td><td>29</td><td>3</td><td>0</td><td>604.82</td><td>509.72</td><td>712051</td><td>23817</td><td>735868</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>suspension_coilover_rear_b01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>100% (46/46)</td><td>77.37% (1.54744/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>76.87% (0.768669/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>23.45% (3362/14336)</td><td>33</td><td>3</td><td>0</td><td>551.09</td><td>474.09</td><td>781173</td><td>23042</td><td>804215</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>suspension_coilover_rear_b01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td><td>100% (46/46)</td><td>80.47% (1.6094/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>77.92% (0.779179/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>23.74% (3404/14336)</td><td>31</td><td>3</td><td>0</td><td>633.41</td><td>542.7</td><td>885217</td><td>26670</td><td>911887</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><section id="attempt-1"><h2>accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>40.21% (0.804287/2)</td><td>0% (0/2)</td><td>72.55% (37/51)</td><td>52.24% (0.5224/1)</td><td>19.32% (0.772785/4)</td><td>0% (0/29)</td><td>13.91% (2134/15341)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>50</td><td>3</td><td>0</td><td>782.55</td><td>685.58</td><td>1496445</td><td>30258</td><td>1526703</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>52.24</td><td>0.5224/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>19.32</td><td>0.772785/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>0</td><td>0/29</td><td>29</td><td>29</td><td>100</td></tr><tr><td>Materials</td><td>13.91</td><td>2134/15341</td><td>15341</td><td>15341</td><td>62.42</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>30.96</td><td>634/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>0</td><td>0/4</td><td>4/4</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_arm_02_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_arm_01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_glass_01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>55.91</td><td>49.02</td><td>2048</td><td>3.34</td><td>9.19</td><td>22.17</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/arm_01_obj_00</td><td>/Sunglasses/RightTemple</td><td>0</td></tr><tr><td>/RootNode/Geometry/arm_02_obj_00</td><td>/Sunglasses/LeftTemple</td><td>0</td></tr><tr><td>/RootNode/Geometry/base_01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/glass_01_obj_00</td><td>/Sunglasses/Front</td><td>77.28</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>3</td><td>2</td><td>0/29</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>3/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>3/4</td><td>4/4</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>0/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>0/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>0/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>0/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>0/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>0/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>0/2</td><td>2/2</td></tr><tr><td>relative_orientation</td><td>0/3</td><td>3/3</td></tr><tr><td>limits</td><td>0/2</td><td>2/2</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1004/2048</td><td>49.02</td></tr><tr><td>visual:metallic</td><td>126/1005</td><td>12.54</td></tr><tr><td>visual:opacity</td><td>1004/2048</td><td>49.02</td></tr></tbody></table></div><p class="artefacts"><a href="assets/accessory_eyeglasses_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/accessory_eyeglasses_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-front-3.png" alt="accessory_eyeglasses_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-front-6.png" alt="accessory_eyeglasses_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-isometric-2.png" alt="accessory_eyeglasses_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-isometric-5.png" alt="accessory_eyeglasses_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="accessory_eyeglasses_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-side-4.png" alt="accessory_eyeglasses_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-side-7.png" alt="accessory_eyeglasses_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-2"><h2>accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>66.28% (1.32561/2)</td><td>0% (0/2)</td><td>64.71% (33/51)</td><td>79.03% (0.790262/1)</td><td>37.83% (1.51339/4)</td><td>62.07% (18/29)</td><td>56.49% (8666/15341)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>40</td><td>3</td><td>0</td><td>578.87</td><td>501.9</td><td>977861</td><td>22812</td><td>1000673</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>79.03</td><td>0.790262/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>37.83</td><td>1.51339/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>62.07</td><td>18/29</td><td>29</td><td>29</td><td>100</td></tr><tr><td>Materials</td><td>56.49</td><td>8666/15341</td><td>15341</td><td>15341</td><td>62.42</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>55.59</td><td>1138.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>7.96</td><td>0.318493/4</td><td>4/4</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_arm_02_joint_00</td><td>/Sunglasses/RightFoldingHinge</td><td>7.74</td><td>9.06</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_arm_01_joint_00</td><td>/Sunglasses/LeftFoldingHinge</td><td>8.18</td><td>8.77</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_glass_01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>81.54</td><td>76.66</td><td>2048</td><td>3.34</td><td>3.45</td><td>7.18</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/arm_01_obj_00</td><td>/Sunglasses/LeftTemple</td><td>55.43</td></tr><tr><td>/RootNode/Geometry/arm_02_obj_00</td><td>/Sunglasses/RightTemple</td><td>52.82</td></tr><tr><td>/RootNode/Geometry/base_01_obj_00</td><td>/Sunglasses/FrontAssembly</td><td>43.09</td></tr><tr><td>/RootNode/Geometry/glass_01_obj_00</td><td>Not measured</td><td>0</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>3</td><td>2</td><td>18/29</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>3/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>3/4</td><td>4/4</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>2/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>2/2</td><td>2/2</td></tr><tr><td>relative_orientation</td><td>2/3</td><td>3/3</td></tr><tr><td>limits</td><td>2/2</td><td>2/2</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1570/2048</td><td>76.66</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1259/2048</td><td>61.47</td></tr><tr><td>physics:restitution</td><td>1306/2048</td><td>63.77</td></tr><tr><td>physics:staticFriction</td><td>1259/2048</td><td>61.47</td></tr><tr><td>visual:assignment</td><td>1570/2048</td><td>76.66</td></tr><tr><td>visual:metallic</td><td>132/1005</td><td>13.13</td></tr><tr><td>visual:opacity</td><td>1570/2048</td><td>76.66</td></tr></tbody></table></div><p class="artefacts"><a href="assets/accessory_eyeglasses_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/accessory_eyeglasses_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-2/reference-front-3.png" alt="accessory_eyeglasses_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-2/candidate-front-6.png" alt="accessory_eyeglasses_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-2/reference-isometric-2.png" alt="accessory_eyeglasses_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-2/candidate-isometric-5.png" alt="accessory_eyeglasses_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="accessory_eyeglasses_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-2/reference-side-4.png" alt="accessory_eyeglasses_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-2/candidate-side-7.png" alt="accessory_eyeglasses_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-3"><h2>accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>85.47% (1.7094/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>84.81% (0.848127/1)</td><td>46.21% (1.84845/4)</td><td>62.07% (18/29)</td><td>58.59% (8988/15341)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>38</td><td>4</td><td>0</td><td>691.4</td><td>595.07</td><td>1047023</td><td>28367</td><td>1075390</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>84.81</td><td>0.848127/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>46.21</td><td>1.84845/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>62.07</td><td>18/29</td><td>29</td><td>29</td><td>100</td></tr><tr><td>Materials</td><td>58.59</td><td>8988/15341</td><td>15341</td><td>15341</td><td>62.42</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>86.13</td><td>1764/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>32.55</td><td>1.30209/4</td><td>4/4</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_arm_02_joint_00</td><td>/Sunglasses/Joints/LeftFoldingHinge</td><td>27.45</td><td>5.42</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_arm_01_joint_00</td><td>/Sunglasses/Joints/RightFoldingHinge</td><td>37.65</td><td>4.29</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_glass_01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>83.35</td><td>86.33</td><td>2048</td><td>3.34</td><td>3.39</td><td>7.42</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/arm_01_obj_00</td><td>/Sunglasses/RightTemple</td><td>69.21</td></tr><tr><td>/RootNode/Geometry/arm_02_obj_00</td><td>/Sunglasses/LeftTemple</td><td>61.57</td></tr><tr><td>/RootNode/Geometry/base_01_obj_00</td><td>/Sunglasses/FrontFrame</td><td>54.07</td></tr><tr><td>/RootNode/Geometry/glass_01_obj_00</td><td>Not measured</td><td>0</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>3</td><td>2</td><td>18/29</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>3/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>3/4</td><td>4/4</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>2/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>2/2</td><td>2/2</td></tr><tr><td>relative_orientation</td><td>2/3</td><td>3/3</td></tr><tr><td>limits</td><td>2/2</td><td>2/2</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1729/2048</td><td>84.42</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>1422/2048</td><td>69.43</td></tr><tr><td>physics:staticFriction</td><td>1304/2048</td><td>63.67</td></tr><tr><td>visual:assignment</td><td>1768/2048</td><td>86.33</td></tr><tr><td>visual:metallic</td><td>997/1005</td><td>99.2</td></tr><tr><td>visual:opacity</td><td>1768/2048</td><td>86.33</td></tr></tbody></table></div><p class="artefacts"><a href="assets/accessory_eyeglasses_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/accessory_eyeglasses_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-3/reference-front-3.png" alt="accessory_eyeglasses_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-3/candidate-front-6.png" alt="accessory_eyeglasses_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-3/reference-isometric-2.png" alt="accessory_eyeglasses_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-3/candidate-isometric-5.png" alt="accessory_eyeglasses_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="accessory_eyeglasses_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-3/reference-side-4.png" alt="accessory_eyeglasses_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-3/candidate-side-7.png" alt="accessory_eyeglasses_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-4"><h2>accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>63.84% (1.27689/2)</td><td>0% (0/2)</td><td>72.55% (37/51)</td><td>77.15% (0.771528/1)</td><td>37.55% (1.50198/4)</td><td>62.07% (18/29)</td><td>20.42% (3132/15341)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>37</td><td>3</td><td>0</td><td>631.73</td><td>558.26</td><td>1069125</td><td>25375</td><td>1094500</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>77.15</td><td>0.771528/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>37.55</td><td>1.50198/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>62.07</td><td>18/29</td><td>29</td><td>29</td><td>100</td></tr><tr><td>Materials</td><td>20.42</td><td>3132/15341</td><td>15341</td><td>15341</td><td>62.42</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>52.83</td><td>1082/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>33.05</td><td>1.32211/4</td><td>4/4</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_arm_02_joint_00</td><td>/Sunglasses/Joints/LeftFoldingHinge</td><td>28.23</td><td>5.32</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_arm_01_joint_00</td><td>/Sunglasses/Joints/RightFoldingHinge</td><td>37.87</td><td>4.27</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_glass_01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>80.91</td><td>73.73</td><td>2048</td><td>3.34</td><td>4.03</td><td>9.33</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/arm_01_obj_00</td><td>/Sunglasses/RightTemple</td><td>55.08</td></tr><tr><td>/RootNode/Geometry/arm_02_obj_00</td><td>/Sunglasses/LeftTemple</td><td>51.74</td></tr><tr><td>/RootNode/Geometry/base_01_obj_00</td><td>/Sunglasses/FrontAssembly</td><td>43.37</td></tr><tr><td>/RootNode/Geometry/glass_01_obj_00</td><td>Not measured</td><td>0</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>3</td><td>2</td><td>18/29</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>3/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>3/4</td><td>4/4</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>2/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>2/2</td><td>2/2</td></tr><tr><td>relative_orientation</td><td>2/3</td><td>3/3</td></tr><tr><td>limits</td><td>2/2</td><td>2/2</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1510/2048</td><td>73.73</td></tr><tr><td>visual:metallic</td><td>112/1005</td><td>11.14</td></tr><tr><td>visual:opacity</td><td>1510/2048</td><td>73.73</td></tr></tbody></table></div><p class="artefacts"><a href="assets/accessory_eyeglasses_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/accessory_eyeglasses_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-4/reference-front-3.png" alt="accessory_eyeglasses_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-4/candidate-front-6.png" alt="accessory_eyeglasses_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-4/reference-isometric-2.png" alt="accessory_eyeglasses_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-4/candidate-isometric-5.png" alt="accessory_eyeglasses_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="accessory_eyeglasses_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-4/reference-side-4.png" alt="accessory_eyeglasses_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-4/candidate-side-7.png" alt="accessory_eyeglasses_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-5"><h2>box_cardboard_open_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>80.4% (1.60807/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>82.18% (0.821836/1)</td><td>82.18% (0.821836/1)</td><td>N/A</td><td>44.95% (6444/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>29</td><td>3</td><td>0</td><td>431.15</td><td>384.27</td><td>558400</td><td>16418</td><td>574818</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>82.18</td><td>0.821836/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>82.18</td><td>0.821836/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>44.95</td><td>6444/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>78.66</td><td>1611/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>86.04</td><td>78.66</td><td>2048</td><td>9.7</td><td>6.39</td><td>12.84</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_box_a01_obj_00</td><td>/CardboardTray</td><td>82.18</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1611/2048</td><td>78.66</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>1611/2048</td><td>78.66</td></tr><tr><td>visual:assignment</td><td>1611/2048</td><td>78.66</td></tr><tr><td>visual:opacity</td><td>1611/2048</td><td>78.66</td></tr></tbody></table></div><p class="artefacts"><a href="assets/box_cardboard_open_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/box_cardboard_open_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/reference-front-3.png" alt="box_cardboard_open_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/candidate-front-6.png" alt="box_cardboard_open_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/reference-isometric-2.png" alt="box_cardboard_open_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/candidate-isometric-5.png" alt="box_cardboard_open_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="box_cardboard_open_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/reference-side-4.png" alt="box_cardboard_open_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/candidate-side-7.png" alt="box_cardboard_open_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-6"><h2>box_cardboard_open_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>83.63% (0.836295/1)</td><td>83.63% (0.836295/1)</td><td>N/A</td><td>34.05% (4881/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>29</td><td>2</td><td>0</td><td>407.12</td><td>352.85</td><td>574540</td><td>16108</td><td>590648</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>83.63</td><td>0.836295/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>83.63</td><td>0.836295/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>34.05</td><td>4881/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>88.28</td><td>79.44</td><td>2048</td><td>9.7</td><td>6.13</td><td>12.98</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_box_a01_obj_00</td><td>/CardboardBox</td><td>83.63</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1627/2048</td><td>79.44</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>1627/2048</td><td>79.44</td></tr><tr><td>visual:assignment</td><td>1627/2048</td><td>79.44</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/box_cardboard_open_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/box_cardboard_open_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/box_cardboard_open_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-2/reference-front-3.png" alt="box_cardboard_open_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-2/candidate-front-6.png" alt="box_cardboard_open_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-2/reference-isometric-2.png" alt="box_cardboard_open_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-2/candidate-isometric-5.png" alt="box_cardboard_open_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="box_cardboard_open_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-2/reference-side-4.png" alt="box_cardboard_open_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-2/candidate-side-7.png" alt="box_cardboard_open_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-7"><h2>box_cardboard_open_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>77.87% (0.778707/1)</td><td>77.87% (0.778707/1)</td><td>N/A</td><td>30.91% (4431/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>32</td><td>3</td><td>0</td><td>463.45</td><td>405.81</td><td>717656</td><td>17729</td><td>735385</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>77.87</td><td>0.778707/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>77.87</td><td>0.778707/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>30.91</td><td>4431/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>84.62</td><td>72.12</td><td>2048</td><td>9.7</td><td>7.09</td><td>14.29</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_box_a01_obj_00</td><td>/CardboardTray</td><td>77.87</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1477/2048</td><td>72.12</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>1477/2048</td><td>72.12</td></tr><tr><td>visual:assignment</td><td>1477/2048</td><td>72.12</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/box_cardboard_open_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/box_cardboard_open_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/box_cardboard_open_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-3/reference-front-3.png" alt="box_cardboard_open_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-3/candidate-front-6.png" alt="box_cardboard_open_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-3/reference-isometric-2.png" alt="box_cardboard_open_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-3/candidate-isometric-5.png" alt="box_cardboard_open_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="box_cardboard_open_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-3/reference-side-4.png" alt="box_cardboard_open_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-3/candidate-side-7.png" alt="box_cardboard_open_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-8"><h2>box_cardboard_open_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>76.59% (1.53173/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>77.8% (0.778012/1)</td><td>77.8% (0.778012/1)</td><td>N/A</td><td>43.08% (6176/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>41</td><td>3</td><td>0</td><td>576.55</td><td>510.91</td><td>1062333</td><td>21815</td><td>1084148</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>77.8</td><td>0.778012/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>77.8</td><td>0.778012/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>43.08</td><td>6176/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>75.39</td><td>1544/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>80.37</td><td>75.39</td><td>2048</td><td>9.7</td><td>7.08</td><td>13.23</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_box_a01_obj_00</td><td>/CardboardTray</td><td>77.8</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1544/2048</td><td>75.39</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>1544/2048</td><td>75.39</td></tr><tr><td>visual:assignment</td><td>1544/2048</td><td>75.39</td></tr><tr><td>visual:opacity</td><td>1544/2048</td><td>75.39</td></tr></tbody></table></div><p class="artefacts"><a href="assets/box_cardboard_open_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/box_cardboard_open_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/box_cardboard_open_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-4/reference-front-3.png" alt="box_cardboard_open_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-4/candidate-front-6.png" alt="box_cardboard_open_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-4/reference-isometric-2.png" alt="box_cardboard_open_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-4/candidate-isometric-5.png" alt="box_cardboard_open_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="box_cardboard_open_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-4/reference-side-4.png" alt="box_cardboard_open_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-4/candidate-side-7.png" alt="box_cardboard_open_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-9"><h2>bucket_utility_red_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>41.49% (0.829812/2)</td><td>0.01% (0.000121476/1)</td><td>76.47% (39/51)</td><td>54.74% (0.547449/1)</td><td>28.71% (0.574159/2)</td><td>63.64% (7/11)</td><td>31.4% (5136/16356)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>43</td><td>4</td><td>0</td><td>805.12</td><td>716.05</td><td>1649778</td><td>31556</td><td>1681334</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>54.74</td><td>0.547449/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>28.71</td><td>0.574159/2</td><td>2</td><td>2</td><td>100</td></tr><tr><td>Joints</td><td>63.64</td><td>7/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Materials</td><td>31.4</td><td>5136/16356</td><td>16356</td><td>16356</td><td>66.55</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>31.45</td><td>644/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>0.01</td><td>0.000364428/3</td><td>3/3</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_handle_a01_01_joint_00</td><td>/Bucket/Joints/Bail_Swing</td><td>0.02</td><td>316.54</td><td>measured_motion</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>48.58</td><td>62.7</td><td>2048</td><td>6.38</td><td>8.31</td><td>14.26</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_bucket_utility_a01_obj_00</td><td>/Bucket/Body</td><td>56.03</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_01_obj_00</td><td>/Bucket/Bail</td><td>1.39</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>1</td><td>2</td><td>7/11</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body_kinematic</td><td>2/2</td><td>2/2</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>anchors</td><td>0/1</td><td>1/1</td></tr><tr><td>axes</td><td>0/1</td><td>1/1</td></tr><tr><td>relative_orientation</td><td>1/1</td><td>1/1</td></tr><tr><td>limits</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1284/2048</td><td>62.7</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1257/2048</td><td>61.38</td></tr><tr><td>physics:restitution</td><td>27/2048</td><td>1.32</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1284/2048</td><td>62.7</td></tr><tr><td>visual:diffuseColor</td><td>0/2020</td><td>0</td></tr><tr><td>visual:opacity</td><td>1284/2048</td><td>62.7</td></tr></tbody></table></div><p class="artefacts"><a href="assets/bucket_utility_red_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/bucket_utility_red_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/bucket_utility_red_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-1/reference-front-3.png" alt="bucket_utility_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-1/candidate-front-6.png" alt="bucket_utility_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-1/reference-isometric-2.png" alt="bucket_utility_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-1/candidate-isometric-5.png" alt="bucket_utility_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="bucket_utility_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-1/reference-side-4.png" alt="bucket_utility_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-1/candidate-side-7.png" alt="bucket_utility_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-10"><h2>bucket_utility_red_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>43.33% (0.866571/2)</td><td>0.34% (0.00336069/1)</td><td>70.59% (36/51)</td><td>58.21% (0.58211/1)</td><td>29.27% (0.585487/2)</td><td>54.55% (6/11)</td><td>32.31% (5285/16356)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>35</td><td>2</td><td>0</td><td>532.75</td><td>470.83</td><td>789652</td><td>20782</td><td>810434</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>58.21</td><td>0.58211/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>29.27</td><td>0.585487/2</td><td>2</td><td>2</td><td>100</td></tr><tr><td>Joints</td><td>54.55</td><td>6/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Materials</td><td>32.31</td><td>5285/16356</td><td>16356</td><td>16356</td><td>66.55</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>32.25</td><td>660.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>0.34</td><td>0.0100821/3</td><td>3/3</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_handle_a01_01_joint_00</td><td>/Bucket/Joints/BailHinge</td><td>0.5</td><td>66.31</td><td>measured_motion</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>53.27</td><td>64.16</td><td>2048</td><td>6.38</td><td>6.88</td><td>11.39</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_bucket_utility_a01_obj_00</td><td>/Bucket/Body</td><td>58.02</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_01_obj_00</td><td>/Bucket/Bail</td><td>0.53</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>1</td><td>2</td><td>6/11</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body_kinematic</td><td>2/2</td><td>2/2</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>anchors</td><td>0/1</td><td>1/1</td></tr><tr><td>axes</td><td>0/1</td><td>1/1</td></tr><tr><td>relative_orientation</td><td>0/1</td><td>1/1</td></tr><tr><td>limits</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1314/2048</td><td>64.16</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1314/2048</td><td>64.16</td></tr><tr><td>physics:restitution</td><td>29/2048</td><td>1.42</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1314/2048</td><td>64.16</td></tr><tr><td>visual:diffuseColor</td><td>0/2020</td><td>0</td></tr><tr><td>visual:opacity</td><td>1314/2048</td><td>64.16</td></tr></tbody></table></div><p class="artefacts"><a href="assets/bucket_utility_red_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/bucket_utility_red_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/bucket_utility_red_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-2/reference-front-3.png" alt="bucket_utility_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-2/candidate-front-6.png" alt="bucket_utility_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-2/reference-isometric-2.png" alt="bucket_utility_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-2/candidate-isometric-5.png" alt="bucket_utility_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="bucket_utility_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-2/reference-side-4.png" alt="bucket_utility_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-2/candidate-side-7.png" alt="bucket_utility_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-11"><h2>bucket_utility_red_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>0.01% (8.61068e-05/1)</td><td>72.55% (37/51)</td><td>73.1% (0.730956/1)</td><td>37.68% (0.753671/2)</td><td>72.73% (8/11)</td><td>9.62% (1573/16356)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>36</td><td>3</td><td>0</td><td>607.49</td><td>534.77</td><td>951282</td><td>24345</td><td>975627</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>73.1</td><td>0.730956/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>37.68</td><td>0.753671/2</td><td>2</td><td>2</td><td>100</td></tr><tr><td>Joints</td><td>72.73</td><td>8/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Materials</td><td>9.62</td><td>1573/16356</td><td>16356</td><td>16356</td><td>66.55</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>0.01</td><td>0.00025832/3</td><td>3/3</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_handle_a01_01_joint_00</td><td>/Bucket/Joints/Bail_hinge</td><td>0.01</td><td>256.43</td><td>measured_motion</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>69.73</td><td>76.81</td><td>2048</td><td>6.38</td><td>7.57</td><td>11.49</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_bucket_utility_a01_obj_00</td><td>/Bucket/Pail</td><td>73.34</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_01_obj_00</td><td>/Bucket/WireBail</td><td>2.03</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>1</td><td>2</td><td>8/11</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body_kinematic</td><td>2/2</td><td>2/2</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>anchors</td><td>0/1</td><td>1/1</td></tr><tr><td>axes</td><td>1/1</td><td>1/1</td></tr><tr><td>relative_orientation</td><td>1/1</td><td>1/1</td></tr><tr><td>limits</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1573/2048</td><td>76.81</td></tr><tr><td>visual:diffuseColor</td><td>0/2020</td><td>0</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/bucket_utility_red_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/bucket_utility_red_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/bucket_utility_red_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-3/reference-front-3.png" alt="bucket_utility_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-3/candidate-front-6.png" alt="bucket_utility_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-3/reference-isometric-2.png" alt="bucket_utility_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-3/candidate-isometric-5.png" alt="bucket_utility_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="bucket_utility_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-3/reference-side-4.png" alt="bucket_utility_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-3/candidate-side-7.png" alt="bucket_utility_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-12"><h2>bucket_utility_red_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>35.87% (0.717405/2)</td><td>0.27% (0.00266133/1)</td><td>72.55% (37/51)</td><td>47.74% (0.477375/1)</td><td>36.57% (0.731475/2)</td><td>63.64% (7/11)</td><td>13.35% (2184/16356)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>35</td><td>3</td><td>0</td><td>573.88</td><td>507.19</td><td>763684</td><td>22833</td><td>786517</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>47.74</td><td>0.477375/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>36.57</td><td>0.731475/2</td><td>2</td><td>2</td><td>100</td></tr><tr><td>Joints</td><td>63.64</td><td>7/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Materials</td><td>13.35</td><td>2184/16356</td><td>16356</td><td>16356</td><td>66.55</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>26.95</td><td>552/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>0.27</td><td>0.00798398/3</td><td>3/3</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_handle_a01_01_joint_00</td><td>/Bucket/Joints/BailPivot</td><td>0.4</td><td>55.26</td><td>measured_motion</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>43.21</td><td>53.32</td><td>2048</td><td>6.38</td><td>7.49</td><td>12.19</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_bucket_utility_a01_obj_00</td><td>/Bucket/Pail</td><td>48.04</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_01_obj_00</td><td>/Bucket/Bail</td><td>25.11</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>1</td><td>2</td><td>7/11</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body_kinematic</td><td>2/2</td><td>2/2</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>anchors</td><td>0/1</td><td>1/1</td></tr><tr><td>axes</td><td>1/1</td><td>1/1</td></tr><tr><td>relative_orientation</td><td>0/1</td><td>1/1</td></tr><tr><td>limits</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1092/2048</td><td>53.32</td></tr><tr><td>visual:diffuseColor</td><td>0/2020</td><td>0</td></tr><tr><td>visual:opacity</td><td>1092/2048</td><td>53.32</td></tr></tbody></table></div><p class="artefacts"><a href="assets/bucket_utility_red_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/bucket_utility_red_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/bucket_utility_red_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/bucket_utility_red_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-4/reference-front-3.png" alt="bucket_utility_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-4/candidate-front-6.png" alt="bucket_utility_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-4/reference-isometric-2.png" alt="bucket_utility_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-4/candidate-isometric-5.png" alt="bucket_utility_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="bucket_utility_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-4/reference-side-4.png" alt="bucket_utility_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/bucket_utility_red_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/bucket_utility_red_a01/reconstruction-4/candidate-side-7.png" alt="bucket_utility_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-13"><h2>chair_office_amf_black_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>76.44% (1.52878/2)</td><td>0% (0/1)</td><td>68.63% (35/51)</td><td>74.46% (0.744639/1)</td><td>21.7% (0.216991/1)</td><td>N/A</td><td>31.78% (5207/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>34</td><td>3</td><td>0</td><td>703.39</td><td>625.71</td><td>898085</td><td>27574</td><td>925659</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>74.46</td><td>0.744639/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>21.7</td><td>0.216991/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>31.78</td><td>5207/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>78.47</td><td>1607/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/2</td><td>2/2</td><td>100</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>70.85</td><td>78.47</td><td>2048</td><td>12.29</td><td>18.15</td><td>39.56</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_chair_office_amf_a01_obj_00</td><td>/Chair/SteelFrame</td><td>21.7</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>2</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>193/2048</td><td>9.42</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>193/2048</td><td>9.42</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1607/2048</td><td>78.47</td></tr><tr><td>visual:diffuseColor</td><td>1607/2048</td><td>78.47</td></tr><tr><td>visual:opacity</td><td>1607/2048</td><td>78.47</td></tr></tbody></table></div><p class="artefacts"><a href="assets/chair_office_amf_black_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/chair_office_amf_black_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-1/reference-front-3.png" alt="chair_office_amf_black_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-1/candidate-front-6.png" alt="chair_office_amf_black_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-1/reference-isometric-2.png" alt="chair_office_amf_black_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-1/candidate-isometric-5.png" alt="chair_office_amf_black_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="chair_office_amf_black_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-1/reference-side-4.png" alt="chair_office_amf_black_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-1/candidate-side-7.png" alt="chair_office_amf_black_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-14"><h2>chair_office_amf_black_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>43.66% (0.873218/2)</td><td>N/A</td><td>68.63% (35/51)</td><td>59.83% (0.598322/1)</td><td>59.83% (0.598322/1)</td><td>N/A</td><td>23.96% (3925/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>40</td><td>3</td><td>0</td><td>633.2</td><td>558.55</td><td>1060920</td><td>24443</td><td>1085363</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>59.83</td><td>0.598322/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>59.83</td><td>0.598322/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>23.96</td><td>3925/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>31.86</td><td>652.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>56.2</td><td>63.96</td><td>2048</td><td>12.29</td><td>24.13</td><td>53.74</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_chair_office_amf_a01_obj_00</td><td>/Chair</td><td>59.83</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1310/2048</td><td>63.96</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1310/2048</td><td>63.96</td></tr><tr><td>visual:diffuseColor</td><td>1305/2048</td><td>63.72</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/chair_office_amf_black_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/chair_office_amf_black_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-2/reference-front-3.png" alt="chair_office_amf_black_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-2/candidate-front-6.png" alt="chair_office_amf_black_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-2/reference-isometric-2.png" alt="chair_office_amf_black_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-2/candidate-isometric-5.png" alt="chair_office_amf_black_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="chair_office_amf_black_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-2/reference-side-4.png" alt="chair_office_amf_black_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-2/candidate-side-7.png" alt="chair_office_amf_black_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-15"><h2>chair_office_amf_black_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>80.58% (1.61164/2)</td><td>0% (0/1)</td><td>76.47% (39/51)</td><td>79.3% (0.793004/1)</td><td>26.9% (0.268992/1)</td><td>N/A</td><td>30.74% (5036/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>39</td><td>3</td><td>0</td><td>685.16</td><td>618.7</td><td>891533</td><td>28320</td><td>919853</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>79.3</td><td>0.793004/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>26.9</td><td>0.268992/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>30.74</td><td>5036/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>81.88</td><td>1677/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/2</td><td>2/2</td><td>100</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>76.66</td><td>82.13</td><td>2048</td><td>12.29</td><td>12.51</td><td>30.05</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_chair_office_amf_a01_obj_00</td><td>/Chair/Frame</td><td>26.9</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>2</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1682/2048</td><td>82.13</td></tr><tr><td>visual:diffuseColor</td><td>1672/2048</td><td>81.64</td></tr><tr><td>visual:opacity</td><td>1682/2048</td><td>82.13</td></tr></tbody></table></div><p class="artefacts"><a href="assets/chair_office_amf_black_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/chair_office_amf_black_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/reference-front-3.png" alt="chair_office_amf_black_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-front-6.png" alt="chair_office_amf_black_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/reference-isometric-2.png" alt="chair_office_amf_black_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-isometric-5.png" alt="chair_office_amf_black_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="chair_office_amf_black_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/reference-side-4.png" alt="chair_office_amf_black_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-side-7.png" alt="chair_office_amf_black_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-16"><h2>chair_office_amf_black_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>53.63% (1.07263/2)</td><td>0% (0/1)</td><td>76.47% (39/51)</td><td>74.19% (0.741903/1)</td><td>16.1% (0.16101/1)</td><td>N/A</td><td>29.11% (4770/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>39</td><td>4</td><td>0</td><td>573.97</td><td>493.46</td><td>1135730</td><td>22000</td><td>1157730</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>74.19</td><td>0.741903/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>16.1</td><td>0.16101/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>29.11</td><td>4770/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>38.77</td><td>794/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/2</td><td>2/2</td><td>100</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>71</td><td>77.69</td><td>2048</td><td>12.29</td><td>19.92</td><td>52.6</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_chair_office_amf_a01_obj_00</td><td>/Chair/Frame</td><td>16.1</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>2</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1591/2048</td><td>77.69</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1591/2048</td><td>77.69</td></tr><tr><td>visual:diffuseColor</td><td>1588/2048</td><td>77.54</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/chair_office_amf_black_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/chair_office_amf_black_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-4/reference-front-3.png" alt="chair_office_amf_black_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-4/candidate-front-6.png" alt="chair_office_amf_black_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-4/reference-isometric-2.png" alt="chair_office_amf_black_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-4/candidate-isometric-5.png" alt="chair_office_amf_black_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="chair_office_amf_black_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-4/reference-side-4.png" alt="chair_office_amf_black_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-4/candidate-side-7.png" alt="chair_office_amf_black_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-17"><h2>cleaning_cloth_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>97.57% (0.975744/1)</td><td>97.57% (0.975744/1)</td><td>N/A</td><td>14.29% (2048/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>37</td><td>2</td><td>0</td><td>634.25</td><td>500.96</td><td>874517</td><td>21134</td><td>895651</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>97.57</td><td>0.975744/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>97.57</td><td>0.975744/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>14.29</td><td>2048/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>95.26</td><td>100</td><td>2048</td><td>4.5</td><td>2</td><td>3.89</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/cleaningCloth_01_obj_00</td><td>/Cloth</td><td>97.57</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>2048/2048</td><td>100</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/cleaning_cloth_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/cleaning_cloth_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/cleaning_cloth_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/cleaning_cloth_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/cleaning_cloth_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-2/reference-front-3.png" alt="cleaning_cloth_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-2/candidate-front-6.png" alt="cleaning_cloth_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-2/reference-isometric-2.png" alt="cleaning_cloth_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-2/candidate-isometric-5.png" alt="cleaning_cloth_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="cleaning_cloth_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-2/reference-side-4.png" alt="cleaning_cloth_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-2/candidate-side-7.png" alt="cleaning_cloth_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-18"><h2>cleaning_cloth_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>99.24% (1.98482/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>98.49% (0.984882/1)</td><td>98.49% (0.984882/1)</td><td>N/A</td><td>28.57% (4096/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>36</td><td>4</td><td>0</td><td>723.44</td><td>563.47</td><td>1049555</td><td>24686</td><td>1074241</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>98.49</td><td>0.984882/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>98.49</td><td>0.984882/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>28.57</td><td>4096/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>100</td><td>2048/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>97.02</td><td>100</td><td>2048</td><td>4.5</td><td>1.8</td><td>3.56</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/cleaningCloth_01_obj_00</td><td>/MicrofiberCloth</td><td>98.49</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>2048/2048</td><td>100</td></tr><tr><td>visual:opacity</td><td>2048/2048</td><td>100</td></tr></tbody></table></div><p class="artefacts"><a href="assets/cleaning_cloth_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/cleaning_cloth_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/cleaning_cloth_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/cleaning_cloth_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/cleaning_cloth_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-4/reference-front-3.png" alt="cleaning_cloth_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-4/candidate-front-6.png" alt="cleaning_cloth_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-4/reference-isometric-2.png" alt="cleaning_cloth_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-4/candidate-isometric-5.png" alt="cleaning_cloth_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="cleaning_cloth_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-4/reference-side-4.png" alt="cleaning_cloth_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/cleaning_cloth_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/cleaning_cloth_a01/reconstruction-4/candidate-side-7.png" alt="cleaning_cloth_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-19"><h2>container_bottle_glass_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>80.72% (1.61437/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>81.71% (0.817125/1)</td><td>81.71% (0.817125/1)</td><td>N/A</td><td>29.9% (4899/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>36</td><td>3</td><td>0</td><td>562.03</td><td>496.66</td><td>896829</td><td>21319</td><td>918148</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>81.71</td><td>0.817125/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>81.71</td><td>0.817125/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>29.9</td><td>4899/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>79.74</td><td>1633/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>83.79</td><td>79.74</td><td>2048</td><td>4.51</td><td>3.58</td><td>7.77</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/bottle_01_obj_00</td><td>/Vessel</td><td>81.71</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1633/2048</td><td>79.74</td></tr><tr><td>visual:metallic</td><td>1633/2048</td><td>79.74</td></tr><tr><td>visual:opacity</td><td>1633/2048</td><td>79.74</td></tr></tbody></table></div><p class="artefacts"><a href="assets/container_bottle_glass_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/container_bottle_glass_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/reference-front-3.png" alt="container_bottle_glass_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/candidate-front-6.png" alt="container_bottle_glass_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/reference-isometric-2.png" alt="container_bottle_glass_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/candidate-isometric-5.png" alt="container_bottle_glass_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="container_bottle_glass_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/reference-side-4.png" alt="container_bottle_glass_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/candidate-side-7.png" alt="container_bottle_glass_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-20"><h2>container_bottle_glass_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>90.98% (1.81958/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>90.94% (0.909423/1)</td><td>90.94% (0.909423/1)</td><td>N/A</td><td>68.26% (11184/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>32</td><td>2</td><td>0</td><td>366.66</td><td>320.67</td><td>520124</td><td>14220</td><td>534344</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>90.94</td><td>0.909423/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>90.94</td><td>0.909423/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>68.26</td><td>11184/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>91.02</td><td>1864/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>90.87</td><td>91.02</td><td>2048</td><td>4.51</td><td>2.82</td><td>5.2</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/bottle_01_obj_00</td><td>/Bottle</td><td>90.94</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1864/2048</td><td>91.02</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1864/2048</td><td>91.02</td></tr><tr><td>physics:restitution</td><td>1864/2048</td><td>91.02</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1864/2048</td><td>91.02</td></tr><tr><td>visual:metallic</td><td>1864/2048</td><td>91.02</td></tr><tr><td>visual:opacity</td><td>1864/2048</td><td>91.02</td></tr></tbody></table></div><p class="artefacts"><a href="assets/container_bottle_glass_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/container_bottle_glass_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/container_bottle_glass_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-2/reference-front-3.png" alt="container_bottle_glass_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-2/candidate-front-6.png" alt="container_bottle_glass_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-2/reference-isometric-2.png" alt="container_bottle_glass_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-2/candidate-isometric-5.png" alt="container_bottle_glass_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="container_bottle_glass_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-2/reference-side-4.png" alt="container_bottle_glass_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-2/candidate-side-7.png" alt="container_bottle_glass_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-21"><h2>container_bottle_glass_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>66.67% (34/51)</td><td>81.06% (0.810559/1)</td><td>81.06% (0.810559/1)</td><td>N/A</td><td>49.19% (8060/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>29</td><td>2</td><td>0</td><td>383.45</td><td>331.67</td><td>523142</td><td>14382</td><td>537524</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>81.06</td><td>0.810559/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>81.06</td><td>0.810559/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>49.19</td><td>8060/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>83.54</td><td>78.71</td><td>2048</td><td>4.51</td><td>3.83</td><td>9</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/bottle_01_obj_00</td><td>/Vessel</td><td>81.06</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1612/2048</td><td>78.71</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1612/2048</td><td>78.71</td></tr><tr><td>physics:restitution</td><td>1612/2048</td><td>78.71</td></tr><tr><td>physics:staticFriction</td><td>1612/2048</td><td>78.71</td></tr><tr><td>visual:assignment</td><td>1612/2048</td><td>78.71</td></tr><tr><td>visual:metallic</td><td>0/2048</td><td>0</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/container_bottle_glass_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/container_bottle_glass_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/container_bottle_glass_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-3/reference-front-3.png" alt="container_bottle_glass_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-3/candidate-front-6.png" alt="container_bottle_glass_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-3/reference-isometric-2.png" alt="container_bottle_glass_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-3/candidate-isometric-5.png" alt="container_bottle_glass_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="container_bottle_glass_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-3/reference-side-4.png" alt="container_bottle_glass_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-3/candidate-side-7.png" alt="container_bottle_glass_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-22"><h2>container_bottle_glass_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>86.65% (1.73301/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>87.47% (0.874685/1)</td><td>87.47% (0.874685/1)</td><td>N/A</td><td>64.38% (10548/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>31</td><td>3</td><td>0</td><td>427.21</td><td>364.45</td><td>583865</td><td>17011</td><td>600876</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>87.47</td><td>0.874685/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>87.47</td><td>0.874685/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>64.38</td><td>10548/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>85.84</td><td>1758/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>89.16</td><td>85.84</td><td>2048</td><td>4.51</td><td>3.23</td><td>7.86</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/bottle_01_obj_00</td><td>/Bottle</td><td>87.47</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1758/2048</td><td>85.84</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>1758/2048</td><td>85.84</td></tr><tr><td>physics:staticFriction</td><td>1758/2048</td><td>85.84</td></tr><tr><td>visual:assignment</td><td>1758/2048</td><td>85.84</td></tr><tr><td>visual:metallic</td><td>1758/2048</td><td>85.84</td></tr><tr><td>visual:opacity</td><td>1758/2048</td><td>85.84</td></tr></tbody></table></div><p class="artefacts"><a href="assets/container_bottle_glass_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/container_bottle_glass_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/container_bottle_glass_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-4/reference-front-3.png" alt="container_bottle_glass_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-4/candidate-front-6.png" alt="container_bottle_glass_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-4/reference-isometric-2.png" alt="container_bottle_glass_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-4/candidate-isometric-5.png" alt="container_bottle_glass_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="container_bottle_glass_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-4/reference-side-4.png" alt="container_bottle_glass_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-4/candidate-side-7.png" alt="container_bottle_glass_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-23"><h2>engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>88.94% (1.77876/2)</td><td>N/A</td><td>68.63% (35/51)</td><td>83.03% (0.83032/1)</td><td>83.03% (0.83032/1)</td><td>N/A</td><td>68.05% (9755/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>35</td><td>2</td><td>0</td><td>585.38</td><td>498.69</td><td>685698</td><td>20938</td><td>706636</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>83.03</td><td>0.83032/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>83.03</td><td>0.83032/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>68.05</td><td>9755/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>95.26</td><td>1951/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>73.58</td><td>95.26</td><td>2048</td><td>6.88</td><td>5.08</td><td>11.45</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/camshaft_01_obj_00</td><td>/Camshaft/Body</td><td>83.03</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1951/2048</td><td>95.26</td></tr><tr><td>physics:density</td><td>1951/2048</td><td>95.26</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>1951/2048</td><td>95.26</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1951/2048</td><td>95.26</td></tr><tr><td>visual:opacity</td><td>1951/2048</td><td>95.26</td></tr></tbody></table></div><p class="artefacts"><a href="assets/engineComponent_camshaft_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/engineComponent_camshaft_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-1/reference-front-3.png" alt="engineComponent_camshaft_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-1/candidate-front-6.png" alt="engineComponent_camshaft_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-1/reference-isometric-2.png" alt="engineComponent_camshaft_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-1/candidate-isometric-5.png" alt="engineComponent_camshaft_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="engineComponent_camshaft_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-1/reference-side-4.png" alt="engineComponent_camshaft_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-1/candidate-side-7.png" alt="engineComponent_camshaft_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-24"><h2>engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>92.25% (0.922452/1)</td><td>92.25% (0.922452/1)</td><td>N/A</td><td>13.35% (1914/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>35</td><td>3</td><td>0</td><td>476.47</td><td>420.94</td><td>792475</td><td>18052</td><td>810527</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>92.25</td><td>0.922452/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>92.25</td><td>0.922452/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>13.35</td><td>1914/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>91.06</td><td>93.46</td><td>2048</td><td>6.88</td><td>3.77</td><td>8.01</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/camshaft_01_obj_00</td><td>/Camshaft/Body</td><td>92.25</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1914/2048</td><td>93.46</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/engineComponent_camshaft_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/engineComponent_camshaft_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-2/reference-front-3.png" alt="engineComponent_camshaft_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-2/candidate-front-6.png" alt="engineComponent_camshaft_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-2/reference-isometric-2.png" alt="engineComponent_camshaft_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-2/candidate-isometric-5.png" alt="engineComponent_camshaft_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="engineComponent_camshaft_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-2/reference-side-4.png" alt="engineComponent_camshaft_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-2/candidate-side-7.png" alt="engineComponent_camshaft_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-25"><h2>engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>94.44% (1.88877/2)</td><td>0% (0/1)</td><td>76.47% (39/51)</td><td>93.91% (0.939092/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>65.85% (9440/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>28</td><td>2</td><td>0</td><td>476.92</td><td>398.76</td><td>631113</td><td>17682</td><td>648795</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>93.91</td><td>0.939092/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>50</td><td>0.5/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>65.85</td><td>9440/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>94.97</td><td>1945/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/2</td><td>2/2</td><td>100</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>92.87</td><td>94.97</td><td>2048</td><td>6.88</td><td>3.21</td><td>7.52</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/camshaft_01_obj_00</td><td>/Camshaft/Shaft</td><td>84.74</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>2</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1850/2048</td><td>90.33</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1850/2048</td><td>90.33</td></tr><tr><td>physics:restitution</td><td>1850/2048</td><td>90.33</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1945/2048</td><td>94.97</td></tr><tr><td>visual:opacity</td><td>1945/2048</td><td>94.97</td></tr></tbody></table></div><p class="artefacts"><a href="assets/engineComponent_camshaft_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/engineComponent_camshaft_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-3/reference-front-3.png" alt="engineComponent_camshaft_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-3/candidate-front-6.png" alt="engineComponent_camshaft_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-3/reference-isometric-2.png" alt="engineComponent_camshaft_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-3/candidate-isometric-5.png" alt="engineComponent_camshaft_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="engineComponent_camshaft_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-3/reference-side-4.png" alt="engineComponent_camshaft_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-3/candidate-side-7.png" alt="engineComponent_camshaft_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-26"><h2>engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>64.71% (33/51)</td><td>82.91% (0.829092/1)</td><td>82.91% (0.829092/1)</td><td>N/A</td><td>12.8% (1835/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>35</td><td>2</td><td>0</td><td>495.14</td><td>421.45</td><td>861161</td><td>16684</td><td>877845</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>82.91</td><td>0.829092/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>82.91</td><td>0.829092/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>12.8</td><td>1835/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>77.15</td><td>89.6</td><td>2048</td><td>6.88</td><td>5.06</td><td>10.25</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/camshaft_01_obj_00</td><td>/Camshaft</td><td>82.91</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1835/2048</td><td>89.6</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/engineComponent_camshaft_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/engineComponent_camshaft_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/engineComponent_camshaft_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-4/reference-front-3.png" alt="engineComponent_camshaft_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-4/candidate-front-6.png" alt="engineComponent_camshaft_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-4/reference-isometric-2.png" alt="engineComponent_camshaft_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-4/candidate-isometric-5.png" alt="engineComponent_camshaft_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="engineComponent_camshaft_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-4/reference-side-4.png" alt="engineComponent_camshaft_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/engineComponent_camshaft_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/engineComponent_camshaft_a01/reconstruction-4/candidate-side-7.png" alt="engineComponent_camshaft_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-27"><h2>food_beverage_coffeeCup_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>72.53% (1.45061/2)</td><td>100% (1/1)</td><td>74.51% (38/51)</td><td>95.87% (0.95874/1)</td><td>95.2% (1.90396/2)</td><td>88.89% (8/9)</td><td>31.53% (6458/20480)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>47</td><td>3</td><td>0</td><td>595.82</td><td>538.51</td><td>1221647</td><td>21670</td><td>1243317</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>95.87</td><td>0.95874/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>95.2</td><td>1.90396/2</td><td>2</td><td>2</td><td>100</td></tr><tr><td>Joints</td><td>88.89</td><td>8/9</td><td>9</td><td>9</td><td>100</td></tr><tr><td>Materials</td><td>31.53</td><td>6458/20480</td><td>20480</td><td>20480</td><td>83.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>54.87</td><td>1123.75/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>100</td><td>2/2</td><td>2/2</td><td>100</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_food_beverage_coffeeCup_a01_lid_joint_00</td><td>/CoffeeCup/LidSnapFit</td><td>100</td><td>0</td><td>measured_motion</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>95.9</td><td>95.85</td><td>2048</td><td>2.68</td><td>1.14</td><td>2.12</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_body_obj_00</td><td>/CoffeeCup/Body</td><td>94.28</td></tr><tr><td>/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_lid_obj_00</td><td>/CoffeeCup/Lid</td><td>96.12</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>1</td><td>1</td><td>8/9</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body_kinematic</td><td>2/2</td><td>2/2</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>anchors</td><td>0/1</td><td>1/1</td></tr><tr><td>relative_orientation</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_count</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1963/2048</td><td>95.85</td></tr><tr><td>visual:diffuseColor</td><td>491/2048</td><td>23.97</td></tr><tr><td>visual:metallic</td><td>1963/2048</td><td>95.85</td></tr><tr><td>visual:opacity</td><td>1963/2048</td><td>95.85</td></tr><tr><td>visual:roughness</td><td>78/2048</td><td>3.81</td></tr></tbody></table></div><p class="artefacts"><a href="assets/food_beverage_coffeeCup_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/food_beverage_coffeeCup_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-front-3.png" alt="food_beverage_coffeeCup_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-front-6.png" alt="food_beverage_coffeeCup_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-isometric-2.png" alt="food_beverage_coffeeCup_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-isometric-5.png" alt="food_beverage_coffeeCup_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="food_beverage_coffeeCup_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-side-4.png" alt="food_beverage_coffeeCup_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-side-7.png" alt="food_beverage_coffeeCup_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-28"><h2>food_produce_broccoli_b01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>19.37% (0.387413/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>32.63% (0.326308/1)</td><td>32.63% (0.326308/1)</td><td>N/A</td><td>19.79% (4052/20480)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>41</td><td>3</td><td>0</td><td>578.42</td><td>489.11</td><td>919313</td><td>20121</td><td>939434</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>32.63</td><td>0.326308/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>32.63</td><td>0.326308/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>19.79</td><td>4052/20480</td><td>20480</td><td>20480</td><td>83.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>11.5</td><td>235.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>35.25</td><td>30.37</td><td>2048</td><td>3.68</td><td>11.87</td><td>25.22</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00</td><td>/Broccoli</td><td>32.63</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>622/2048</td><td>30.37</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>622/2048</td><td>30.37</td></tr><tr><td>physics:restitution</td><td>622/2048</td><td>30.37</td></tr><tr><td>physics:staticFriction</td><td>622/2048</td><td>30.37</td></tr><tr><td>visual:assignment</td><td>622/2048</td><td>30.37</td></tr><tr><td>visual:diffuseColor</td><td>28/2048</td><td>1.37</td></tr><tr><td>visual:metallic</td><td>622/2048</td><td>30.37</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr><tr><td>visual:roughness</td><td>292/2048</td><td>14.26</td></tr></tbody></table></div><p class="artefacts"><a href="assets/food_produce_broccoli_b01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/food_produce_broccoli_b01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-1/reference-front-3.png" alt="food_produce_broccoli_b01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-1/candidate-front-6.png" alt="food_produce_broccoli_b01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-1/reference-isometric-2.png" alt="food_produce_broccoli_b01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-1/candidate-isometric-5.png" alt="food_produce_broccoli_b01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="food_produce_broccoli_b01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-1/reference-side-4.png" alt="food_produce_broccoli_b01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-1/candidate-side-7.png" alt="food_produce_broccoli_b01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-29"><h2>food_produce_broccoli_b01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>14.87% (0.297407/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>28% (0.279981/1)</td><td>28% (0.279981/1)</td><td>N/A</td><td>6% (1228/20480)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>30</td><td>2</td><td>0</td><td>540.6</td><td>429.05</td><td>674005</td><td>18334</td><td>692339</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>28</td><td>0.279981/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>28</td><td>0.279981/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>6</td><td>1228/20480</td><td>20480</td><td>20480</td><td>83.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>7.9</td><td>161.75/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>27.64</td><td>28.37</td><td>2048</td><td>3.68</td><td>11.5</td><td>23.96</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00</td><td>/Broccoli</td><td>28</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>581/2048</td><td>28.37</td></tr><tr><td>visual:diffuseColor</td><td>20/2048</td><td>0.98</td></tr><tr><td>visual:metallic</td><td>581/2048</td><td>28.37</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr><tr><td>visual:roughness</td><td>46/2048</td><td>2.25</td></tr></tbody></table></div><p class="artefacts"><a href="assets/food_produce_broccoli_b01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/food_produce_broccoli_b01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-2/reference-front-3.png" alt="food_produce_broccoli_b01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-2/candidate-front-6.png" alt="food_produce_broccoli_b01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-2/reference-isometric-2.png" alt="food_produce_broccoli_b01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-2/candidate-isometric-5.png" alt="food_produce_broccoli_b01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="food_produce_broccoli_b01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-2/reference-side-4.png" alt="food_produce_broccoli_b01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-2/candidate-side-7.png" alt="food_produce_broccoli_b01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-30"><h2>food_produce_broccoli_b01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>11.69% (0.2338/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>22.17% (0.22168/1)</td><td>22.17% (0.22168/1)</td><td>N/A</td><td>9.12% (1867/20480)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>31</td><td>3</td><td>0</td><td>878.56</td><td>747.76</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>22.17</td><td>0.22168/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>22.17</td><td>0.22168/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>9.12</td><td>1867/20480</td><td>20480</td><td>20480</td><td>83.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>6.16</td><td>126.25/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>22.17</td><td>22.17</td><td>2048</td><td>3.68</td><td>14.37</td><td>28.67</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00</td><td>/Broccoli</td><td>22.17</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>454/2048</td><td>22.17</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>454/2048</td><td>22.17</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>454/2048</td><td>22.17</td></tr><tr><td>visual:diffuseColor</td><td>13/2048</td><td>0.63</td></tr><tr><td>visual:metallic</td><td>454/2048</td><td>22.17</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr><tr><td>visual:roughness</td><td>38/2048</td><td>1.86</td></tr></tbody></table></div><p class="artefacts"><a href="assets/food_produce_broccoli_b01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/food_produce_broccoli_b01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-3/reference-front-3.png" alt="food_produce_broccoli_b01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-3/candidate-front-6.png" alt="food_produce_broccoli_b01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-3/reference-isometric-2.png" alt="food_produce_broccoli_b01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-3/candidate-isometric-5.png" alt="food_produce_broccoli_b01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="food_produce_broccoli_b01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-3/reference-side-4.png" alt="food_produce_broccoli_b01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-3/candidate-side-7.png" alt="food_produce_broccoli_b01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-31"><h2>food_produce_broccoli_b01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>15.27% (0.305363/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>21.29% (0.212897/1)</td><td>21.29% (0.212897/1)</td><td>N/A</td><td>12.43% (2545/20480)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>34</td><td>3</td><td>0</td><td>628.61</td><td>455.92</td><td>761914</td><td>19385</td><td>781299</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>21.29</td><td>0.212897/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>21.29</td><td>0.212897/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>12.43</td><td>2545/20480</td><td>20480</td><td>20480</td><td>83.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>10.95</td><td>224.25/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>22.61</td><td>20.12</td><td>2048</td><td>3.68</td><td>15.02</td><td>31.69</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00</td><td>/Broccoli</td><td>21.29</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>412/2048</td><td>20.12</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>412/2048</td><td>20.12</td></tr><tr><td>physics:restitution</td><td>412/2048</td><td>20.12</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>412/2048</td><td>20.12</td></tr><tr><td>visual:diffuseColor</td><td>15/2048</td><td>0.73</td></tr><tr><td>visual:metallic</td><td>412/2048</td><td>20.12</td></tr><tr><td>visual:opacity</td><td>412/2048</td><td>20.12</td></tr><tr><td>visual:roughness</td><td>58/2048</td><td>2.83</td></tr></tbody></table></div><p class="artefacts"><a href="assets/food_produce_broccoli_b01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/food_produce_broccoli_b01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/food_produce_broccoli_b01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-4/reference-front-3.png" alt="food_produce_broccoli_b01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-4/candidate-front-6.png" alt="food_produce_broccoli_b01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-4/reference-isometric-2.png" alt="food_produce_broccoli_b01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-4/candidate-isometric-5.png" alt="food_produce_broccoli_b01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="food_produce_broccoli_b01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-4/reference-side-4.png" alt="food_produce_broccoli_b01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/food_produce_broccoli_b01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/food_produce_broccoli_b01/reconstruction-4/candidate-side-7.png" alt="food_produce_broccoli_b01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-32"><h2>handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>96.62% (1.93244/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>97.72% (0.97724/1)</td><td>97.72% (0.97724/1)</td><td>N/A</td><td>56.41% (8397/14886)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>34</td><td>3</td><td>0</td><td>647.77</td><td>573.35</td><td>1080321</td><td>25872</td><td>1106193</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>97.72</td><td>0.97724/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>97.72</td><td>0.97724/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>56.41</td><td>8397/14886</td><td>14886</td><td>14886</td><td>60.57</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>95.53</td><td>1956.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>99.46</td><td>96.04</td><td>2048</td><td>5.18</td><td>2.07</td><td>4.51</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/hammer_01_obj_00</td><td>/Hammer</td><td>97.72</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1967/2048</td><td>96.04</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>1967/2048</td><td>96.04</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1967/2048</td><td>96.04</td></tr><tr><td>visual:diffuseColor</td><td>529/550</td><td>96.18</td></tr><tr><td>visual:opacity</td><td>1967/2048</td><td>96.04</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTool_hammer_crossPeen_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/handTool_hammer_crossPeen_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/reference-front-3.png" alt="handTool_hammer_crossPeen_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/candidate-front-6.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/reference-isometric-2.png" alt="handTool_hammer_crossPeen_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/candidate-isometric-5.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/reference-side-4.png" alt="handTool_hammer_crossPeen_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-1/candidate-side-7.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-33"><h2>handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>30.61% (0.612167/2)</td><td>N/A</td><td>72.55% (37/51)</td><td>89.45% (0.894505/1)</td><td>89.45% (0.894505/1)</td><td>N/A</td><td>40% (5955/14886)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>38</td><td>3</td><td>0</td><td>681.27</td><td>567.85</td><td>1207554</td><td>26511</td><td>1234065</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>89.45</td><td>0.894505/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>89.45</td><td>0.894505/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>40</td><td>5955/14886</td><td>14886</td><td>14886</td><td>60.57</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>10.47</td><td>214.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>88.96</td><td>89.94</td><td>2048</td><td>5.18</td><td>3.19</td><td>7.19</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/hammer_01_obj_00</td><td>/Sledgehammer</td><td>89.45</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1842/2048</td><td>89.94</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>1842/2048</td><td>89.94</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1842/2048</td><td>89.94</td></tr><tr><td>visual:diffuseColor</td><td>429/550</td><td>78</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTool_hammer_crossPeen_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/handTool_hammer_crossPeen_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/reference-front-3.png" alt="handTool_hammer_crossPeen_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/candidate-front-6.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/reference-isometric-2.png" alt="handTool_hammer_crossPeen_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/candidate-isometric-5.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/reference-side-4.png" alt="handTool_hammer_crossPeen_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-2/candidate-side-7.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-34"><h2>handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>84.12% (1.68244/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>88.42% (0.884239/1)</td><td>88.42% (0.884239/1)</td><td>N/A</td><td>50.14% (7464/14886)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>34</td><td>3</td><td>0</td><td>529.57</td><td>448.06</td><td>947887</td><td>22185</td><td>970072</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>88.42</td><td>0.884239/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>88.42</td><td>0.884239/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>50.14</td><td>7464/14886</td><td>14886</td><td>14886</td><td>60.57</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>80.03</td><td>1639/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>85.89</td><td>91.11</td><td>2048</td><td>5.18</td><td>3.3</td><td>7.02</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/hammer_01_obj_00</td><td>/Sledgehammer</td><td>88.42</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1866/2048</td><td>91.11</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>1866/2048</td><td>91.11</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1866/2048</td><td>91.11</td></tr><tr><td>visual:diffuseColor</td><td>0/550</td><td>0</td></tr><tr><td>visual:opacity</td><td>1866/2048</td><td>91.11</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTool_hammer_crossPeen_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/handTool_hammer_crossPeen_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/reference-front-3.png" alt="handTool_hammer_crossPeen_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/candidate-front-6.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/reference-isometric-2.png" alt="handTool_hammer_crossPeen_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/candidate-isometric-5.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/reference-side-4.png" alt="handTool_hammer_crossPeen_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-3/candidate-side-7.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-35"><h2>handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>92.03% (1.84065/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>93.59% (0.935882/1)</td><td>93.59% (0.935882/1)</td><td>N/A</td><td>41.05% (6110/14886)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>37</td><td>3</td><td>0</td><td>695.31</td><td>575.08</td><td>1091634</td><td>25232</td><td>1116866</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>93.59</td><td>0.935882/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>93.59</td><td>0.935882/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>41.05</td><td>6110/14886</td><td>14886</td><td>14886</td><td>60.57</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>90.5</td><td>1853.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>95.56</td><td>91.7</td><td>2048</td><td>5.18</td><td>2.83</td><td>5.61</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/hammer_01_obj_00</td><td>/ClubHammer</td><td>93.59</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1878/2048</td><td>91.7</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1878/2048</td><td>91.7</td></tr><tr><td>visual:diffuseColor</td><td>476/550</td><td>86.55</td></tr><tr><td>visual:opacity</td><td>1878/2048</td><td>91.7</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTool_hammer_crossPeen_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/handTool_hammer_crossPeen_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/reference-front-3.png" alt="handTool_hammer_crossPeen_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/candidate-front-6.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/reference-isometric-2.png" alt="handTool_hammer_crossPeen_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/candidate-isometric-5.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/reference-side-4.png" alt="handTool_hammer_crossPeen_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/handTool_hammer_crossPeen_a01/reconstruction-4/candidate-side-7.png" alt="handTool_hammer_crossPeen_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-36"><h2>handTool_wrench_adjustable_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>12.98% (0.129841/1)</td><td>74.51% (38/51)</td><td>94.04% (0.940356/1)</td><td>85.22% (2.55663/3)</td><td>85.71% (18/21)</td><td>13.55% (1943/14342)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>37</td><td>3</td><td>0</td><td>832.49</td><td>753.37</td><td>1128020</td><td>36729</td><td>1164749</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>94.04</td><td>0.940356/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>85.22</td><td>2.55663/3</td><td>3</td><td>3</td><td>100</td></tr><tr><td>Joints</td><td>85.71</td><td>18/21</td><td>21</td><td>21</td><td>100</td></tr><tr><td>Materials</td><td>13.55</td><td>1943/14342</td><td>14342</td><td>14342</td><td>58.36</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>12.98</td><td>0.519363/4</td><td>4/4</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_knurl_01_joint_00</td><td>/Wrench/Joints/WormAxle</td><td>24.67</td><td>5.55</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_jaw_01_joint_00</td><td>/Wrench/Joints/JawSlide</td><td>1.3</td><td>7.6</td><td>measured_motion</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>93.21</td><td>94.87</td><td>2048</td><td>3.17</td><td>1.53</td><td>3.58</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Wrench/Body</td><td>90.55</td></tr><tr><td>/RootNode/Geometry/jaw_01_obj_00</td><td>/Wrench/SlidingJaw</td><td>77.29</td></tr><tr><td>/RootNode/Geometry/knurl_01_obj_00</td><td>/Wrench/AdjustmentWorm</td><td>87.82</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>2</td><td>2</td><td>18/21</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>3/3</td><td>3/3</td></tr><tr><td>body_kinematic</td><td>3/3</td><td>3/3</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>2/2</td><td>2/2</td></tr><tr><td>joint_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body0_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body0_kinematic</td><td>2/2</td><td>2/2</td></tr><tr><td>body1_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body1_kinematic</td><td>2/2</td><td>2/2</td></tr><tr><td>anchors</td><td>0/2</td><td>2/2</td></tr><tr><td>axes</td><td>2/2</td><td>2/2</td></tr><tr><td>relative_orientation</td><td>2/2</td><td>2/2</td></tr><tr><td>limits</td><td>1/2</td><td>2/2</td></tr><tr><td>joint_count</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1943/2048</td><td>94.87</td></tr><tr><td>visual:diffuseColor</td><td>0/6</td><td>0</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTool_wrench_adjustable_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/handTool_wrench_adjustable_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/handTool_wrench_adjustable_a01/reconstruction-1/reference-front-3.png" alt="handTool_wrench_adjustable_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/handTool_wrench_adjustable_a01/reconstruction-1/candidate-front-6.png" alt="handTool_wrench_adjustable_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/handTool_wrench_adjustable_a01/reconstruction-1/reference-isometric-2.png" alt="handTool_wrench_adjustable_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTool_wrench_adjustable_a01/reconstruction-1/candidate-isometric-5.png" alt="handTool_wrench_adjustable_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTool_wrench_adjustable_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="handTool_wrench_adjustable_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/handTool_wrench_adjustable_a01/reconstruction-1/reference-side-4.png" alt="handTool_wrench_adjustable_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTool_wrench_adjustable_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/handTool_wrench_adjustable_a01/reconstruction-1/candidate-side-7.png" alt="handTool_wrench_adjustable_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-37"><h2>handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>11.49% (0.229774/2)</td><td>1.92% (0.0191566/1)</td><td>76.47% (39/51)</td><td>61.9% (0.619044/1)</td><td>34.39% (3.78339/11)</td><td>35.64% (36/101)</td><td>13.52% (2216/16395)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>38</td><td>3</td><td>0</td><td>702.5</td><td>625.83</td><td>1006459</td><td>28758</td><td>1035217</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>61.9</td><td>0.619044/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>34.39</td><td>3.78339/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Joints</td><td>35.64</td><td>36/101</td><td>101</td><td>101</td><td>100</td></tr><tr><td>Materials</td><td>13.52</td><td>2216/16395</td><td>16395</td><td>16395</td><td>66.71</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>2.13</td><td>43.6667/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>1.92</td><td>0.344818/18</td><td>18/18</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00</td><td>/HandTruck/Joints/LeftCasterAxle</td><td>3.86</td><td>80.62</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_handle_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00</td><td>/HandTruck/Joints/RightMainWheelAxle</td><td>4.26</td><td>76.65</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00</td><td>/HandTruck/Joints/LeftMainWheelAxle</td><td>5.49</td><td>67.09</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_mount_a01_joint_01</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00</td><td>/HandTruck/Joints/RightCasterAxle</td><td>3.63</td><td>83.26</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>60.06</td><td>63.87</td><td>2048</td><td>16.16</td><td>19.96</td><td>40.33</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_body_a01_obj_00</td><td>/HandTruck/Frame</td><td>50.21</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel1_a01_obj_00</td><td>/HandTruck/RightWheel</td><td>58.18</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel2_a01_obj_00</td><td>/HandTruck/LeftWheel</td><td>58.24</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_obj_00</td><td>/HandTruck/SlidingHandle</td><td>39.7</td></tr><tr><td>/RootNode/Geometry/sm_lock1_a01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_lock2_a01_obj_00</td><td>/HandTruck/ReleaseLatch</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_mount_a01_obj_01</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame1_a01_obj_00</td><td>/HandTruck/RightCasterFork</td><td>49.02</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame2_a01_obj_00</td><td>/HandTruck/LeftCasterFork</td><td>43.4</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel1_a01_obj_00</td><td>/HandTruck/RightCasterWheel</td><td>38.82</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel2_a01_obj_00</td><td>/HandTruck/LeftCasterWheel</td><td>40.76</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>10</td><td>8</td><td>36/101</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>9/11</td><td>11/11</td></tr><tr><td>body_kinematic</td><td>9/11</td><td>11/11</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>anchors</td><td>0/10</td><td>10/10</td></tr><tr><td>axes</td><td>4/10</td><td>10/10</td></tr><tr><td>relative_orientation</td><td>4/10</td><td>10/10</td></tr><tr><td>limits</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>777/2048</td><td>37.94</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1308/2048</td><td>63.87</td></tr><tr><td>visual:diffuseColor</td><td>0/1439</td><td>0</td></tr><tr><td>visual:metallic</td><td>131/310</td><td>42.26</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr><tr><td>visual:roughness</td><td>0/310</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTruck_convertible_steel_red_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/handTruck_convertible_steel_red_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/reference-front-3.png" alt="handTruck_convertible_steel_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/candidate-front-6.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/reference-isometric-2.png" alt="handTruck_convertible_steel_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/candidate-isometric-5.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/reference-side-4.png" alt="handTruck_convertible_steel_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-1/candidate-side-7.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-38"><h2>handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>52.4% (1.04797/2)</td><td>7.47% (0.0746683/1)</td><td>68.63% (35/51)</td><td>67.09% (0.670874/1)</td><td>25.25% (2.77789/11)</td><td>36.63% (37/101)</td><td>19.09% (3129/16395)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>38</td><td>3</td><td>0</td><td>694.82</td><td>639.45</td><td>1008585</td><td>28396</td><td>1036981</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>67.09</td><td>0.670874/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>25.25</td><td>2.77789/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Joints</td><td>36.63</td><td>37/101</td><td>101</td><td>101</td><td>100</td></tr><tr><td>Materials</td><td>19.09</td><td>3129/16395</td><td>16395</td><td>16395</td><td>66.71</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>40.93</td><td>838.167/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>7.47</td><td>1.34403/18</td><td>18/18</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00</td><td>/HandTruck/Joints/Left_Caster_Roll</td><td>1.19</td><td>147.14</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_handle_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00</td><td>/HandTruck/Joints/Right_Axle_Rotation</td><td>28.31</td><td>25.72</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00</td><td>/HandTruck/Joints/Left_Axle_Rotation</td><td>36.48</td><td>21.33</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_mount_a01_joint_01</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00</td><td>/HandTruck/Joints/Right_Caster_Roll</td><td>1.21</td><td>146.01</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>63.09</td><td>71.63</td><td>2048</td><td>16.16</td><td>21.5</td><td>45.65</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_body_a01_obj_00</td><td>/HandTruck/Frame</td><td>63.14</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel1_a01_obj_00</td><td>/HandTruck/Right_Main_Wheel</td><td>70.07</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel2_a01_obj_00</td><td>/HandTruck/Left_Main_Wheel</td><td>90.48</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_obj_00</td><td>/HandTruck/Telescopic_Handle</td><td>49.4</td></tr><tr><td>/RootNode/Geometry/sm_lock1_a01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_lock2_a01_obj_00</td><td>/HandTruck/Release_Latch</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_mount_a01_obj_01</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame1_a01_obj_00</td><td>/HandTruck/Right_Caster_Fork</td><td>4.23</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame2_a01_obj_00</td><td>/HandTruck/Left_Caster_Fork</td><td>0.47</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel1_a01_obj_00</td><td>/HandTruck/Right_Caster_Wheel</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel2_a01_obj_00</td><td>/HandTruck/Left_Caster_Wheel</td><td>0</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>10</td><td>8</td><td>37/101</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>9/11</td><td>11/11</td></tr><tr><td>body_kinematic</td><td>9/11</td><td>11/11</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>anchors</td><td>1/10</td><td>10/10</td></tr><tr><td>axes</td><td>4/10</td><td>10/10</td></tr><tr><td>relative_orientation</td><td>4/10</td><td>10/10</td></tr><tr><td>limits</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1467/2048</td><td>71.63</td></tr><tr><td>visual:diffuseColor</td><td>0/1439</td><td>0</td></tr><tr><td>visual:metallic</td><td>195/310</td><td>62.9</td></tr><tr><td>visual:opacity</td><td>1467/2048</td><td>71.63</td></tr><tr><td>visual:roughness</td><td>0/310</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTruck_convertible_steel_red_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/handTruck_convertible_steel_red_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/reference-front-3.png" alt="handTruck_convertible_steel_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/candidate-front-6.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/reference-isometric-2.png" alt="handTruck_convertible_steel_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/candidate-isometric-5.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/reference-side-4.png" alt="handTruck_convertible_steel_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-2/candidate-side-7.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-39"><h2>handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>44.33% (0.886592/2)</td><td>1.03% (0.0103275/1)</td><td>76.47% (39/51)</td><td>59.81% (0.59815/1)</td><td>24.62% (2.70797/11)</td><td>31.68% (32/101)</td><td>35.39% (5803/16395)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>43</td><td>3</td><td>0</td><td>687.1</td><td>611.92</td><td>1356378</td><td>27848</td><td>1384226</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>59.81</td><td>0.59815/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>24.62</td><td>2.70797/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Joints</td><td>31.68</td><td>32/101</td><td>101</td><td>101</td><td>100</td></tr><tr><td>Materials</td><td>35.39</td><td>5803/16395</td><td>16395</td><td>16395</td><td>66.71</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>32.85</td><td>672.833/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>1.03</td><td>0.185895/18</td><td>18/18</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00</td><td>/HandTruck/Joints/CasterWheel_L_Rolling</td><td>1.87</td><td>117.19</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_handle_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00</td><td>/HandTruck/Joints/MainWheel_R_Axle</td><td>2.32</td><td>104.9</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00</td><td>/HandTruck/Joints/MainWheel_L_Axle</td><td>3.17</td><td>89.39</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_mount_a01_joint_01</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00</td><td>/HandTruck/Joints/CasterWheel_R_Rolling</td><td>1.94</td><td>114.83</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>61.04</td><td>58.64</td><td>2048</td><td>16.16</td><td>25.92</td><td>55.05</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_body_a01_obj_00</td><td>/HandTruck/Frame</td><td>48.5</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel1_a01_obj_00</td><td>/HandTruck/MainWheel_R</td><td>61.04</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel2_a01_obj_00</td><td>/HandTruck/MainWheel_L</td><td>66.13</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_obj_00</td><td>/HandTruck/SlidingHandle</td><td>70.4</td></tr><tr><td>/RootNode/Geometry/sm_lock1_a01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_lock2_a01_obj_00</td><td>/HandTruck/ReleasePin</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_mount_a01_obj_01</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame1_a01_obj_00</td><td>/HandTruck/CasterFork_R</td><td>12.48</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame2_a01_obj_00</td><td>/HandTruck/CasterFork_L</td><td>3.55</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel1_a01_obj_00</td><td>/HandTruck/CasterWheel_R</td><td>2.89</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel2_a01_obj_00</td><td>/HandTruck/CasterWheel_L</td><td>5.8</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>10</td><td>8</td><td>32/101</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>9/11</td><td>11/11</td></tr><tr><td>body_kinematic</td><td>9/11</td><td>11/11</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>anchors</td><td>0/10</td><td>10/10</td></tr><tr><td>axes</td><td>0/10</td><td>10/10</td></tr><tr><td>relative_orientation</td><td>4/10</td><td>10/10</td></tr><tr><td>limits</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1201/2048</td><td>58.64</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>976/2048</td><td>47.66</td></tr><tr><td>physics:restitution</td><td>1056/2048</td><td>51.56</td></tr><tr><td>physics:staticFriction</td><td>55/2048</td><td>2.69</td></tr><tr><td>visual:assignment</td><td>1201/2048</td><td>58.64</td></tr><tr><td>visual:diffuseColor</td><td>0/1439</td><td>0</td></tr><tr><td>visual:metallic</td><td>113/310</td><td>36.45</td></tr><tr><td>visual:opacity</td><td>1201/2048</td><td>58.64</td></tr><tr><td>visual:roughness</td><td>0/310</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTruck_convertible_steel_red_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/handTruck_convertible_steel_red_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/reference-front-3.png" alt="handTruck_convertible_steel_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/candidate-front-6.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/reference-isometric-2.png" alt="handTruck_convertible_steel_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/candidate-isometric-5.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/reference-side-4.png" alt="handTruck_convertible_steel_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-3/candidate-side-7.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-40"><h2>handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>11.43% (0.228673/2)</td><td>2.08% (0.0207818/1)</td><td>74.51% (38/51)</td><td>57.37% (0.57371/1)</td><td>25.4% (2.7936/11)</td><td>35.64% (36/101)</td><td>8.06% (1322/16395)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>48</td><td>4</td><td>0</td><td>645.05</td><td>568.03</td><td>1640122</td><td>23578</td><td>1663700</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>57.37</td><td>0.57371/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>25.4</td><td>2.7936/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Joints</td><td>35.64</td><td>36/101</td><td>101</td><td>101</td><td>100</td></tr><tr><td>Materials</td><td>8.06</td><td>1322/16395</td><td>16395</td><td>16395</td><td>66.71</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>2.28</td><td>46.6667/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>2.08</td><td>0.353291/17</td><td>17/17</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00</td><td>/HandTruck/Joints/CasterRollLeft</td><td>3.03</td><td>91.51</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_handle_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00</td><td>/HandTruck/Joints/AxleRotationRight</td><td>6.02</td><td>63.85</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00</td><td>/HandTruck/Joints/AxleRotationLeft</td><td>5.61</td><td>66.27</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_mount_a01_joint_01</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00</td><td>/HandTruck/Joints/CasterRollRight</td><td>3</td><td>91.86</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_lock2_a01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>57.03</td><td>57.71</td><td>2048</td><td>16.16</td><td>21.02</td><td>41.61</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_body_a01_obj_00</td><td>/HandTruck/Frame</td><td>56.88</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel1_a01_obj_00</td><td>/HandTruck/MainWheelRight</td><td>61.37</td></tr><tr><td>/RootNode/Geometry/sm_front_wheel2_a01_obj_00</td><td>/HandTruck/MainWheelLeft</td><td>61.42</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_obj_00</td><td>/HandTruck/Handle</td><td>31.19</td></tr><tr><td>/RootNode/Geometry/sm_lock1_a01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_lock2_a01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_mount_a01_obj_01</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame1_a01_obj_00</td><td>/HandTruck/CasterForkRight</td><td>16</td></tr><tr><td>/RootNode/Geometry/sm_rear_frame2_a01_obj_00</td><td>/HandTruck/CasterForkLeft</td><td>19.33</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel1_a01_obj_00</td><td>/HandTruck/CasterWheelRight</td><td>16.76</td></tr><tr><td>/RootNode/Geometry/sm_rear_wheel2_a01_obj_00</td><td>/HandTruck/CasterWheelLeft</td><td>16.42</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>10</td><td>7</td><td>36/101</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>8/11</td><td>11/11</td></tr><tr><td>body_kinematic</td><td>8/11</td><td>11/11</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body0_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_enabled</td><td>4/10</td><td>10/10</td></tr><tr><td>body1_kinematic</td><td>4/10</td><td>10/10</td></tr><tr><td>anchors</td><td>0/10</td><td>10/10</td></tr><tr><td>axes</td><td>4/10</td><td>10/10</td></tr><tr><td>relative_orientation</td><td>4/10</td><td>10/10</td></tr><tr><td>limits</td><td>4/10</td><td>10/10</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1182/2048</td><td>57.71</td></tr><tr><td>visual:diffuseColor</td><td>0/1439</td><td>0</td></tr><tr><td>visual:metallic</td><td>140/310</td><td>45.16</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr><tr><td>visual:roughness</td><td>0/310</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/handTruck_convertible_steel_red_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/handTruck_convertible_steel_red_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/reference-front-3.png" alt="handTruck_convertible_steel_red_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/candidate-front-6.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/reference-isometric-2.png" alt="handTruck_convertible_steel_red_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/candidate-isometric-5.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/reference-side-4.png" alt="handTruck_convertible_steel_red_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/handTruck_convertible_steel_red_a01/reconstruction-4/candidate-side-7.png" alt="handTruck_convertible_steel_red_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-41"><h2>kitchenware_kettle_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>57.28% (1.14561/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>82.68% (0.826772/1)</td><td>40.14% (1.60573/4)</td><td>25.81% (8/31)</td><td>24.6% (5039/20480)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>38</td><td>3</td><td>0</td><td>758.22</td><td>649.57</td><td>1173908</td><td>29697</td><td>1203605</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>82.68</td><td>0.826772/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>40.14</td><td>1.60573/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>25.81</td><td>8/31</td><td>31</td><td>31</td><td>100</td></tr><tr><td>Materials</td><td>24.6</td><td>5039/20480</td><td>20480</td><td>20480</td><td>83.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>39.69</td><td>812.75/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>1.35</td><td>0.0809969/6</td><td>6/6</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_kitchenware_kettle_a01_switch_joint_00</td><td>/Kettle/Joints/PowerRockerPivot</td><td>4.05</td><td>9.02</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_kitchenware_kettle_a01_button_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_kitchenware_kettle_a01_lid_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>78.52</td><td>87.3</td><td>2048</td><td>4.7</td><td>4.79</td><td>10.84</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_body_obj_01</td><td>/Kettle/Vessel</td><td>83.28</td></tr><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_button_obj_00</td><td>/Kettle/LidRelease</td><td>16.7</td></tr><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_lid_obj_01</td><td>/Kettle/Lid</td><td>53.71</td></tr><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00</td><td>/Kettle/PowerRocker</td><td>6.88</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>3</td><td>4</td><td>8/31</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>4/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>4/4</td><td>4/4</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>1/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>1/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>1/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>1/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>1/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>1/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>1/3</td><td>3/3</td></tr><tr><td>relative_orientation</td><td>1/3</td><td>3/3</td></tr><tr><td>limits</td><td>0/3</td><td>3/3</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1788/2048</td><td>87.3</td></tr><tr><td>visual:diffuseColor</td><td>372/2048</td><td>18.16</td></tr><tr><td>visual:metallic</td><td>1523/2048</td><td>74.37</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr><tr><td>visual:roughness</td><td>1356/2048</td><td>66.21</td></tr></tbody></table></div><p class="artefacts"><a href="assets/kitchenware_kettle_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/kitchenware_kettle_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/kitchenware_kettle_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/kitchenware_kettle_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-1/reference-front-3.png" alt="kitchenware_kettle_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-1/candidate-front-6.png" alt="kitchenware_kettle_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-1/reference-isometric-2.png" alt="kitchenware_kettle_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-1/candidate-isometric-5.png" alt="kitchenware_kettle_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="kitchenware_kettle_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-1/reference-side-4.png" alt="kitchenware_kettle_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-1/candidate-side-7.png" alt="kitchenware_kettle_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-42"><h2>kitchenware_kettle_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>52.94% (1.05874/2)</td><td>0% (0/2)</td><td>66.67% (34/51)</td><td>77.69% (0.776879/1)</td><td>55.92% (2.23685/4)</td><td>54.84% (17/31)</td><td>23.71% (4856/20480)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>35</td><td>2</td><td>0</td><td>566.63</td><td>501.09</td><td>875218</td><td>21685</td><td>896903</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>77.69</td><td>0.776879/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>55.92</td><td>2.23685/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>54.84</td><td>17/31</td><td>31</td><td>31</td><td>100</td></tr><tr><td>Materials</td><td>23.71</td><td>4856/20480</td><td>20480</td><td>20480</td><td>83.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>36.07</td><td>738.75/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>4.46</td><td>0.267646/6</td><td>6/6</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_kitchenware_kettle_a01_switch_joint_00</td><td>/Kettle/Joints/Power_rocker_hinge</td><td>13.38</td><td>5.9</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_sm_kitchenware_kettle_a01_button_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_sm_kitchenware_kettle_a01_lid_joint_00</td><td>/Kettle/Joints/Lid_hinge</td><td>0</td><td>92.95</td><td>measured_motion</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>66.8</td><td>92.82</td><td>2048</td><td>4.7</td><td>4.86</td><td>11.36</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_body_obj_01</td><td>/Kettle/Vessel</td><td>71.08</td></tr><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_button_obj_00</td><td>/Kettle/LidRelease</td><td>26.44</td></tr><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_lid_obj_01</td><td>/Kettle/Lid</td><td>75.83</td></tr><tr><td>/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00</td><td>/Kettle/PowerSwitch</td><td>50.33</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>3</td><td>4</td><td>17/31</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>4/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>4/4</td><td>4/4</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>2/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>2/3</td><td>3/3</td></tr><tr><td>relative_orientation</td><td>2/3</td><td>3/3</td></tr><tr><td>limits</td><td>1/3</td><td>3/3</td></tr><tr><td>joint_count</td><td>0/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1901/2048</td><td>92.82</td></tr><tr><td>visual:diffuseColor</td><td>448/2048</td><td>21.88</td></tr><tr><td>visual:metallic</td><td>1492/2048</td><td>72.85</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr><tr><td>visual:roughness</td><td>1015/2048</td><td>49.56</td></tr></tbody></table></div><p class="artefacts"><a href="assets/kitchenware_kettle_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/kitchenware_kettle_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/kitchenware_kettle_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/kitchenware_kettle_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-2/reference-front-3.png" alt="kitchenware_kettle_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-2/candidate-front-6.png" alt="kitchenware_kettle_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-2/reference-isometric-2.png" alt="kitchenware_kettle_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-2/candidate-isometric-5.png" alt="kitchenware_kettle_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="kitchenware_kettle_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-2/reference-side-4.png" alt="kitchenware_kettle_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/kitchenware_kettle_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/kitchenware_kettle_a01/reconstruction-2/candidate-side-7.png" alt="kitchenware_kettle_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-43"><h2>ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>70.08% (0.70082/1)</td><td>70.08% (0.70082/1)</td><td>N/A</td><td>28.51% (4482/15722)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>39</td><td>3</td><td>0</td><td>742.31</td><td>651.14</td><td>1240702</td><td>28463</td><td>1269165</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>70.08</td><td>0.70082/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>70.08</td><td>0.70082/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>28.51</td><td>4482/15722</td><td>15722</td><td>15722</td><td>63.97</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>67.43</td><td>72.95</td><td>2048</td><td>4.96</td><td>5.22</td><td>11.21</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/HardHat</td><td>70.08</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1494/2048</td><td>72.95</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1494/2048</td><td>72.95</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1494/2048</td><td>72.95</td></tr><tr><td>visual:diffuseColor</td><td>0/1386</td><td>0</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/ppe_helmet_hardHat_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/ppe_helmet_hardHat_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-1/reference-front-3.png" alt="ppe_helmet_hardHat_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-1/candidate-front-6.png" alt="ppe_helmet_hardHat_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-1/reference-isometric-2.png" alt="ppe_helmet_hardHat_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-1/candidate-isometric-5.png" alt="ppe_helmet_hardHat_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-1/reference-side-4.png" alt="ppe_helmet_hardHat_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-1/candidate-side-7.png" alt="ppe_helmet_hardHat_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-44"><h2>ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>51.62% (1.03245/2)</td><td>0% (0/1)</td><td>74.51% (38/51)</td><td>61.36% (0.613561/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>42.9% (6745/15722)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>43</td><td>4</td><td>0</td><td>631.73</td><td>539.34</td><td>1164052</td><td>24743</td><td>1188795</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>61.36</td><td>0.613561/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>50</td><td>0.5/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>42.9</td><td>6745/15722</td><td>15722</td><td>15722</td><td>63.97</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>43.43</td><td>889.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>57.42</td><td>65.87</td><td>2048</td><td>4.96</td><td>8.56</td><td>20.21</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/HardHat/Shell</td><td>67.17</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>1</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1349/2048</td><td>65.87</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>1349/2048</td><td>65.87</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>1349/2048</td><td>65.87</td></tr><tr><td>visual:assignment</td><td>1349/2048</td><td>65.87</td></tr><tr><td>visual:diffuseColor</td><td>0/1386</td><td>0</td></tr><tr><td>visual:opacity</td><td>1349/2048</td><td>65.87</td></tr></tbody></table></div><p class="artefacts"><a href="assets/ppe_helmet_hardHat_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/ppe_helmet_hardHat_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-2/reference-front-3.png" alt="ppe_helmet_hardHat_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-2/candidate-front-6.png" alt="ppe_helmet_hardHat_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-2/reference-isometric-2.png" alt="ppe_helmet_hardHat_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-2/candidate-isometric-5.png" alt="ppe_helmet_hardHat_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-2/reference-side-4.png" alt="ppe_helmet_hardHat_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-2/candidate-side-7.png" alt="ppe_helmet_hardHat_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-45"><h2>ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>42.26% (0.8451/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>50.75% (0.507519/1)</td><td>50.75% (0.507519/1)</td><td>N/A</td><td>13.55% (2130/15722)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>32</td><td>3</td><td>0</td><td>510.66</td><td>438.32</td><td>643908</td><td>20213</td><td>664121</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>50.75</td><td>0.507519/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>50.75</td><td>0.507519/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>13.55</td><td>2130/15722</td><td>15722</td><td>15722</td><td>63.97</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>35.18</td><td>720.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>49.56</td><td>52</td><td>2048</td><td>4.96</td><td>8.34</td><td>18.44</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/HardHat/Body</td><td>50.75</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1065/2048</td><td>52</td></tr><tr><td>visual:diffuseColor</td><td>0/1386</td><td>0</td></tr><tr><td>visual:opacity</td><td>1065/2048</td><td>52</td></tr></tbody></table></div><p class="artefacts"><a href="assets/ppe_helmet_hardHat_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/ppe_helmet_hardHat_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-3/reference-front-3.png" alt="ppe_helmet_hardHat_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-3/candidate-front-6.png" alt="ppe_helmet_hardHat_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-3/reference-isometric-2.png" alt="ppe_helmet_hardHat_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-3/candidate-isometric-5.png" alt="ppe_helmet_hardHat_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-3/reference-side-4.png" alt="ppe_helmet_hardHat_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-3/candidate-side-7.png" alt="ppe_helmet_hardHat_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-46"><h2>ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>39.15% (0.78302/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>47.74% (0.477441/1)</td><td>47.74% (0.477441/1)</td><td>N/A</td><td>24.53% (3856/15722)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>38</td><td>3</td><td>0</td><td>536.05</td><td>410.9</td><td>760089</td><td>18154</td><td>778243</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>47.74</td><td>0.477441/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>47.74</td><td>0.477441/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>24.53</td><td>3856/15722</td><td>15722</td><td>15722</td><td>63.97</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>32.1</td><td>657.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>48.44</td><td>47.07</td><td>2048</td><td>4.96</td><td>8.86</td><td>20.21</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/HardHat</td><td>47.74</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>964/2048</td><td>47.07</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>964/2048</td><td>47.07</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>964/2048</td><td>47.07</td></tr><tr><td>visual:diffuseColor</td><td>0/1386</td><td>0</td></tr><tr><td>visual:opacity</td><td>964/2048</td><td>47.07</td></tr></tbody></table></div><p class="artefacts"><a href="assets/ppe_helmet_hardHat_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/ppe_helmet_hardHat_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-4/reference-front-3.png" alt="ppe_helmet_hardHat_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-4/candidate-front-6.png" alt="ppe_helmet_hardHat_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-4/reference-isometric-2.png" alt="ppe_helmet_hardHat_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-4/candidate-isometric-5.png" alt="ppe_helmet_hardHat_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-4/reference-side-4.png" alt="ppe_helmet_hardHat_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/ppe_helmet_hardHat_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/ppe_helmet_hardHat_a01/reconstruction-4/candidate-side-7.png" alt="ppe_helmet_hardHat_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-47"><h2>serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>19.39% (0.387886/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>27.12% (0.271244/1)</td><td>27.12% (0.271244/1)</td><td>N/A</td><td>6.53% (1066/16337)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>33</td><td>3</td><td>0</td><td>603.45</td><td>489.27</td><td>708585</td><td>22174</td><td>730759</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>27.12</td><td>0.271244/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>27.12</td><td>0.271244/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>6.53</td><td>1066/16337</td><td>16337</td><td>16337</td><td>66.48</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>13.87</td><td>284/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>28.32</td><td>26.03</td><td>2048</td><td>4.99</td><td>18.45</td><td>35.69</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Funnel</td><td>27.12</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>533/2048</td><td>26.03</td></tr><tr><td>visual:diffuseColor</td><td>0/2001</td><td>0</td></tr><tr><td>visual:opacity</td><td>533/2048</td><td>26.03</td></tr></tbody></table></div><p class="artefacts"><a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/reference-front-3.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate-front-6.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/reference-isometric-2.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate-isometric-5.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/reference-side-4.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-1/candidate-side-7.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-48"><h2>serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>19.37% (0.387495/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>26.46% (0.26464/1)</td><td>26.46% (0.26464/1)</td><td>N/A</td><td>13.34% (2180/16337)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>31</td><td>3</td><td>0</td><td>596.15</td><td>515.32</td><td>688980</td><td>22564</td><td>711544</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>26.46</td><td>0.26464/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>26.46</td><td>0.26464/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>13.34</td><td>2180/16337</td><td>16337</td><td>16337</td><td>66.48</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>14.18</td><td>290.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>26.32</td><td>26.61</td><td>2048</td><td>4.99</td><td>15.23</td><td>30.53</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Funnel</td><td>26.46</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>545/2048</td><td>26.61</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>545/2048</td><td>26.61</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>545/2048</td><td>26.61</td></tr><tr><td>visual:diffuseColor</td><td>0/2001</td><td>0</td></tr><tr><td>visual:opacity</td><td>545/2048</td><td>26.61</td></tr></tbody></table></div><p class="artefacts"><a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/reference-front-3.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/reference-front-3.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate-front-6.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate-front-6.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/reference-isometric-2.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/reference-isometric-2.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate-isometric-5.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate-isometric-5.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/matched-reference-reconstruction-contact-sheet-1.png" alt="serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/reference-side-4.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/reference-side-4.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 2</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate-side-7.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-2/candidate-side-7.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 2</figcaption></figure></div></section><section id="attempt-49"><h2>serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>12.27% (0.245403/2)</td><td>N/A</td><td>72.55% (37/51)</td><td>18.08% (0.180844/1)</td><td>18.08% (0.180844/1)</td><td>N/A</td><td>8.01% (1308/16337)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>48</td><td>3</td><td>0</td><td>743.68</td><td>614.79</td><td>1276209</td><td>26532</td><td>1302741</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>18.08</td><td>0.180844/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>18.08</td><td>0.180844/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>8.01</td><td>1308/16337</td><td>16337</td><td>16337</td><td>66.48</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>8.33</td><td>170.5/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>20.85</td><td>15.97</td><td>2048</td><td>4.99</td><td>19.42</td><td>34.42</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Funnel</td><td>18.08</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>327/2048</td><td>15.97</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>327/2048</td><td>15.97</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>327/2048</td><td>15.97</td></tr><tr><td>visual:diffuseColor</td><td>0/2001</td><td>0</td></tr><tr><td>visual:opacity</td><td>327/2048</td><td>15.97</td></tr></tbody></table></div><p class="artefacts"><a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/reference-front-3.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate-front-6.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/reference-isometric-2.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate-isometric-5.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/reference-side-4.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-3/candidate-side-7.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section><section id="attempt-50"><h2>serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>23.47% (0.234665/1)</td><td>23.47% (0.234665/1)</td><td>N/A</td><td>8.1% (1323/16337)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>40</td><td>3</td><td>0</td><td>673.26</td><td>612.46</td><td>1116578</td><td>27075</td><td>1143653</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>23.47</td><td>0.234665/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>23.47</td><td>0.234665/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>8.1</td><td>1323/16337</td><td>16337</td><td>16337</td><td>66.48</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>25.78</td><td>21.53</td><td>2048</td><td>4.99</td><td>15.57</td><td>31.58</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Funnel</td><td>23.47</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>441/2048</td><td>21.53</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>441/2048</td><td>21.53</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>441/2048</td><td>21.53</td></tr><tr><td>visual:diffuseColor</td><td>0/2001</td><td>0</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/reference-front-3.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate-front-6.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/reference-isometric-2.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate-isometric-5.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/reference-side-4.png" alt="serviceTool_funnel_flexibleSpout_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/serviceTool_funnel_flexibleSpout_a01/reconstruction-4/candidate-side-7.png" alt="serviceTool_funnel_flexibleSpout_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section><section id="attempt-51"><h2>suspension_coilover_rear_b01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>74.05% (1.48097/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>71.03% (0.710278/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>22.06% (3162/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>35</td><td>4</td><td>0</td><td>594.38</td><td>483.32</td><td>1125764</td><td>21918</td><td>1147682</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>71.03</td><td>0.710278/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>50</td><td>0.5/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>22.06</td><td>3162/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>77.2</td><td>1581/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/2</td><td>2/2</td><td>100</td></tr><tr><td>Moving joints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>65.77</td><td>77.2</td><td>2048</td><td>9.5</td><td>12.36</td><td>25.14</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Coilover/DamperHousing</td><td>61.84</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>3</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1581/2048</td><td>77.2</td></tr><tr><td>visual:opacity</td><td>1581/2048</td><td>77.2</td></tr></tbody></table></div><p class="artefacts"><a href="assets/suspension_coilover_rear_b01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/suspension_coilover_rear_b01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/suspension_coilover_rear_b01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/suspension_coilover_rear_b01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p></section><section id="attempt-52"><h2>suspension_coilover_rear_b01 / gpt-6.1-sol / repetition 2</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>2</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>0% (0/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>79.53% (0.795253/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>11.75% (1685/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>29</td><td>3</td><td>0</td><td>604.82</td><td>509.72</td><td>712051</td><td>23817</td><td>735868</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>79.53</td><td>0.795253/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>50</td><td>0.5/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>11.75</td><td>1685/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>0</td><td>0/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>76.95</td><td>82.28</td><td>2048</td><td>9.5</td><td>12.29</td><td>25.1</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Coilover/Housing</td><td>66.37</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>2</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1685/2048</td><td>82.28</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/suspension_coilover_rear_b01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/suspension_coilover_rear_b01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/suspension_coilover_rear_b01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/suspension_coilover_rear_b01/reconstruction-2/harbor-trajectory-4.json">Harbor trajectory 1</a></p></section><section id="attempt-53"><h2>suspension_coilover_rear_b01 / gpt-6.1-sol / repetition 3</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>3</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>77.37% (1.54744/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>76.87% (0.768669/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>23.45% (3362/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>33</td><td>3</td><td>0</td><td>551.09</td><td>474.09</td><td>781173</td><td>23042</td><td>804215</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>76.87</td><td>0.768669/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>50</td><td>0.5/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>23.45</td><td>3362/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>77.88</td><td>1595/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>75.88</td><td>77.88</td><td>2048</td><td>9.5</td><td>10.99</td><td>22.6</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Coilover/DamperHousing</td><td>61.86</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>2</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>86/2048</td><td>4.2</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>86/2048</td><td>4.2</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1595/2048</td><td>77.88</td></tr><tr><td>visual:opacity</td><td>1595/2048</td><td>77.88</td></tr></tbody></table></div><p class="artefacts"><a href="assets/suspension_coilover_rear_b01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/suspension_coilover_rear_b01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/suspension_coilover_rear_b01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/suspension_coilover_rear_b01/reconstruction-3/harbor-trajectory-4.json">Harbor trajectory 1</a></p></section><section id="attempt-54"><h2>suspension_coilover_rear_b01 / gpt-6.1-sol / repetition 4</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>4</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>80.47% (1.6094/2)</td><td>0% (0/2)</td><td>76.47% (39/51)</td><td>77.92% (0.779179/1)</td><td>50% (0.5/1)</td><td>N/A</td><td>23.74% (3404/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>31</td><td>3</td><td>0</td><td>633.41</td><td>542.7</td><td>885217</td><td>26670</td><td>911887</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>77.92</td><td>0.779179/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>50</td><td>0.5/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>23.74</td><td>3404/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>83.11</td><td>1702/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>0</td><td>0/1</td><td>1/1</td><td>100</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>73.34</td><td>83.11</td><td>2048</td><td>9.5</td><td>10</td><td>18.13</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/body_01_obj_00</td><td>/Coilover/DamperBody</td><td>57.84</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>2</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1702/2048</td><td>83.11</td></tr><tr><td>visual:opacity</td><td>1702/2048</td><td>83.11</td></tr></tbody></table></div><p class="artefacts"><a href="assets/suspension_coilover_rear_b01/reconstruction-4/candidate/asset.usd">Generated USD</a> | <a href="assets/suspension_coilover_rear_b01/reconstruction-4/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/suspension_coilover_rear_b01/reconstruction-4/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/suspension_coilover_rear_b01/reconstruction-4/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/suspension_coilover_rear_b01/reconstruction-4/reference-front-3.png"><img loading="lazy" src="evidence/suspension_coilover_rear_b01/reconstruction-4/reference-front-3.png" alt="suspension_coilover_rear_b01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/suspension_coilover_rear_b01/reconstruction-4/candidate-front-6.png"><img loading="lazy" src="evidence/suspension_coilover_rear_b01/reconstruction-4/candidate-front-6.png" alt="suspension_coilover_rear_b01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/suspension_coilover_rear_b01/reconstruction-4/reference-isometric-2.png"><img loading="lazy" src="evidence/suspension_coilover_rear_b01/reconstruction-4/reference-isometric-2.png" alt="suspension_coilover_rear_b01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/suspension_coilover_rear_b01/reconstruction-4/candidate-isometric-5.png"><img loading="lazy" src="evidence/suspension_coilover_rear_b01/reconstruction-4/candidate-isometric-5.png" alt="suspension_coilover_rear_b01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/suspension_coilover_rear_b01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/suspension_coilover_rear_b01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png" alt="suspension_coilover_rear_b01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/suspension_coilover_rear_b01/reconstruction-4/reference-side-4.png"><img loading="lazy" src="evidence/suspension_coilover_rear_b01/reconstruction-4/reference-side-4.png" alt="suspension_coilover_rear_b01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 4</figcaption></figure><figure><a href="evidence/suspension_coilover_rear_b01/reconstruction-4/candidate-side-7.png"><img loading="lazy" src="evidence/suspension_coilover_rear_b01/reconstruction-4/candidate-side-7.png" alt="suspension_coilover_rear_b01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 4</figcaption></figure></div></section></html>
\ No newline at end of file
diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/results.json b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/results.json
index 7261c316c0ed6759eae41c9d2a80dd917b9000f5..5f127298ad96afdac26d2dd7e316bc9ecb466df7 100644
--- a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/results.json
+++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/results.json
@@ -1,7 +1,7 @@
 {
   "schema": "simready-bench-portable-report-v1",
   "planned_conditions": 100,
-  "completed_conditions": 53,
+  "completed_conditions": 54,
   "partial": true,
   "settings": {
     "reference_assets": [
@@ -120599,6 +120599,2114 @@
         "bytes": 207618
       },
       "reasoning_effort": "high"
+    },
+    {
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+      "asset_id": "suspension_coilover_rear_b01",
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+      "mandatory_passed": 46,
+      "mandatory_total": 46,
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+      "mandatory_unknown": 0,
+      "mandatory_lower_bound_percent": 100.0,
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+      "optional_passed": 39,
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+      "fidelity_joints_coverage": 0,
+      "fidelity_materials_coverage": 0.5833333333333334,
+      "fidelity_reference_geometry_status": "complete",
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+      "kinematic_fixed_constraints_percent": 0.0,
+      "kinematic_fixed_constraints_status": "measured",
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+      "kinematic_fixed_constraints_eligible": 1,
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+      "seed": 947569520,
+      "scoring_policy_id": "NVIDIA-Robotics-Prop-4.0.0-mandatory-95-plus-5-v1",
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+        "checks": [
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+            "mandatory": true,
+            "category": "asset_paths_and_naming"
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+          {
+            "status": "pass",
+            "scoring": true,
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+            "base_credit_percent": 2.0652173913043477,
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+            "requirement_version": "0.1.0",
+            "requirement_id": "com.nvidia.simready.NP.007",
+            "mandatory": true,
+            "category": "asset_paths_and_naming"
+          },
+          {
+            "status": "pass",
+            "scoring": true,
+            "weight": 1,
+            "base_credit_percent": 2.0652173913043477,
+            "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome",
+            "requirement_version": "0.1.0",
+            "requirement_id": "com.nvidia.simready.NP.008",
+            "mandatory": true,
+            "category": "asset_paths_and_naming"
+          },
+          {
+            "status": "pass",
+            "scoring": true,
+            "weight": 1,
+            "base_credit_percent": 2.0652173913043477,
+            "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome",
+            "requirement_version": "0.1.0",
+            "requirement_id": "com.nvidia.simready.RB.001",
+            "mandatory": true,
+            "category": "rigid_body_collision"
+          },
+          {
+            "status": "pass",
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+            "requirement_version": "0.1.0",
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+            "mandatory": true,
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+          {
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 }
diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.csv b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.csv
index a202441e62a4e77d6df6e2416091983c3c2fd978..a930e57598b8d50f516973a50755d627af914372 100644
--- a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.csv
+++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.csv
@@ -52,3 +52,4 @@ condition-0ac9754130d348d6e9f9b98211d5369043a286ab859d3c869af6fb18c9340c05,servi
 condition-fa28f791b364b51ac22105f6f08446795f198157402c38cc41f4a21459e8392b,suspension_coilover_rear_b01,gpt-6.1-sol,pi,none,1,completed,100.0,74.04831443894689,0.0,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,71.02781201972336,50.0,,22.056361607142858,1.0,1.0,0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.4809662887789379,2,2,1.0,74.04831443894689,74.04831443894689,measured,0.0,2,2,1.0,0.0,0.0,77.197265625,measured,1581.0,2048,2048,1.0,77.197265625,77.197265625,0,3,0,0,3,0.0,measured,0,1,1,1.0,0.0,0.0,0.0,measured,0,2,2,1.0,0.0,0.0,0.7102781201972336,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,3162,14336,14336,measured,0.65771484375,0.77197265625,2048,61.83891970665664,50.0,2,4,0,3,35,4,0,594.3790570124984,483.31603464111686,1125764,21918,1147682,,,
 condition-e8572c57bd8d58b7ee79044a2feb727e507545b1ab177b2be4c01786d6b4d4ef,suspension_coilover_rear_b01,gpt-6.1-sol,pi,none,2,completed,100.0,0.0,0.0,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,79.52530857099049,50.0,,11.753627232142858,1.0,1.0,0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.0,2,2,1.0,0.0,0.0,measured,0.0,2,2,1.0,0.0,0.0,0.0,measured,0.0,2048,2048,1.0,0.0,0.0,0,2,0,0,2,0.0,measured,0,1,1,1.0,0.0,0.0,0.0,measured,0,1,1,1.0,0.0,0.0,0.7952530857099049,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,1685,14336,14336,measured,0.76953125,0.82275390625,2048,66.37480482303955,50.0,2,4,0,2,29,3,0,604.8193249180913,509.71658755093813,712051,23817,735868,,,
 condition-3e655bc7fbb4c023f36ae8e94a671625331c644f7e079284e3a00e222c17a2f4,suspension_coilover_rear_b01,gpt-6.1-sol,pi,none,3,completed,100.0,77.37219360054132,0.0,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,76.86685009129882,50.0,,23.451450892857142,1.0,1.0,0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.5474438720108266,2,2,1.0,77.37219360054132,77.37219360054132,measured,0.0,2,2,1.0,0.0,0.0,77.880859375,measured,1595.0,2048,2048,1.0,77.880859375,77.880859375,0,2,0,0,2,0.0,measured,0,1,1,1.0,0.0,0.0,0.0,measured,0,1,1,1.0,0.0,0.0,0.7686685009129881,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,3362,14336,14336,measured,0.7587890625,0.77880859375,2048,61.856772786946735,50.0,2,4,0,2,33,3,0,551.0872874893248,474.09264789521694,781173,23042,804215,,,
+condition-d6d22abd1f9642f2a20c8e575ea8665b405324537c577800b46cde30498a75df,suspension_coilover_rear_b01,gpt-6.1-sol,pi,none,4,completed,100.0,80.46987262831088,0.0,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,77.91786146223471,50.0,,23.744419642857142,1.0,1.0,0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.6093974525662176,2,2,1.0,80.46987262831088,80.46987262831088,measured,0.0,2,2,1.0,0.0,0.0,83.10546875,measured,1702.0,2048,2048,1.0,83.10546875,83.10546875,0,2,0,0,2,0.0,measured,0,1,1,1.0,0.0,0.0,0.0,measured,0,1,1,1.0,0.0,0.0,0.7791786146223472,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,3404,14336,14336,measured,0.7333984375,0.8310546875,2048,57.842163640115565,50.0,2,4,0,2,31,3,0,633.4088642336428,542.7019485458732,885217,26670,911887,,,
diff --git a/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/suspension_coilover_rear_b01.csv b/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/suspension_coilover_rear_b01.csv
index 89c646aeb6431c0470e3ee8ea926f1645229b5fc..1ee0982a89e14dadc04c5c2d842d6464563b9106 100644
--- a/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/suspension_coilover_rear_b01.csv
+++ b/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/suspension_coilover_rear_b01.csv
@@ -2,3 +2,4 @@ condition_id,asset_id,requested_model,harness_id,skill_set_id,repetition,status,
 condition-fa28f791b364b51ac22105f6f08446795f198157402c38cc41f4a21459e8392b,suspension_coilover_rear_b01,gpt-6.1-sol,pi,none,1,completed,100.0,74.04831443894689,0.0,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,71.02781201972336,50.0,,22.056361607142858,1.0,1.0,0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.4809662887789379,2,2,1.0,74.04831443894689,74.04831443894689,measured,0.0,2,2,1.0,0.0,0.0,77.197265625,measured,1581.0,2048,2048,1.0,77.197265625,77.197265625,0,3,0,0,3,0.0,measured,0,1,1,1.0,0.0,0.0,0.0,measured,0,2,2,1.0,0.0,0.0,0.7102781201972336,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,3162,14336,14336,measured,0.65771484375,0.77197265625,2048,61.83891970665664,50.0,2,4,0,3,35,4,0,594.3790570124984,483.31603464111686,1125764,21918,1147682,,,
 condition-e8572c57bd8d58b7ee79044a2feb727e507545b1ab177b2be4c01786d6b4d4ef,suspension_coilover_rear_b01,gpt-6.1-sol,pi,none,2,completed,100.0,0.0,0.0,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,79.52530857099049,50.0,,11.753627232142858,1.0,1.0,0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.0,2,2,1.0,0.0,0.0,measured,0.0,2,2,1.0,0.0,0.0,0.0,measured,0.0,2048,2048,1.0,0.0,0.0,0,2,0,0,2,0.0,measured,0,1,1,1.0,0.0,0.0,0.0,measured,0,1,1,1.0,0.0,0.0,0.7952530857099049,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,1685,14336,14336,measured,0.76953125,0.82275390625,2048,66.37480482303955,50.0,2,4,0,2,29,3,0,604.8193249180913,509.71658755093813,712051,23817,735868,,,
 condition-3e655bc7fbb4c023f36ae8e94a671625331c644f7e079284e3a00e222c17a2f4,suspension_coilover_rear_b01,gpt-6.1-sol,pi,none,3,completed,100.0,77.37219360054132,0.0,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,76.86685009129882,50.0,,23.451450892857142,1.0,1.0,0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.5474438720108266,2,2,1.0,77.37219360054132,77.37219360054132,measured,0.0,2,2,1.0,0.0,0.0,77.880859375,measured,1595.0,2048,2048,1.0,77.880859375,77.880859375,0,2,0,0,2,0.0,measured,0,1,1,1.0,0.0,0.0,0.0,measured,0,1,1,1.0,0.0,0.0,0.7686685009129881,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,3362,14336,14336,measured,0.7587890625,0.77880859375,2048,61.856772786946735,50.0,2,4,0,2,33,3,0,551.0872874893248,474.09264789521694,781173,23042,804215,,,
+condition-d6d22abd1f9642f2a20c8e575ea8665b405324537c577800b46cde30498a75df,suspension_coilover_rear_b01,gpt-6.1-sol,pi,none,4,completed,100.0,80.46987262831088,0.0,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,77.91786146223471,50.0,,23.744419642857142,1.0,1.0,0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.6093974525662176,2,2,1.0,80.46987262831088,80.46987262831088,measured,0.0,2,2,1.0,0.0,0.0,83.10546875,measured,1702.0,2048,2048,1.0,83.10546875,83.10546875,0,2,0,0,2,0.0,measured,0,1,1,1.0,0.0,0.0,0.0,measured,0,1,1,1.0,0.0,0.0,0.7791786146223472,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,3404,14336,14336,measured,0.7333984375,0.8310546875,2048,57.842163640115565,50.0,2,4,0,2,31,3,0,633.4088642336428,542.7019485458732,885217,26670,911887,,,