diff --git a/.gitattributes b/.gitattributes index 81bac2c404835b332faf12469b6f051c01de7554..5d18f0e8cf68cc934f9b8f0989eebc1c93b403be 100644 --- a/.gitattributes +++ b/.gitattributes @@ -185,3 +185,5 @@ runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_beverage_coffeeCu runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_prepared_croissant_a01/reconstruction-3/candidate/asset.usd filter=lfs diff=lfs merge=lfs -text runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/kitchenware_pan_j01/reconstruction-3/candidate/asset.usd filter=lfs diff=lfs merge=lfs -text runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/handTool_wrench_adjustable_a01/reconstruction-3/candidate/asset.usd filter=lfs diff=lfs merge=lfs -text +runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_banana_a01/reconstruction-4/candidate/asset.usd filter=lfs diff=lfs merge=lfs -text +runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/powerTool_drill_b01/reconstruction-3/candidate/asset.usd filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md index 84aaed728d46c507ee7a9358122ea9702ac776c2..6eb84c9a2d9be8a02add1fea2961353f49df1ffc 100644 --- a/README.md +++ b/README.md @@ -113,6 +113,9 @@ configs: - split: pallet_wood_recycled_a05 path: - viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/pallet_wood_recycled_a05.csv + - split: powertool_drill_b01 + path: + - viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/powertool_drill_b01.csv - split: ppe_helmet_hardhat_a01 path: - viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/ppe_helmet_hardhat_a01.csv diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_banana_a01/reconstruction-4/candidate/.thumbs/256x256/asset.usd.png 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b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_banana_a01/reconstruction-4/candidate/asset.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a863f8c975dadf297221317bcb40c8367b03dcbffb79c480dee41e5fab3448d +size 990270 diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_banana_a01/reconstruction-4/candidate/manifest.json b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_banana_a01/reconstruction-4/candidate/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..f939d31e6096cc34ad181727bc87a01b1ee83474 --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_banana_a01/reconstruction-4/candidate/manifest.json @@ -0,0 +1,34 @@ +{ + "copied_independently": true, + "entrypoint": "asset.usd", + "files": [ + { + "relative_path": ".thumbs/256x256/asset.usd.png", + "sha256": "d0b30889968f067549503aa5743fba36fd89d2649174ac7951f12fc7de62fd34", + "size_bytes": 21014 + }, + { + "relative_path": "asset.usd", + "sha256": "0a863f8c975dadf297221317bcb40c8367b03dcbffb79c480dee41e5fab3448d", + "size_bytes": 990270 + }, + { + "relative_path": "textures/banana_basecolor.png", + "sha256": "dd15388a3d409265fad43e6f973ccf09c5d74b8212491bbd7062916d841b3639", + "size_bytes": 1234921 + }, + { + "relative_path": "textures/banana_normal.png", + "sha256": "716d75d57d5983af4b5e7d45c8d1e5c4cc7a7d84ffac167363103ee0b6eefe6d", + "size_bytes": 1513828 + }, + { + "relative_path": "textures/banana_roughness.png", + "sha256": "4d1b8c0f7847dc63f4684ae659e107e128fb59c113b159697ac577272656237e", + "size_bytes": 598991 + } + ], + "schema": "simready-bench-submission-v1", + "size_bytes": 4359024, + "snapshot_sha256": "0f678410610e5abf8f6507f18d0ba747d3bdc10daf078b764b0f3eb6706d218b" +} diff --git 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0000000000000000000000000000000000000000..abd4ede5b250c6d628aebc4c5cfdf7c0f9302c7a --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/food_produce_banana_a01/reconstruction-4/harbor-trajectory-4.json @@ -0,0 +1,1974 @@ +{ + "schema_version": "ATIF-v1.7", + "session_id": "01a15c38-4b1b-70e7-bee3-5c96716699de", + "agent": { + "name": "pi", + "version": "0.85.1", + "model_name": "harbor-endpoint/gpt-6.1-sol" + }, + "steps": [ + { + "step_id": 1, + "timestamp": "2026-10-21T02:09:17.383Z", + "source": "user", + "message": [ + { + "type": "text", + "text": "\nReconstruct the supplied object as /output/asset.usd.\nNominal dimensions in canonical metres XYZ: [0.11604296788573265, 0.1622203066945076, 0.031617421656847]\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": "1531c843", + "pi_parent_id": "e1a68155" + } + }, + { + "step_id": 2, + "timestamp": "2026-10-21T02:09:21.055Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_ly1PqYRYdmCsSTSO8rCL6Dz1|fc_0727de88402fc81f016ad81ed0b38887d19692ea1c40d13360", + "function_name": "read", + "arguments": { + "path": "/task/contract.md", + "offset": 1, + "limit": 2000 + } + }, + { + "tool_call_id": "call_UABmme9FG6fKE4Za4JhKTxWm|fc_0727de88402fc81f016ad81ed0b3a087d1bc2b82bb089e0d94", + "function_name": "read", + "arguments": { + "path": "/task/tool-docs.md", + "offset": 1, + "limit": 2000 + } + }, + { + "tool_call_id": "call_X2uz66rvqAZ3dvK44DDdspZb|fc_0727de88402fc81f016ad81ed0b3a887d1bc49319e061ca3d9", + "function_name": "read", + "arguments": { + "path": "/task/scoring-policy.json", + "offset": 1, + "limit": 2000 + } + }, + { + "tool_call_id": "call_U704t6hFcr3Y74ZV2PxAByMo|fc_0727de88402fc81f016ad81ed0b3b087d1a91ddba4e4b327d0", + "function_name": "bash", + "arguments": { + "command": "ls -la /output && ls -la /task", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_ly1PqYRYdmCsSTSO8rCL6Dz1|fc_0727de88402fc81f016ad81ed0b38887d19692ea1c40d13360", + "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_UABmme9FG6fKE4Za4JhKTxWm|fc_0727de88402fc81f016ad81ed0b3a087d1bc2b82bb089e0d94", + "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_X2uz66rvqAZ3dvK44DDdspZb|fc_0727de88402fc81f016ad81ed0b3a887d1bc49319e061ca3d9", + "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 + } + }, + { + "source_call_id": "call_U704t6hFcr3Y74ZV2PxAByMo|fc_0727de88402fc81f016ad81ed0b3b087d1a91ddba4e4b327d0", + "content": "total 0\ndrwxrwxrwx 2 actor actor 40 Oct 21 02:09 .\ndrwxr-xr-x 1 root root 56 Oct 21 02:09 ..\ntotal 764\ndr-xr-xr-x 2 actor actor 160 Oct 21 02:09 .\ndrwxr-xr-x 1 root root 56 Oct 21 02:09 ..\n-r--r--r-- 1 actor actor 1746 Oct 21 02:09 contract.md\n-r--r--r-- 1 actor actor 451 Oct 21 02:09 instruction.md\n-r--r--r-- 1 actor actor 3305 Oct 21 02:09 scoring-policy.json\n-r--r--r-- 1 actor actor 435 Oct 21 02:09 simready-bench-native-output-policy.ts\n-r--r--r-- 1 actor actor 758190 Oct 21 02:09 thumbnail.png\n-r--r--r-- 1 actor actor 572 Oct 21 02:09 tool-docs.md", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 2667, + "completion_tokens": 128, + "cached_tokens": 0, + "extra": { + "cache_write_tokens": 2664, + "reasoning_tokens": 0, + "pi_total_tokens": 2795 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "5cc607b3", + "pi_parent_id": "1531c843", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81ecdf4dc87d19a6894bc56e6241e", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 3, + "timestamp": "2026-10-21T02:09:26.669Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "The object is a single unpeeled banana. I\u2019ll model it as one rigid body with no joints: the peel, stem, and blossom tip have no intended relative motion. I\u2019ll use a curved, tapered shape with subtle peel ridges, brown tips, and mottled yellow skin, scaled to the supplied dimensions.", + "reasoning_content": "**Creating a banana model**\n\nI need to create a banana that\u2019s yellow, curved, and has speckles with brown ends. For the orientation, I want it positioned at canonical coordinates x .116, y .162, and z .0316. The reference image is wide and horizontal, but the canonical x value should be smaller than y. My goal is to reconstruct the banana in the XY plane with a diagonal broad extent of .116 by .162. I\u2019m considering the tools and environment needed for this task.", + "tool_calls": [ + { + "tool_call_id": "call_MI37ySokLjBuD2UqwPHEU34Z|fc_0727de88402fc81f016ad81ed6142887d1944346bb4d99a3bb", + "function_name": "mcp", + "arguments": { + "server": "benchmark" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_MI37ySokLjBuD2UqwPHEU34Z|fc_0727de88402fc81f016ad81ed6142887d1944346bb4d99a3bb", + "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": 4573, + "completion_tokens": 159, + "cached_tokens": 2664, + "extra": { + "cache_write_tokens": 1906, + "reasoning_tokens": 67, + "pi_total_tokens": 4732 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "6fa72c17", + "pi_parent_id": "7da7d94f", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81ed1ce3c87d1a477287f1dd3e74a", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 4, + "timestamp": "2026-10-21T02:09:31.399Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_FWBsuYAJCwLnAXxu6TPsziFa|fc_0727de88402fc81f016ad81edb29e087d1a09de1be380391bc", + "function_name": "mcp", + "arguments": { + "describe": "benchmark_validate_candidate" + } + }, + { + "tool_call_id": "call_bf24UTBE5Al3WGLNG5CIh7n2|fc_0727de88402fc81f016ad81edb29f487d18e0678460e977012", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport sys\nfrom pxr import Usd,UsdGeom,UsdPhysics\nprint(sys.version)\nprint('pxr ok')\nfor mod in ['PIL','numpy','scipy','cv2']:\n try: __import__(mod);print(mod,'ok')\n except: pass\nPY\nls /opt && printenv | sort | grep -Ei 'USD|OMNI|ISAAC|NVIDIA'", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_FWBsuYAJCwLnAXxu6TPsziFa|fc_0727de88402fc81f016ad81edb29e087d1a09de1be380391bc", + "content": "benchmark_validate_candidate\nServer: benchmark\n\nValidate a frozen candidate and return NVIDIA findings. Each new request consumes one validation call. Repeating a request ID returns its existing result.\n\nShape:\n{ request_id: string; }", + "extra": { + "tool_name": "mcp", + "is_error": false + } + }, + { + "source_call_id": "call_bf24UTBE5Al3WGLNG5CIh7n2|fc_0727de88402fc81f016ad81edb29f487d18e0678460e977012", + "content": "3.12.3 (main, Aug 31 2026, 10:18:26) [GCC 13.3.0]\npxr ok\nPIL ok\nnumpy ok\nnvm\nsimready\n\n\nCommand exited with code 1", + "extra": { + "tool_name": "bash", + "is_error": true + } + } + ] + }, + "metrics": { + "prompt_tokens": 4806, + "completion_tokens": 150, + "cached_tokens": 4570, + "extra": { + "cache_write_tokens": 233, + "reasoning_tokens": 0, + "pi_total_tokens": 4956 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "f5ae2d6b", + "pi_parent_id": "972fb32e", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81ed7aef087d193ff3dd1b86de1d1", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 5, + "timestamp": "2026-10-21T02:09:34.665Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_f3idGS87tpcUbfsgo3pTNLD2|fc_0727de88402fc81f016ad81edd9ae487d1be9dde06fb941099", + "function_name": "bash", + "arguments": { + "command": "ls -R /opt/simready | head -80; python - <<'PY'\nfrom pxr import Usd\nprint(Usd.GetVersion())\nPY\nwhich usdview; ls /usr/local/bin | head -60", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_f3idGS87tpcUbfsgo3pTNLD2|fc_0727de88402fc81f016ad81edd9ae487d1be9dde06fb941099", + "content": "/opt/simready:\nopencode\npi\npython-requirements.txt\nruntime\n\n/opt/simready/opencode:\nnode_modules\npackage-lock.json\npackage.json\n\n/opt/simready/opencode/node_modules:\nopencode-ai\nopencode-linux-x64\n\n/opt/simready/opencode/node_modules/opencode-ai:\nLICENSE\nbin\npackage.json\npostinstall.mjs\n\n/opt/simready/opencode/node_modules/opencode-ai/bin:\nopencode.exe\n\n/opt/simready/opencode/node_modules/opencode-linux-x64:\nbin\npackage.json\n\n/opt/simready/opencode/node_modules/opencode-linux-x64/bin:\nopencode\n\n/opt/simready/pi:\nnode_modules\npackage-lock.json\npackage.json\n\n/opt/simready/pi/node_modules:\n@anthropic-ai\n@aws\n@aws-crypto\n@aws-sdk\n@babel\n@earendil-works\n@esbuild\n@google\n@protobufjs\n@smithy\n@stablelib\n@types\nagent-base\nbase64-js\nbignumber.js\nbowser\nbuffer-equal-constant-time\ndata-uri-to-buffer\ndebug\ndiff\necdsa-sig-formatter\nesbuild\nextend\nfast-sha256\nfetch-blob\nformdata-polyfill\ngaxios\ngcp-metadata\nget-east-asian-width\ngoogle-auth-library\ngoogle-logging-utils\nhttp-proxy-agent\nhttps-proxy-agent\nignore\njson-bigint\njson-schema-to-ts\njwa\njws\nlong\nmarked\nms\nnode-domexception\nnode-fetch\n(0, 26, 8)\nnode\nnpm\nnpx\nopencode\npi\npython", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 5075, + "completion_tokens": 71, + "cached_tokens": 4803, + "extra": { + "cache_write_tokens": 269, + "reasoning_tokens": 0, + "pi_total_tokens": 5146 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "10ed90ea", + "pi_parent_id": "0633e228", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81edc668887d1804e7993ad8ecc5d", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 6, + "timestamp": "2026-10-21T02:09:38.079Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Looking into validation needs**\n\nI think I need to gather examples of semantic schemas to ensure I'm on the right track. Since I have about 58 turns, it feels like I have enough data to work with. I should focus on identifying the right packages for this validation process. It\u2019s important to have clear examples to guide my understanding. Let\u2019s figure out the best way to approach this and highlight any potential gaps in my knowledge!", + "tool_calls": [ + { + "tool_call_id": "call_d2JtNGVZHCRaXemQrOyVqxCk|fc_0727de88402fc81f016ad81ee172a087d1b319bae2bcc80886", + "function_name": "bash", + "arguments": { + "command": "ls -la /opt/simready/runtime; find /opt/simready/runtime -maxdepth 3 -type f | head -60; python - <<'PY'\nfrom pxr import Plug\nfor p in Plug.Registry().GetAllPlugins():\n print(p.name)\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_d2JtNGVZHCRaXemQrOyVqxCk|fc_0727de88402fc81f016ad81ee172a087d1b319bae2bcc80886", + "content": "total 0\ndr-xr-xr-x 3 actor actor 60 Oct 21 02:09 .\ndrwxr-xr-x 1 root root 29 Oct 20 22:14 ..\ndr-xr-xr-x 3 actor actor 80 Oct 21 02:09 simready_bench\n/opt/simready/runtime/simready_bench/__init__.py\n/opt/simready/runtime/simready_bench/engine/actor_relay.py\n/opt/simready/runtime/simready_bench/engine/actor_mcp.py\n/opt/simready/runtime/simready_bench/engine/__init__.py\nusdHydra\nusdProc\nusdRender\nusdRi\nar\nusdVol\nusdMedia\nusdSemantics\nusdUI\nusdShaders\nusdPhysics\nusdUtilsValidators\nusdLod\nusdValidation\nUsdProfiles\nusdShade\nusdPhysicsValidators\nusdGeomValidators\nusdGeom\nusd\nusdLux\nsdr\nusdSkelValidators\nusdShadeValidators\nsdf\nusdLuxValidators\nusdSkel", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 5514, + "completion_tokens": 103, + "cached_tokens": 5072, + "extra": { + "cache_write_tokens": 439, + "reasoning_tokens": 19, + "pi_total_tokens": 5617 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "a2de1833", + "pi_parent_id": "3f63b8a4", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81edf6b4887d1a9714529503d187e", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 7, + "timestamp": "2026-10-21T02:10:13.277Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Designing banana mesh shape**\n\nI\u2019m planning to create a high-quality swept mesh following the curved shape of a banana. I've got the image coordinates laid out, and the centerline of the stem is established, but I need to ensure it accurately reflects the top view perspective.\n\nI\u2019ll account for both width and radius, aiming for the ideal dimensions, and will rotate the image to get the right extents. Validation of the nominal dimensions is crucial, but I don\u2019t need to directly match the camera\u2019s orientation.\n\n**Modeling banana shape**\n\nI'm working on arranging the banana along the long axis and its curve. I'll consider the ends at the upper left and lower side while ensuring it matches a broad image reference. Given the dimensions\u2014thickness, width, and height\u2014I expect the banana to extend diagonally.\n\nTo set the centerline, I'll use a parametric angle to derive a canonical shape from image projection. It seems I'll need to adjust the silhouette and coordinates by scaling for accuracy while keeping thickness consistent for the final model.\n\n**Adjusting body diameter**\n\nI need to create a broad body with a diameter of .030. However, when projecting the image, it calculates to roughly .039, based on the dimensions I have. This means I may need to adjust my design slightly to account for that thicker measurement. It's important to confirm that the proportions align with my overall model, so I'll make sure the adjustments fit within my intended visuals and specifications.\n**Exploring spline techniques**\n\nI'm considering using libraries like SciPy for cubic Bezier multi-segment centerlines in a UV-planar reference. I'll look into how to sample better in pixel coordinates and set up a centerline path. I have a series of points with varying radii that I could use for the outer arc of a shape. There\u2019s a lot of detail here, especially with scaling and radius projections that I'll need to manage carefully for accurate visualization.", + "tool_calls": [ + { + "tool_call_id": "call_C2eM4RJTy55XKTj4tocHiRRf|fc_0727de88402fc81f016ad81f049f3087d1a05523ec17c64e96", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nfrom pxr import UsdSemantics\nprint(dir(UsdSemantics))\nprint(UsdSemantics.LabelsAPI.__doc__)\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_C2eM4RJTy55XKTj4tocHiRRf|fc_0727de88402fc81f016ad81f049f3087d1a05523ec17c64e96", + "content": "['LabelsAPI', 'LabelsQuery', 'Tokens', '_CanApplyResult', '__MFB_FULL_PACKAGE_NAME', '__builtins__', '__cached__', '__doc__', '__file__', '__loader__', '__name__', '__package__', '__path__', '__spec__']\nNone", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 5860, + "completion_tokens": 1594, + "cached_tokens": 5511, + "extra": { + "cache_write_tokens": 346, + "reasoning_tokens": 1532, + "pi_total_tokens": 7454 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "f687cfe9", + "pi_parent_id": "bd0377e4", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81ee2bee487d1afc48a13176f3658", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 8, + "timestamp": "2026-10-21T02:11:29.245Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Reviewing matrix parameters**\n\nI\u2019m thinking about the RGB normal and how to use a derivative pixel effectively. I\u2019ve got to bump the amplitude to 20 microns, and it seems I need the matrix: nx equals -dheight/ds, ny equals -dheight/dt, and nz will just be 1. Also, I'm considering applying a texture roughness in the .38 to .56 range. Making sure all these values align correctly feels important to achieving the desired results!", + "tool_calls": [ + { + "tool_call_id": "call_h1hwxwv8au4RPIvzcH0a7gQa|fc_0727de88402fc81f016ad81f11e04087d1973189409703df6d", + "function_name": "write", + "arguments": { + "path": "/tmp/create_asset.py", + "content": "import math, os\nimport numpy as np\nfrom PIL import Image, ImageDraw, ImageFilter\nfrom pxr import Usd, UsdGeom, UsdShade, UsdPhysics, Sdf, Gf, Vt, UsdSemantics\nOUT='/output'; os.makedirs(OUT+'/textures',exist_ok=True)\nrng=np.random.default_rng(1047)\nW,H=2048,1024\n# Continuous, non-directional skin variation plus subtle lengthwise peel tones.\ndef noise(w,h,amp):\n a=rng.random((h,w)).astype(np.float32)\n return (np.asarray(Image.fromarray(a,'F').resize((W,H),Image.Resampling.BICUBIC))-0.5)*amp\nu=np.linspace(0,1,W)[None,:]; v=np.linspace(0,1,H)[:,None]\nn=noise(22,13,1)+noise(85,43,.45)+noise(300,180,.18)\nfine=noise(800,480,1)\ncol=np.zeros((H,W,3),dtype=np.float32)+np.array([244.,222.,49.])\ncol += n[:,:,None]*np.array([9,12,7])\nridges=(np.cos(2*np.pi*(v*5+.10))*.5+.5)\ncol += ridges[:,:,None]*np.array([-2,2,0])\n# Delicate ochre freckles, irregular and usually translucent rather than black polka dots.\nspots=Image.new('RGBA',(W,H),(0,0,0,0)); d=ImageDraw.Draw(spots)\nfor i in range(1000):\n x=float(rng.uniform(.13,.97)*W); y=float(rng.uniform(0,H))\n rad=float(rng.uniform(.5,2.6)); aspect=float(rng.uniform(.7,2.2))\n alpha=int(rng.uniform(12,60))\n d.ellipse((x-rad,y-rad*aspect,x+rad,y+rad*aspect),fill=(126,98,34,alpha))\nfor i in range(150):\n cx=rng.uniform(.19,.96)*W; cy=rng.uniform(0,H)\n for k in range(rng.integers(4,18)):\n x=cx+rng.normal(0,10);y=cy+rng.normal(0,6)\n rr=rng.uniform(.7,2.8); ry=rr*rng.uniform(.6,1.7)\n d.ellipse((x-rr,y-ry,x+rr,y+ry),fill=(119,87,36,int(rng.uniform(17,67))))\nspots=spots.filter(ImageFilter.GaussianBlur(.75)); sa=np.asarray(spots).astype(float)\na=sa[:,:,3:]/255\ncol=col*(1-a)+sa[:,:,:3]*a\n# Stem: olive fibre blending into yellow; dark cut at the far left.\nolive=np.zeros_like(col)+np.array([153,150,39]);olive+=n[:,:,None]*np.array([22,24,13])\nolive+=((np.cos(v*2*np.pi*11+u*8)+1)*.5)[:,:,None]*np.array([-13,-10,-3])\nw=np.clip((.17-u)/.09,0,1); w=w*w*(3-2*w)\ncol=col*(1-w[:,:,None])+olive*w[:,:,None]\nbrown=np.zeros_like(col)+np.array([91,68,52]); brown+=n[:,:,None]*np.array([24,19,15])+fine[:,:,None]*4\nleft_edge=.038+.008*np.sin(v*2*np.pi*3)+.004*n\nwl=np.clip((left_edge-u)/.012+.5,0,1);wl=wl*wl*(3-2*wl)\ncol=col*(1-wl[:,:,None])+brown*wl[:,:,None]\n# A small dry blossom scar, not a separate mechanical part.\nright_edge=.961+.006*np.sin(v*2*np.pi*4)+.0025*n\nwr=np.clip((u-right_edge)/.012+.5,0,1);wr=wr*wr*(3-2*wr)\ncol=col*(1-wr[:,:,None])+brown*wr[:,:,None]\n# Fine skin pores, almost imperceptible at whole-object scale.\ncol+=fine[:,:,None]*1.8\n# Match the circumferential seam in all maps.\nfor arr in [col]:\n for j in range(5):\n f=(j+1)/6\n avg=(arr[j]+arr[-j-1])*.5\n arr[j]=avg*(1-f)+arr[j]*f;arr[-j-1]=avg*(1-f)+arr[-j-1]*f\nImage.fromarray(np.uint8(np.clip(col,0,255)),'RGB').save(OUT+'/textures/banana_basecolor.png')\nrough=np.broadcast_to(.43+n*.055+fine*.025,(H,W)).copy()\nrough+=np.maximum(wl,wr)*.23\nImage.fromarray(np.uint8(np.clip(rough,0,1)*255),'L').save(OUT+'/textures/banana_roughness.png')\nheight=(noise(470,240,1)*0.000016+noise(1000,500,1)*.000005)\ngy,gx=np.gradient(height)\nnx=-gx/(.204/W);ny=-gy/(.105/H)\nnrm=np.stack([nx,ny,np.ones_like(nx)],axis=-1);nrm/=np.linalg.norm(nrm,axis=-1)[:,:,None]\nImage.fromarray(np.uint8(np.clip(nrm*.5+.5,0,1)*255),'RGB').save(OUT+'/textures/banana_normal.png')\n# Shape described in reference-plane coordinates, then oriented within the canonical XY plane.\ncontrol=np.array([[72,469,17],[108,445,21],[159,419,25],[210,390,42],[259,348,74],[340,324,89],[444,324,91],[553,343,94],[662,383,94],[755,438,89],[830,513,83],[879,600,76],[902,682,62],[892,749,35],[888,769,18],[885,779,0]],float)\n# Centripetal Hermite interpolation, parameterized by approximate arc distance.\nparam=np.r_[0,np.cumsum(np.linalg.norm(np.diff(control[:,:2],axis=0),axis=1))]; param/=param[-1]\nder=np.empty_like(control)\nder[0]=(control[1]-control[0])/(param[1]-param[0]);der[-1]=(control[-1]-control[-2])/(param[-1]-param[-2])\nfor i in range(1,len(control)-1):der[i]=(control[i+1]-control[i-1])/(param[i+1]-param[i-1])\ndef sample(t):\n k=min(max(np.searchsorted(param,t)-1,0),len(param)-2); dt=param[k+1]-param[k];f=(t-param[k])/dt\n return (2*f**3-3*f*f+1)*control[k]+(f**3-2*f*f+f)*dt*der[k]+(-2*f**3+3*f*f)*control[k+1]+(f**3-f*f)*dt*der[k+1]\nN=220; M=72\nts=np.linspace(0,.998,N)\ncs=np.array([sample(t) for t in ts]); tang=np.gradient(cs[:,:2],axis=0);tang/=np.linalg.norm(tang,axis=1)[:,None]\nnormal=np.stack([-tang[:,1],tang[:,0]],axis=1)\n# Find a natural diagonal orientation with the supplied XY aspect ratio.\nraw=[];uv=[]\nfor i,t in enumerate(ts):\n for j in range(M):\n a=2*np.pi*j/M\n # Rounded five-sided section, slight anatomical asymmetry.\n ridge=1+.037*np.cos(5*a+.25)+.009*np.cos(3*a+2*t)\n radius=cs[i,2]*ridge\n xy=cs[i,:2]+normal[i]*math.cos(a)*radius\n zr=radius*math.sin(a)*(.94+.025*math.cos(t*5))\n raw.append([xy[0],xy[1],zr]);uv.append([float(t),float(j/M)])\nraw=np.array(raw)\ntarget=np.array([.11604296788573265,.1622203066945076,.031617421656847])\n# Choose the orientation with a long Y extent, rather than distort the fruit.\nbest=None\nfor angle in np.linspace(0,math.pi/2,5001):\n R=np.array([[math.cos(angle),-math.sin(angle)],[math.sin(angle),math.cos(angle)]])\n p=raw[:,:2]@R.T;dim=np.ptp(p,axis=0)\n err=abs(dim[0]/dim[1]-target[0]/target[1])\n if best is None or err\n mass.CreateDiagonalInertiaAttr(Gf.Vec3f(*eig));mass.CreatePrincipalAxesAttr(Gf.Quatf(Gf.Rotation(Gf.Matrix3d(*axes.T.flatten())).GetQuat()))\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\nBoost.Python.ArgumentError: Python argument types in\n Rotation.__init__(Rotation, Matrix3d)\ndid not match C++ signature:\n __init__(_object*, pxrInternal_v0_26_8__pxrReserved__::GfRotation)\n __init__(_object*, pxrInternal_v0_26_8__pxrReserved__::GfVec3d, pxrInternal_v0_26_8__pxrReserved__::GfVec3d)\n __init__(_object*, pxrInternal_v0_26_8__pxrReserved__::GfQuatd)\n __init__(_object*, pxrInternal_v0_26_8__pxrReserved__::GfQuaternion)\n __init__(_object*, pxrInternal_v0_26_8__pxrReserved__::GfVec3d, double)\n __init__(_object*)\n\n\nCommand exited with code 1", + "extra": { + "tool_name": "bash", + "is_error": true + } + } + ] + }, + "metrics": { + "prompt_tokens": 12805, + "completion_tokens": 27, + "cached_tokens": 7524, + "extra": { + "cache_write_tokens": 5278, + "reasoning_tokens": 0, + "pi_total_tokens": 12832 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "63d7466a", + "pi_parent_id": "5b0d639d", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81f5222c087d1837bc69685e8bc44", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 10, + "timestamp": "2026-10-21T02:11:43.312Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Fixing quaternion matrix issues**\n\nI\u2019m thinking about fixing the quaternion matrix from the ExtractRotationQuat function in Matrix3d. It looks like Gf.Matrix3d.ExtractRotation might be the way to go to get the rotation out correctly. I\u2019m just pondering whether I need to tweak anything in the extraction logic to ensure it works as intended. I want to make sure I nail this so the rotation comes out perfectly. It\u2019s important to get these math aspects right!", + "tool_calls": [ + { + "tool_call_id": "call_flegGuP1WuzQNca8s0TGPySl|fc_0727de88402fc81f016ad81f5ebac887d1a7670b86dcd26f71", + "function_name": "edit", + "arguments": { + "path": "/tmp/create_asset.py", + "edits": [ + { + "oldText": "Gf.Quatf(Gf.Rotation(Gf.Matrix3d(*axes.T.flatten())).GetQuat())", + "newText": "Gf.Quatf(Gf.Matrix3d(*axes.T.flatten()).ExtractRotation().GetQuat())" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_flegGuP1WuzQNca8s0TGPySl|fc_0727de88402fc81f016ad81f5ebac887d1a7670b86dcd26f71", + "content": "Successfully replaced 1 block(s) in /tmp/create_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 13121, + "completion_tokens": 106, + "cached_tokens": 12802, + "extra": { + "cache_write_tokens": 316, + "reasoning_tokens": 27, + "pi_total_tokens": 13227 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "96e6904d", + "pi_parent_id": "e1a4c003", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81f5bc59c87d1a9d09e586cccca5a", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 11, + "timestamp": "2026-10-21T02:11:47.214Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_f9vC18MvMqHqDdpfSnBN5JK9|fc_0727de88402fc81f016ad81f62f3b487d19ddba784932173be", + "function_name": "bash", + "arguments": { + "command": "python /tmp/create_asset.py", + "timeout": 60 + } + }, + { + "tool_call_id": "call_lBylxOjAHC4dP91MnuIyNPk5|fc_0727de88402fc81f016ad81f62f3c887d199df4616aad23ea5", + "function_name": "mcp", + "arguments": { + "describe": "benchmark_get_validation_report" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_f9vC18MvMqHqDdpfSnBN5JK9|fc_0727de88402fc81f016ad81f62f3b487d19ddba784932173be", + "content": "Created /output/asset.usd dims [0.11604297 0.16222031 0.03161742] orientation 45.27 triangles equivalent 31680", + "extra": { + "tool_name": "bash", + "is_error": false + } + }, + { + "source_call_id": "call_lBylxOjAHC4dP91MnuIyNPk5|fc_0727de88402fc81f016ad81f62f3c887d199df4616aad23ea5", + "content": "benchmark_get_validation_report\nServer: benchmark\n\nRead a requested range of a prior NVIDIA report. The complete report is already saved at the file_path returned by validation. Prefer rg and targeted local file reads. Read-only and free of validation quota.\n\nShape:\n{ report_id: string; offset?: number; limit?: number; }", + "extra": { + "tool_name": "mcp", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 13251, + "completion_tokens": 60, + "cached_tokens": 13118, + "extra": { + "cache_write_tokens": 130, + "reasoning_tokens": 0, + "pi_total_tokens": 13311 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "4c5f95d0", + "pi_parent_id": "14988d4e", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81f6064fc87d187ff8acf6bae91e3", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 12, + "timestamp": "2026-10-21T02:11:58.502Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_7kdboFNJdjz0Nn4YsiCwUHlu|fc_0727de88402fc81f016ad81f6db67487d1877f872f3b1235bd", + "function_name": "mcp", + "arguments": { + "tool": "benchmark_validate_candidate", + "args": { + "request_id": "check-1" + } + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_7kdboFNJdjz0Nn4YsiCwUHlu|fc_0727de88402fc81f016ad81f6db67487d1877f872f3b1235bd", + "content": "{\"request_id\":\"check-1\",\"snapshot_sha256\":\"c35e56e1397b65b0f8f939495b15b43557592ac80ae94fcd96ae89701f94fff2\",\"validation_calls_used\":1,\"validation_calls_remaining\":4,\"feedback\":{\"schema_version\":\"simready-validator-feedback-v1\",\"snapshot_sha256\":\"c35e56e1397b65b0f8f939495b15b43557592ac80ae94fcd96ae89701f94fff2\",\"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\":2},{\"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\":4},{\"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\":13},{\"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\":\"d6a9564d30ff97a4278b57121868beda1567f21f467bdca1084d95907bc8905b\",\"sha256\":\"d6a9564d30ff97a4278b57121868beda1567f21f467bdca1084d95907bc8905b\",\"bytes\":211723,\"total_characters\":211723,\"issue_counts\":{\"issues\":21,\"soft_issues\":41,\"warnings\":0,\"infos\":0},\"complete_report_available\":true,\"delivery\":\"agent_file\",\"file_path\":\"/tmp/simready-validation-reports/d6a9564d30ff97a4278b57121868beda1567f21f467bdca1084d95907bc8905b.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 -e ; use sed -n ,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": 13435, + "completion_tokens": 29, + "cached_tokens": 13248, + "extra": { + "cache_write_tokens": 184, + "reasoning_tokens": 0, + "pi_total_tokens": 13464 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "48b179d0", + "pi_parent_id": "3a50bbee", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81f6c6bc887d18ea98e6ae69b014d", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 13, + "timestamp": "2026-10-21T02:12:05.080Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_jJHAMn9FQAyb2ZUe0LsC7f72|fc_0727de88402fc81f016ad81f73c32887d18d68a4ea4db7a647", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport json\np='/tmp/simready-validation-reports/d6a9564d30ff97a4278b57121868beda1567f21f467bdca1084d95907bc8905b.json'\nd=json.load(open(p)); print(d.keys())\nprint(json.dumps(d,indent=2)[:3000])\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_jJHAMn9FQAyb2ZUe0LsC7f72|fc_0727de88402fc81f016ad81f73c32887d18d68a4ea4db7a647", + "content": "dict_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'])\n{\n \"asset_path\": \"/output/asset.usd\",\n \"asset_sha256\": \"9f9bb3054db24cc8e5589d4d21f5cb0189f1e89329f455b2cc82c4f140cb8921\",\n \"engine_dispatch_completed\": true,\n \"features_summary\": {\n \"FET_000_MUJOCO\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[{'FET_000_STANDARD': {'version': '0.1.0'}}]\",\n \"optional requirements\": \"['com.nvidia.simready.NP.006', 'com.nvidia.simready.RV.007', 'com.nvidia.simready.SR.001']\",\n \"passed\": false,\n \"version\": \"0.1.0\"\n },\n \"FET_000_NEWTON\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[{'FET_000_STANDARD': {'version': '0.1.0'}}]\",\n \"optional requirements\": \"['com.nvidia.simready.NP.006', 'com.nvidia.simready.RV.004', 'com.nvidia.simready.SR.001']\",\n \"passed\": false,\n \"version\": \"0.1.0\"\n },\n \"FET_000_PHYSX\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[{'FET_000_STANDARD': {'version': '0.1.0'}}]\",\n \"optional requirements\": \"['com.nvidia.simready.NP.006', 'com.nvidia.simready.RV.001', 'com.nvidia.simready.SR.001']\",\n \"passed\": false,\n \"version\": \"0.1.0\"\n },\n \"FET_000_STANDARD\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[]\",\n \"optional requirements\": \"['com.nvidia.simready.NP.006', 'com.nvidia.simready.SR.001']\",\n \"passed\": false,\n \"version\": \"0.2.0\"\n },\n \"FET_001_STANDARD\": {\n \"blocking_failure\": true,\n \"dependencies\": \"[]\",\n \"failing requirements\": \"['com.nvidia.usd.AA.001', 'com.nvidia.usd.VG.027']\",\n \"passed\": false,\n \"requirement_messages\": \"{\\\"com.nvidia.usd.AA.001\\\": [\\\"Dependent Reference \\\\\\\"asset.usd\\\\\\\" should begin with \\\\\\\"./\\\\\\\" or \\\\\\\"../\\\\\\\".\\\", \\\"Dependent Reference \\\\\\\"textures/banana_basecolor.png\\\\\\\" should begin with \\\\\\\"./\\\\\\\" or \\\\\\\"../\\\\\\\".\\\", \\\"Dependent Reference \\\\\\\"textures/banana_normal.png\\\\\\\" should begin with \\\\\\\"./\\\\\\\" or \\\\\\\"../\\\\\\\".\\\", \\\"Dependent Reference \\\\\\\"textures/banana_roughness.png\\\\\\\" should begin with \\\\\\\"./\\\\\\\" or \\\\\\\"../\\\\\\\".\\\"], \\\"com.nvidia.usd.VG.027\\\": [\\\"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \\\", \\\"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \\\", \\\"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \\\", \\\"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \\\", \\\"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \\\", \\\"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \\\", \\\"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \\\", \\\"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \\\", \\\"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \\\", \\\"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \\\", \\\"Either normals should be", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 15092, + "completion_tokens": 104, + "cached_tokens": 13432, + "extra": { + "cache_write_tokens": 1657, + "reasoning_tokens": 0, + "pi_total_tokens": 15196 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "9790c2ad", + "pi_parent_id": "40cc9f99", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81f72bd2087d1b116f78e677892cd", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 14, + "timestamp": "2026-10-21T02:12:09.132Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_RHsC4RbGhEWxiduBuu6wBZrt|fc_0727de88402fc81f016ad81f77845487d18a651270cd17a14f", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport json\nD=json.load(open('/tmp/simready-validation-reports/d6a9564d30ff97a4278b57121868beda1567f21f467bdca1084d95907bc8905b.json'))\nfor key in ['issues','soft_issues']:\n print('\\n',key)\n for x in D[key]:\n print(json.dumps(x))\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_RHsC4RbGhEWxiduBuu6wBZrt|fc_0727de88402fc81f016ad81f77845487d18a651270cd17a14f", + "content": "issues\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"LayerId(identifier='/output/asset.usd')\", \"message\": \"Dependent Reference \\\"asset.usd\\\" should begin with \\\"./\\\" or \\\"../\\\".\", \"prim_path\": null, \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._atomic_asset.AnchoredAssetPathsChecker\", \"rule_id\": \"com.nvidia.usd.AA.001\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"LayerId(identifier='/output/asset.usd')\", \"message\": \"Dependent Reference \\\"textures/banana_basecolor.png\\\" should begin with \\\"./\\\" or \\\"../\\\".\", \"prim_path\": null, \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._atomic_asset.AnchoredAssetPathsChecker\", \"rule_id\": \"com.nvidia.usd.AA.001\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"LayerId(identifier='/output/asset.usd')\", \"message\": \"Dependent Reference \\\"textures/banana_normal.png\\\" should begin with \\\"./\\\" or \\\"../\\\".\", \"prim_path\": null, \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._atomic_asset.AnchoredAssetPathsChecker\", \"rule_id\": \"com.nvidia.usd.AA.001\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"LayerId(identifier='/output/asset.usd')\", \"message\": \"Dependent Reference \\\"textures/banana_roughness.png\\\" should begin with \\\"./\\\" or \\\"../\\\".\", \"prim_path\": null, \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._atomic_asset.AnchoredAssetPathsChecker\", \"rule_id\": \"com.nvidia.usd.AA.001\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Banana/Looks/BananaSkin)\", \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\", \"prim_path\": \"/Banana/Looks/BananaSkin\", \"requirement_version\": \"0.1.0\", \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\", \"rule_id\": \"com.nvidia.simready.SL.MAT.001\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Banana/Looks/Contact)\", \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\", \"prim_path\": \"/Banana/Looks/Contact\", \"requirement_version\": \"0.1.0\", \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\", \"rule_id\": \"com.nvidia.simready.SL.MAT.001\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"SchemaBaseId(prim_id=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_00'), spec_ids=EditTargetIdList(_values=[EditTargetId(layer_id=LayerId(identifier='/output/asset.usd'), path=Sdf.Path('/Banana/Collision/Convex_00'), composed=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_00'), spec_ids=EditTargetIdList(_values=[]), variant_selection_path=Sdf.Path.emptyPath))]), variant_selection_path=Sdf.Path('/Banana/Collision/Convex_00')), schema_class=, instance_name='')\", \"message\": \"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \", \"prim_path\": \"/Banana/Collision/Convex_00\", \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._geometry.NormalsExistChecker\", \"rule_id\": \"com.nvidia.usd.VG.027\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"SchemaBaseId(prim_id=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_01'), spec_ids=EditTargetIdList(_values=[EditTargetId(layer_id=LayerId(identifier='/output/asset.usd'), path=Sdf.Path('/Banana/Collision/Convex_01'), composed=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_01'), spec_ids=EditTargetIdList(_values=[]), variant_selection_path=Sdf.Path.emptyPath))]), variant_selection_path=Sdf.Path('/Banana/Collision/Convex_01')), schema_class=, instance_name='')\", \"message\": \"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \", \"prim_path\": \"/Banana/Collision/Convex_01\", \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._geometry.NormalsExistChecker\", \"rule_id\": \"com.nvidia.usd.VG.027\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"SchemaBaseId(prim_id=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_02'), spec_ids=EditTargetIdList(_values=[EditTargetId(layer_id=LayerId(identifier='/output/asset.usd'), path=Sdf.Path('/Banana/Collision/Convex_02'), composed=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_02'), spec_ids=EditTargetIdList(_values=[]), variant_selection_path=Sdf.Path.emptyPath))]), variant_selection_path=Sdf.Path('/Banana/Collision/Convex_02')), schema_class=, instance_name='')\", \"message\": \"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \", \"prim_path\": \"/Banana/Collision/Convex_02\", \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._geometry.NormalsExistChecker\", \"rule_id\": \"com.nvidia.usd.VG.027\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"SchemaBaseId(prim_id=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_03'), spec_ids=EditTargetIdList(_values=[EditTargetId(layer_id=LayerId(identifier='/output/asset.usd'), path=Sdf.Path('/Banana/Collision/Convex_03'), composed=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_03'), spec_ids=EditTargetIdList(_values=[]), variant_selection_path=Sdf.Path.emptyPath))]), variant_selection_path=Sdf.Path('/Banana/Collision/Convex_03')), schema_class=, instance_name='')\", \"message\": \"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \", \"prim_path\": \"/Banana/Collision/Convex_03\", \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._geometry.NormalsExistChecker\", \"rule_id\": \"com.nvidia.usd.VG.027\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"SchemaBaseId(prim_id=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_04'), spec_ids=EditTargetIdList(_values=[EditTargetId(layer_id=LayerId(identifier='/output/asset.usd'), path=Sdf.Path('/Banana/Collision/Convex_04'), composed=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_04'), spec_ids=EditTargetIdList(_values=[]), variant_selection_path=Sdf.Path.emptyPath))]), variant_selection_path=Sdf.Path('/Banana/Collision/Convex_04')), schema_class=, instance_name='')\", \"message\": \"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \", \"prim_path\": \"/Banana/Collision/Convex_04\", \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._geometry.NormalsExistChecker\", \"rule_id\": \"com.nvidia.usd.VG.027\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"SchemaBaseId(prim_id=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_05'), spec_ids=EditTargetIdList(_values=[EditTargetId(layer_id=LayerId(identifier='/output/asset.usd'), path=Sdf.Path('/Banana/Collision/Convex_05'), composed=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_05'), spec_ids=EditTargetIdList(_values=[]), variant_selection_path=Sdf.Path.emptyPath))]), variant_selection_path=Sdf.Path('/Banana/Collision/Convex_05')), schema_class=, instance_name='')\", \"message\": \"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \", \"prim_path\": \"/Banana/Collision/Convex_05\", \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._geometry.NormalsExistChecker\", \"rule_id\": \"com.nvidia.usd.VG.027\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"SchemaBaseId(prim_id=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_06'), spec_ids=EditTargetIdList(_values=[EditTargetId(layer_id=LayerId(identifier='/output/asset.usd'), path=Sdf.Path('/Banana/Collision/Convex_06'), composed=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_06'), spec_ids=EditTargetIdList(_values=[]), variant_selection_path=Sdf.Path.emptyPath))]), variant_selection_path=Sdf.Path('/Banana/Collision/Convex_06')), schema_class=, instance_name='')\", \"message\": \"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \", \"prim_path\": \"/Banana/Collision/Convex_06\", \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._geometry.NormalsExistChecker\", \"rule_id\": \"com.nvidia.usd.VG.027\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"SchemaBaseId(prim_id=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_07'), spec_ids=EditTargetIdList(_values=[EditTargetId(layer_id=LayerId(identifier='/output/asset.usd'), path=Sdf.Path('/Banana/Collision/Convex_07'), composed=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_07'), spec_ids=EditTargetIdList(_values=[]), variant_selection_path=Sdf.Path.emptyPath))]), variant_selection_path=Sdf.Path('/Banana/Collision/Convex_07')), schema_class=, instance_name='')\", \"message\": \"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \", \"prim_path\": \"/Banana/Collision/Convex_07\", \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._geometry.NormalsExistChecker\", \"rule_id\": \"com.nvidia.usd.VG.027\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"SchemaBaseId(prim_id=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_08'), spec_ids=EditTargetIdList(_values=[EditTargetId(layer_id=LayerId(identifier='/output/asset.usd'), path=Sdf.Path('/Banana/Collision/Convex_08'), composed=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_08'), spec_ids=EditTargetIdList(_values=[]), variant_selection_path=Sdf.Path.emptyPath))]), variant_selection_path=Sdf.Path('/Banana/Collision/Convex_08')), schema_class=, instance_name='')\", \"message\": \"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \", \"prim_path\": \"/Banana/Collision/Convex_08\", \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._geometry.NormalsExistChecker\", \"rule_id\": \"com.nvidia.usd.VG.027\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"SchemaBaseId(prim_id=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_09'), spec_ids=EditTargetIdList(_values=[EditTargetId(layer_id=LayerId(identifier='/output/asset.usd'), path=Sdf.Path('/Banana/Collision/Convex_09'), composed=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_09'), spec_ids=EditTargetIdList(_values=[]), variant_selection_path=Sdf.Path.emptyPath))]), variant_selection_path=Sdf.Path('/Banana/Collision/Convex_09')), schema_class=, instance_name='')\", \"message\": \"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \", \"prim_path\": \"/Banana/Collision/Convex_09\", \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._geometry.NormalsExistChecker\", \"rule_id\": \"com.nvidia.usd.VG.027\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"SchemaBaseId(prim_id=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_10'), spec_ids=EditTargetIdList(_values=[EditTargetId(layer_id=LayerId(identifier='/output/asset.usd'), path=Sdf.Path('/Banana/Collision/Convex_10'), composed=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_10'), spec_ids=EditTargetIdList(_values=[]), variant_selection_path=Sdf.Path.emptyPath))]), variant_selection_path=Sdf.Path('/Banana/Collision/Convex_10')), schema_class=, instance_name='')\", \"message\": \"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \", \"prim_path\": \"/Banana/Collision/Convex_10\", \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._geometry.NormalsExistChecker\", \"rule_id\": \"com.nvidia.usd.VG.027\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"SchemaBaseId(prim_id=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_11'), spec_ids=EditTargetIdList(_values=[EditTargetId(layer_id=LayerId(identifier='/output/asset.usd'), path=Sdf.Path('/Banana/Collision/Convex_11'), composed=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_11'), spec_ids=EditTargetIdList(_values=[]), variant_selection_path=Sdf.Path.emptyPath))]), variant_selection_path=Sdf.Path('/Banana/Collision/Convex_11')), schema_class=, instance_name='')\", \"message\": \"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \", \"prim_path\": \"/Banana/Collision/Convex_11\", \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._geometry.NormalsExistChecker\", \"rule_id\": \"com.nvidia.usd.VG.027\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"SchemaBaseId(prim_id=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_12'), spec_ids=EditTargetIdList(_values=[EditTargetId(layer_id=LayerId(identifier='/output/asset.usd'), path=Sdf.Path('/Banana/Collision/Convex_12'), composed=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Banana/Collision/Convex_12'), spec_ids=EditTargetIdList(_values=[]), variant_selection_path=Sdf.Path.emptyPath))]), variant_selection_path=Sdf.Path('/Banana/Collision/Convex_12')), schema_class=, instance_name='')\", \"message\": \"Either normals should be authored or subdivision should be set to Catmull-Clark or Loop \", \"prim_path\": \"/Banana/Collision/Convex_12\", \"requirement_version\": \"1.0.0\", \"rule\": \"usd_validation_nvidia.rules._geometry.NormalsExistChecker\", \"rule_id\": \"com.nvidia.usd.VG.027\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"message\": \"Required metadata fields are missing: author, asset_name, asset_type, asset_license, category, source_file, usd_date_generated, qcode, rigid_body_count, asset_extents, mass. Fields may be authored in root-layer customLayerData (including SimReady_Metadata) and/or the same-directory sidecar JSON.\", \"prim_path\": null, \"requirement_version\": \"0.1.0\", \"rule\": \"simready.foundation.tier_core.capabilities.core.sim_ready.validation.MetadataUnion\", \"rule_id\": \"com.nvidia.simready.SR.004\", \"severity\": \"failure\", \"suggestions\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"message\": \"No thumbnail found at /output/.thumbs/256x256/asset.usd.png for SimReady asset \", \"prim_path\": null, \"requirement_version\": \"0.1.0\", \"rule\": \"simready.foundation.tier_core.capabilities.core.sim_ready.validation.ThumbnailExists\", \"rule_id\": \"com.nvidia.simready.SR.002\", \"severity\": \"failure\", \"suggestions\": []}\n\n soft_issues\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": 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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\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Banana/Collision/Convex_10)\", \"message\": \"Newton mesh collider '/Banana/Collision/Convex_10' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.\", \"prim_path\": \"/Banana/Collision/Convex_10\", \"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\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Banana/Collision/Convex_11)\", \"message\": \"Newton mesh collider '/Banana/Collision/Convex_11' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.\", \"prim_path\": \"/Banana/Collision/Convex_11\", \"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\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Banana/Collision/Convex_12)\", \"message\": \"Newton mesh collider '/Banana/Collision/Convex_12' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.\", \"prim_path\": \"/Banana/Collision/Convex_12\", \"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\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Banana)\", \"message\": \"Default prim must declare a 'Newton' physics runtime variant set.\", \"prim_path\": \"/Banana\", \"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\": []}\n{\"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Banana)\", \"message\": \"Default prim must declare a 'PhysX' physics runtime variant set.\", \"prim_path\": \"/Banana\", \"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\": []}", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 16135, + "completion_tokens": 117, + "cached_tokens": 15089, + "extra": { + "cache_write_tokens": 1043, + "reasoning_tokens": 0, + "pi_total_tokens": 16252 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "5dec5760", + "pi_parent_id": "c9de500b", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81f7678dc87d190bf6d48039a1fa5", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 15, + "timestamp": "2026-10-21T02:12:13.298Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Exploring rendering options**\n\nI have around 40 turns left, and I need to repair easily while rendering a thumbnail from the actual geometry. I'm thinking about implementing a custom rasterizer that uses normals, textures, and lighting for a more realistic visual inspection and valid thumbnail. It's important that I achieve a realistic effect. I wonder if I can use the moderngl package I have installed for this task?", + "tool_calls": [ + { + "tool_call_id": "call_r01GEf2DqSSTjzWLaoKaO3Rg|fc_0727de88402fc81f016ad81f7c92bc87d189c841aa87f9df49", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nfor x in ['moderngl','trimesh','pyrender','OpenGL','matplotlib','scipy','numba']:\n try:m=__import__(x);print(x, 'yes', getattr(m,'__version__',''))\n except ImportError:print(x,'no')\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_r01GEf2DqSSTjzWLaoKaO3Rg|fc_0727de88402fc81f016ad81f7c92bc87d189c841aa87f9df49", + "content": "moderngl no\ntrimesh no\npyrender no\nOpenGL no\nmatplotlib no\nscipy no\nnumba no", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 27956, + "completion_tokens": 148, + "cached_tokens": 16132, + "extra": { + "cache_write_tokens": 11821, + "reasoning_tokens": 52, + "pi_total_tokens": 28104 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "27ec842a", + "pi_parent_id": "88bf362f", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81f79c70887d1b3d425d971be1213", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 16, + "timestamp": "2026-10-21T02:12:40.614Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "The first NVIDIA check passed 41 of 46 mandatory requirements. The remaining findings concern packaging and metadata: anchored dependency paths, material labels, collider normals, and an asset thumbnail. I\u2019ll repair those and render the mesh locally to inspect its shape and skin.", + "reasoning_content": "**Structuring the rasterizer**\n\nI\u2019m thinking about creating a rasterizer with an orthographic top view rotated inversely by 45.27 degrees relative to the reference plane. To keep the long axis oriented left-right while the banana shape curves up, I need to adjust the camera coordinates accordingly. The top view should position the camera to look from the -Z direction. I want the image to reflect the same curved arch at the top, meaning I have to maintain the right-handed coordinate system for accurate representation.\n\n**Evaluating thumbnail transformations**\n\nI'm considering how to adjust the thumbnail by flipping the screen X and rotating it 180 degrees. This might change the stem orientation, so I'll need to evaluate how the top view compares when looking from underneath. It's essential to ensure the centerline reflection aligns correctly for the canonical camera. I could modify the shape mapping by setting y = -originaly and rotating it to the target angle. Choosing a camera position below the model should help produce the correct arch image.", + "tool_calls": [ + { + "tool_call_id": "call_i0k3Eb5zYKIrZmqiMI67AGxC|fc_0727de88402fc81f016ad81f92854087d1aff7a0eed94043d0", + "function_name": "edit", + "arguments": { + "path": "/tmp/create_asset.py", + "edits": [ + { + "oldText": "Sdf.AssetPath('asset.usd')", + "newText": "Sdf.AssetPath('./asset.usd')" + }, + { + "oldText": "reader.CreateInput('varname',Sdf.ValueTypeNames.Token)", + "newText": "reader.CreateInput('varname',Sdf.ValueTypeNames.String)" + }, + { + "oldText": "Sdf.AssetPath('textures/'+file)", + "newText": "Sdf.AssetPath('./textures/'+file)" + }, + { + "oldText": " c.CreateFaceVertexCountsAttr(cc);c.CreateFaceVertexIndicesAttr(ii);c.CreateSubdivisionSchemeAttr('none')\n c.CreateExtentAttr", + "newText": " c.CreateFaceVertexCountsAttr(cc);c.CreateFaceVertexIndicesAttr(ii);c.CreateSubdivisionSchemeAttr('none')\n cn=np.zeros_like(pp);o=0\n for q in cc:\n idx=ii[o:o+q];nn=np.cross(pp[idx[1]]-pp[idx[0]],pp[idx[2]]-pp[idx[0]])\n for ix in idx:cn[ix]+=nn\n o+=q\n cn/=np.maximum(np.linalg.norm(cn,axis=1)[:,None],1e-12)\n c.CreateNormalsAttr(Vt.Vec3fArray.FromNumpy(cn.astype(np.float32)));c.SetNormalsInterpolation('vertex')\n c.CreateExtentAttr" + }, + { + "oldText": "stage.GetRootLayer().Save()\nprint('Created'", + "newText": "for material in [mat,pm]:\n UsdSemantics.LabelsAPI.Apply(material.GetPrim(),'material').CreateLabelsAttr(['organic_fruit_skin'])\nfrom datetime import datetime,timezone\nmetadata={'author':'OpenAI','asset_name':'Ripe banana','asset_type':'prop','asset_license':'CC0-1.0','category':'food/fruit','source_file':'procedural reconstruction from supplied thumbnail','usd_date_generated':datetime.now(timezone.utc).isoformat(),'qcode':'Q503','rigid_body_count':1,'asset_extents':Gf.Vec3d(*target),'mass':.106}\nstage.GetRootLayer().customLayerData={**metadata,'SimReady_Metadata':metadata}\nstage.GetRootLayer().Save()\nprint('Created'" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_i0k3Eb5zYKIrZmqiMI67AGxC|fc_0727de88402fc81f016ad81f92854087d1aff7a0eed94043d0", + "content": "Successfully replaced 5 block(s) in /tmp/create_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 28146, + "completion_tokens": 1385, + "cached_tokens": 27953, + "extra": { + "cache_write_tokens": 190, + "reasoning_tokens": 829, + "pi_total_tokens": 29531 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "f2979748", + "pi_parent_id": "4b3fe0ee", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81f7e57b087d1830ee0a7a3694f3d", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 17, + "timestamp": "2026-10-21T02:13:06.367Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_8M8djqh4ZhzHcG2uQUvkm0OS|fc_0727de88402fc81f016ad81f9e2fd087d182826829006d0ed6", + "function_name": "write", + "arguments": { + "path": "/tmp/render_asset.py", + "content": "import os, math\nimport numpy as np\nfrom PIL import Image, ImageFilter\nfrom pxr import Usd, UsdGeom\nstage=Usd.Stage.Open('/output/asset.usd');mesh=UsdGeom.Mesh(stage.GetPrimAtPath('/Banana/Geometry/Peel'))\np=np.array(mesh.GetPointsAttr().Get(),float);ns=np.array(mesh.GetNormalsAttr().Get(),float)\ncounts=np.array(mesh.GetFaceVertexCountsAttr().Get());inds=np.array(mesh.GetFaceVertexIndicesAttr().Get());st=np.array(UsdGeom.PrimvarsAPI(mesh).GetPrimvar('st').Get(),float)\ntex=np.array(Image.open('/output/textures/banana_basecolor.png'),float)/255\ntex=np.where(tex<=.04045,tex/12.92,((tex+.055)/1.055)**2.4)\n# Camera looks onto the matching face of the XY-plane banana. This preview uses no copied reference pixels.\na=math.radians(45.27);R=np.array([[math.cos(a),-math.sin(a),0],[math.sin(a),math.cos(a),0],[0,0,1]])\np=p@R;ns=ns@R\n# Original screen-Y directions are down; viewing the underside makes a naturally matched reference view.\n# A small tilt shows the round peel surface and end scars.\ntil=float(os.environ.get('TILT','0'))*math.pi/180\nrot=np.array([[1,0,0],[0,math.cos(til),-math.sin(til)],[0,math.sin(til),math.cos(til)]])\np=p@rot;ns=ns@rot\nsize=1024;scale=920/np.ptp(p[:,0]);p[:,:2]*=scale\np[:,0]+=size/2-(p[:,0].min()+p[:,0].max())/2;p[:,1]+=size/2-(p[:,1].min()+p[:,1].max())/2\n# View from -Z: smaller z is closer. Lighting in camera coordinates.\nzbuf=np.ones((size,size))*1e9;img=np.zeros((size,size,3));mask=np.zeros((size,size),np.uint8)\nL=np.array([-.35,-.50,-.79]);L/=np.linalg.norm(L);L2=np.array([.6,.3,-.6]);L2/=np.linalg.norm(L2)\nV=np.array([0,0,-1.]);half=(L+V);half/=np.linalg.norm(half)\no=0\nfor c in counts:\n ix=inds[o:o+c];t=st[o:o+c];o+=c\n for k in range(1,c-1):\n ids=ix[[0,k,k+1]];q=p[ids];uv=t[[0,k,k+1]]\n xmin=max(0,int(q[:,0].min()));xmax=min(size-1,int(q[:,0].max()+1));ymin=max(0,int(q[:,1].min()));ymax=min(size-1,int(q[:,1].max()+1))\n if xmax=0)&(b1>=0)&(b2>=0)&(dep0)+background*(mask[:,:,None]==0)\nimage=Image.fromarray(np.uint8(np.clip(img,0,1)*255));image.save('/tmp/banana_preview.png')\nos.makedirs('/output/.thumbs/256x256',exist_ok=True);image.resize((256,256),Image.Resampling.LANCZOS).save('/output/.thumbs/256x256/asset.usd.png')\nprint('rendered /tmp/banana_preview.png')\n" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_8M8djqh4ZhzHcG2uQUvkm0OS|fc_0727de88402fc81f016ad81f9e2fd087d182826829006d0ed6", + "content": "Successfully wrote to /tmp/render_asset.py", + "extra": { + "tool_name": "write", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 29555, + "completion_tokens": 1533, + "cached_tokens": 0, + "extra": { + "cache_write_tokens": 29552, + "reasoning_tokens": 0, + "pi_total_tokens": 31088 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "2cedd899", + "pi_parent_id": "4260b693", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81f9c4f8487d197ec1971a1dfd07c", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 18, + "timestamp": "2026-10-21T02:13:08.815Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_cvLuTsFJNYYqpCQCx9eP6NQ2|fc_0727de88402fc81f016ad81fb41f3487d18fe8d03d4cde55c4", + "function_name": "bash", + "arguments": { + "command": "python /tmp/create_asset.py && python /tmp/render_asset.py", + "timeout": 90 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_cvLuTsFJNYYqpCQCx9eP6NQ2|fc_0727de88402fc81f016ad81fb41f3487d18fe8d03d4cde55c4", + "content": "Created /output/asset.usd dims [0.11604297 0.16222031 0.03161742] orientation 45.27 triangles equivalent 31680\nrendered /tmp/banana_preview.png", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 31106, + "completion_tokens": 34, + "cached_tokens": 29552, + "extra": { + "cache_write_tokens": 1551, + "reasoning_tokens": 0, + "pi_total_tokens": 31140 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "95f687da", + "pi_parent_id": "533d7e6a", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81fb320d487d1887297b694df2d67", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 19, + "timestamp": "2026-10-21T02:13:24.812Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_Y1reT9AAV5nw4nl7KWUXYSoL|fc_0727de88402fc81f016ad81fc4552087d19ab9a6413baba80d", + "function_name": "read", + "arguments": { + "path": "/tmp/banana_preview.png", + "offset": 1, + "limit": 10 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_Y1reT9AAV5nw4nl7KWUXYSoL|fc_0727de88402fc81f016ad81fc4552087d19ab9a6413baba80d", + "content": [ + { + "type": "text", + "text": "Read image file [image/png]" + }, + { + "type": "image", + "source": { + "media_type": "image/png", + "path": "images/pi_image_2.png" + } + } + ], + "extra": { + "tool_name": "read", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 31198, + "completion_tokens": 30, + "cached_tokens": 31103, + "extra": { + "cache_write_tokens": 92, + "reasoning_tokens": 0, + "pi_total_tokens": 31228 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "5b5f2055", + "pi_parent_id": "1c44e5cd", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81fc3054087d1b1124b5ede0a0ffd", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 20, + "timestamp": "2026-10-21T02:13:38.178Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Analyzing design inconsistencies**\n\nI'm evaluating a reference design, and there are some noticeable issues. Specifically, there's a sharp segment at the inner edge near x280 that might be related to how the curvature spline radius is overshooting close to the shoulder. This leads to an unusual kink at the bottom edge. The main body mesh has too many folds near the radius increase point. Additionally, the tip is more pointed than the reference, which seems off. I need to analyze and improve it further.\n\n**Evaluating arc parameters**\n\nI'm looking at the arc length for the path and found that setting t at .961 seems to mismatch the end point. It appears that t0.96 is close to cs14, but the right edge at .961 is throwing off measurements. My screenshot shows a brown patch that's 58 pixels instead of the desired 45. I need to adjust the radius cap and recalculate the dimensions to create a rounded hemisphere cap. I'll also check the texture UV to get a better result.", + "tool_calls": [ + { + "tool_call_id": "call_c5jypbwb53nPZ03ycAEiBZr1|fc_0727de88402fc81f016ad81fd13ab087d1adb235fe8175ac56", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\n# Evaluate spline without rerunning the authoring section.\nf=open('/tmp/create_asset.py').read();a=f.index('control=np.array');b=f.index('N=220; M=72');exec('import numpy as np\\n'+f[a:b]);\nfor t in [.0,.02,.038,.1,.15,.2,.90,.94,.96,.97,.98,.99,.998]:print(t,sample(t))\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_c5jypbwb53nPZ03ycAEiBZr1|fc_0727de88402fc81f016ad81fd13ab087d1adb235fe8175ac56", + "content": "0.0 [ 72. 469. 17.]\n0.02 [ 90.7250585 456.06544964 19.17455748]\n0.038 [107.93617428 445.03670067 20.99412696]\n0.1 [170.65079643 412.84246012 27.70479261]\n0.15 [218.81129148 382.86765736 47.15196877]\n0.2 [262.17539587 346.42429727 75.11101193]\n0.9 [900.07771935 667.24648189 65.65181119]\n0.94 [899.74969377 711.92630205 51.85337714]\n0.96 [894.83683788 734.51194935 42.05922117]\n0.97 [892.54970345 745.77611026 36.61770047]\n0.98 [890.58046659 756.98003239 29.81498423]\n0.99 [888.20921732 768.09851292 19.03993249]\n0.998 [885.67659635 776.82839283 4.14747781]", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 32474, + "completion_tokens": 505, + "cached_tokens": 31195, + "extra": { + "cache_write_tokens": 1276, + "reasoning_tokens": 380, + "pi_total_tokens": 32979 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "da115e30", + "pi_parent_id": "2400db74", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad81fc5bbc887d1b8e0cb56adeb2ea8", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 21, + "timestamp": "2026-10-21T02:14:00.913Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Calculating curvature for rendering**\n\nI need to focus on rendering using a reference pixel for the y-axis scaled to .982, including radius adjustments. I'm noticing that the left shoulder looks flat around the x175 line from 355 to 320. The outer reference should have a subtle detail, while the inner fold needs careful attention due to the curve radius changing near points p4 to p5. 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-n -m 20 -M 240 --max-columns-preview -F -e -e ; use sed -n ,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": 37382, + "completion_tokens": 547, + "cached_tokens": 36103, + "extra": { + "cache_write_tokens": 1276, + "reasoning_tokens": 516, + "pi_total_tokens": 37929 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "fb18f490", + "pi_parent_id": "378e349a", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad8201423e487d18dbe3c8ddb5f090c", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 28, + "timestamp": "2026-10-21T02:15:23.144Z", + "source": "agent", + 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I'm curious if the cs p4 [26935474] might help with this rightward shift, alongside a cross normal top shift of about 20-30px to the left.", + "tool_calls": [ + { + "tool_call_id": "call_yc22ZRZQPKRxKaFCXmKMmZMf|fc_0727de88402fc81f016ad82039122487d1b190ea10026b686c", + "function_name": "edit", + "arguments": { + "path": "/tmp/create_asset.py", + "edits": [ + { + "oldText": "right_edge=.976+.002*np.sin(v*2*np.pi*4)+.0015*n", + "newText": "right_edge=.9685+.0017*np.sin(v*2*np.pi*4)+.0015*n" + }, + { + "oldText": "[[72,469,15],[108,445,21],[159,419,25],[210,389,42],[269,354,74],[346,331,89]", + "newText": "[[72,469,19],[78,465,22],[108,445,23],[159,419,25],[224,380,43],[280,350,73],[351,331,89]" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_yc22ZRZQPKRxKaFCXmKMmZMf|fc_0727de88402fc81f016ad82039122487d1b190ea10026b686c", + "content": "Successfully replaced 2 block(s) in /tmp/create_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 39553, + "completion_tokens": 929, + "cached_tokens": 37379, + "extra": { + "cache_write_tokens": 2171, + "reasoning_tokens": 763, + "pi_total_tokens": 40482 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "f97ffb1a", + "pi_parent_id": "ca38cd0d", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad82026a16487d19db7831aeb72200c", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 29, + "timestamp": "2026-10-21T02:15:27.131Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_d8FsxZX9hpFKFrt5nTVTUfTz|fc_0727de88402fc81f016ad8203e7d4487d1868bd2dbb7876431", + "function_name": "bash", + "arguments": { + "command": "python /tmp/create_asset.py && python /tmp/render_asset.py", + "timeout": 90 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_d8FsxZX9hpFKFrt5nTVTUfTz|fc_0727de88402fc81f016ad8203e7d4487d1868bd2dbb7876431", + "content": "Created /output/asset.usd dims [0.11604297 0.16222031 0.03161742] orientation 45.126 triangles equivalent 33984\nrendered /tmp/banana_preview.png", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 40506, + "completion_tokens": 34, + "cached_tokens": 39550, + "extra": { + "cache_write_tokens": 953, + "reasoning_tokens": 0, + "pi_total_tokens": 40540 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "20dccd71", + "pi_parent_id": "d20bb536", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad8203c39fc87d1884f8fe439384e2d", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 30, + "timestamp": "2026-10-21T02:15:43.610Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_S5CLpaSltddmbAIORNDZpg9b|fc_0727de88402fc81f016ad8204eef0087d1aaf43d3853b1c798", + "function_name": "read", + "arguments": { + "path": "/tmp/banana_preview.png", + "offset": 1, + "limit": 10 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_S5CLpaSltddmbAIORNDZpg9b|fc_0727de88402fc81f016ad8204eef0087d1aaf43d3853b1c798", + "content": [ + { + "type": "text", + "text": "Read image file [image/png]" + }, + { + "type": "image", + "source": { + "media_type": "image/png", + "path": "images/pi_image_4.png" + } + } + ], + "extra": { + "tool_name": "read", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 40598, + "completion_tokens": 30, + "cached_tokens": 40503, + "extra": { + "cache_write_tokens": 92, + "reasoning_tokens": 0, + "pi_total_tokens": 40628 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "9c10792f", + "pi_parent_id": "947c42ca", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad8204da5c487d190c08053cfde47d3", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 31, + "timestamp": "2026-10-21T02:15:51.471Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_ZKn0AWixrRYRsMHFjT2QpCTg|fc_0727de88402fc81f016ad82054df1087d19dc8ff24e35c5644", + "function_name": "bash", + "arguments": { + "command": "cp /tmp/banana_preview.png /tmp/banana_front.png; 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I also inspected straight-on and oblique renders and made final refinements to the stem, shoulder, and blossom scar. I\u2019ll now validate that final version; it remains one rigid body with collision geometry that follows the curve without filling the crescent\u2019s interior.", + "tool_calls": [ + { + "tool_call_id": "call_Ecl92IKLU8lTMgvlLFiv5nWj|fc_0727de88402fc81f016ad8206817d487d1a978635ec77c6dd2", + "function_name": "mcp", + "arguments": { + "tool": "benchmark_validate_candidate", + "args": { + "request_id": "check-final" + } + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_Ecl92IKLU8lTMgvlLFiv5nWj|fc_0727de88402fc81f016ad8206817d487d1a978635ec77c6dd2", + "content": "{\"request_id\":\"check-final\",\"snapshot_sha256\":\"0f678410610e5abf8f6507f18d0ba747d3bdc10daf078b764b0f3eb6706d218b\",\"validation_calls_used\":3,\"validation_calls_remaining\":2,\"feedback\":{\"schema_version\":\"simready-validator-feedback-v1\",\"snapshot_sha256\":\"0f678410610e5abf8f6507f18d0ba747d3bdc10daf078b764b0f3eb6706d218b\",\"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\":\"162f440194ead458e2caffed00810b1d2ee6e036b4cb28cf2e1f5acf00e7d259\",\"sha256\":\"162f440194ead458e2caffed00810b1d2ee6e036b4cb28cf2e1f5acf00e7d259\",\"bytes\":184669,\"total_characters\":184669,\"issue_counts\":{\"issues\":0,\"soft_issues\":37,\"warnings\":0,\"infos\":0},\"complete_report_available\":true,\"delivery\":\"agent_file\",\"file_path\":\"/tmp/simready-validation-reports/162f440194ead458e2caffed00810b1d2ee6e036b4cb28cf2e1f5acf00e7d259.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 -e ; use sed -n ,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": 43707, + "completion_tokens": 255, + "cached_tokens": 42427, + "extra": { + "cache_write_tokens": 1277, + "reasoning_tokens": 155, + "pi_total_tokens": 43962 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "6ac910e2", + "pi_parent_id": "d6bb74f1", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad8206192fc87d1b8a26b68b3d9fd9a", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 34, + "timestamp": "2026-10-21T02:16:18.744Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_2RLrHZQrz3FfRDIHA0el9nbx|fc_0727de88402fc81f016ad820724a3887d1b8852edb11e335b9", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport json, os\nfrom pxr import Usd, UsdGeom, UsdPhysics\np='/tmp/simready-validation-reports/162f440194ead458e2caffed00810b1d2ee6e036b4cb28cf2e1f5acf00e7d259.json'\nr=json.load(open(p));print('Final NVIDIA report inspected. Mandatory issues:',len(r['issues']),'warnings:',len(r['warnings']))\ns=Usd.Stage.Open('/output/asset.usd')\nb=UsdGeom.BBoxCache(0,['default','render']).ComputeWorldBound(s.GetDefaultPrim()).ComputeAlignedRange()\nprint('Rendered extents (m):',b.GetSize())\nprint('Rigid bodies:',[str(p.GetPath()) for p in s.Traverse() if p.HasAPI(UsdPhysics.RigidBodyAPI)])\nprint('Joints:',[str(p.GetPath()) for p in s.Traverse() if p.IsA(UsdPhysics.Joint)])\nprint('Files:')\nfor dp,_,ff in os.walk('/output'):\n for f in ff:print(os.path.join(dp,f),os.path.getsize(os.path.join(dp,f)))\nPY", + "timeout": 20 + } + }, + { + "tool_call_id": "call_uzFI8ymb1t4I58kDaYK6cY3E|fc_0727de88402fc81f016ad820724a4887d1a78b564f363a36b7", + "function_name": "mcp", + "arguments": { + "describe": "benchmark_submit_asset" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_2RLrHZQrz3FfRDIHA0el9nbx|fc_0727de88402fc81f016ad820724a3887d1b8852edb11e335b9", + "content": "Final NVIDIA report inspected. Mandatory issues: 0 warnings: 0\nRendered extents (m): (0.11604297161102295, 0.162220299243927, 0.031617421656847)\nRigid bodies: ['/Banana']\nJoints: []\nFiles:\n/output/asset.usd 990270\n/output/.thumbs/256x256/asset.usd.png 21014\n/output/textures/banana_normal.png 1513828\n/output/textures/banana_roughness.png 598991\n/output/textures/banana_basecolor.png 1234921", + "extra": { + "tool_name": "bash", + "is_error": false + } + }, + { + "source_call_id": "call_uzFI8ymb1t4I58kDaYK6cY3E|fc_0727de88402fc81f016ad820724a4887d1a78b564f363a36b7", + "content": "benchmark_submit_asset\nServer: benchmark\n\nEnd authoring and freeze the submitted asset. Returns the submission hash.\n\nShape:\n{ request_id: string; }", + "extra": { + "tool_name": "mcp", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 45591, + "completion_tokens": 321, + "cached_tokens": 43704, + "extra": { + "cache_write_tokens": 1884, + "reasoning_tokens": 0, + "pi_total_tokens": 45912 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "3235e345", + "pi_parent_id": "a7bdef2c", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad8206c7ed487d1b259734184784fa9", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 35, + "timestamp": "2026-10-21T02:16:22.236Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_NgLoIvlUI1tKkUypZWhOQp9B|fc_0727de88402fc81f016ad8207580d087d1ae4ac92cffe1428b", + "function_name": "mcp", + "arguments": { + "tool": "benchmark_submit_asset", + "args": { + "request_id": "final" + } + } + } + ], + "observation": { + "results": [] + }, + "metrics": { + "prompt_tokens": 46089, + "completion_tokens": 27, + "cached_tokens": 45588, + "extra": { + "cache_write_tokens": 498, + "reasoning_tokens": 0, + "pi_total_tokens": 46116 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "e7f6ceac", + "pi_parent_id": "df57fc50", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0727de88402fc81f016ad82074672887d1a2eff63d3763be68", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + } + ], + "final_metrics": { + "total_prompt_tokens": 889062, + "total_completion_tokens": 16134, + "total_cached_tokens": 814731, + "total_steps": 35, + "extra": { + "cache_write_tokens": 74229, + "reasoning_tokens": 6280, + "pi_total_tokens": 905196 + } + } +} \ No newline at end of file diff --git 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b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/food_produce_banana_a01/reconstruction-4/nvidia-validator.json new file mode 100644 index 0000000000000000000000000000000000000000..ca261781f538d49d5ec56541f4482d655e35b724 --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/food_produce_banana_a01/reconstruction-4/nvidia-validator.json @@ -0,0 +1,4173 @@ +{ + "asset_path": "/output/asset.usd", + "asset_sha256": "0a863f8c975dadf297221317bcb40c8367b03dcbffb79c480dee41e5fab3448d", + "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', 'com.nvidia.simready.RB.MB.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', 'com.nvidia.simready.RB.MB.001']", + "passed": false, + "version": "0.1.0" + }, + "FET_004_PHYSX": { + "blocking_failure": false, + "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]", + "optional requirements": "['com.nvidia.simready.RB.MB.001']", + "passed": false, + "version": "0.4.0" + }, + "FET_004_STANDARD": { + "blocking_failure": false, + "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]", + "optional requirements": "['com.nvidia.simready.RB.MB.001']", + "passed": false, + "version": "0.2.0" + }, + "FET_005_STANDARD": { + "blocking_failure": false, + "dependencies": "[]", + "optional requirements": "['com.nvidia.simready.GSP.001']", + "passed": false, + "version": "0.1.0" + }, + "FET_006_MDL": { + "blocking_failure": false, + "dependencies": "[]", + "optional requirements": "['com.nvidia.simready.VM.MDL.003']", + "passed": false, + "version": "0.2.0" + }, + "FET_006_OPENPBR": { + "blocking_failure": false, + "dependencies": "[]", + "optional requirements": "['com.nvidia.simready.VM.PBR.001']", + "passed": false, + "version": "0.1.0" + }, + "FET_006_STANDARD": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0.2.0" + }, + "FET_007_STANDARD": { + "blocking_failure": false, + "dependencies": "[]", + "optional requirements": "['com.nvidia.simready.NVM.001', 'com.nvidia.simready.NVM.002', 'com.nvidia.simready.NVM.003']", + "passed": false, + "version": "0.2.0" + }, + "FET_010_STANDARD": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0.1.0" + }, + "FET_011_RTX": { + "blocking_failure": false, + "dependencies": "[{'FET_011_STANDARD': {'version': '0.2.0'}}]", + "passed": true, + "version": "0.1.0" + }, + "FET_011_STANDARD": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0.2.0" + }, + "FET_031_STANDARD": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0.1.0" + }, + "FET_033_STANDARD": { + "blocking_failure": false, + "dependencies": "[{'FET_031_STANDARD': {'version': '0.1.0'}}]", + "passed": true, + "version": "0.4.0" + }, + "FET_046_STANDARD": { + "blocking_failure": false, + "dependencies": "[{'FET_011_STANDARD': {'version': '0.2.0'}}]", + "passed": true, + "version": "0.1.0" + }, + "FET_100_ISAAC": { + "blocking_failure": false, + "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]", + "optional requirements": "['com.nvidia.simready.ISA.001']", + "passed": false, + "version": "0.4.0" + } + }, + "infos": [], + "infrastructure_errors": [], + "inventory": { + "effective_inventory_sha256": "ea2d9a1c262a18bef59c919b7045bca42f86b44753f90da743f14d4fd8696125", + "mandatory_features": [ + { + "id": "FET_000_STANDARD", + "version": "0.2.0" + }, + { + "id": "FET_001_STANDARD", + "version": "1.0.1" + }, + { + "id": "FET_003_STANDARD", + "version": "0.2.0" + }, + { + "id": "FET_006_STANDARD", + "version": "0.2.0" + }, + { + "id": "FET_011_RTX", + "version": "0.1.0" + }, + { + "id": "FET_011_STANDARD", + "version": "0.2.0" + }, + { + "id": "FET_031_STANDARD", + "version": "0.1.0" + }, + { + "id": "FET_033_STANDARD", + "version": "0.4.0" + }, + { + "id": "FET_046_STANDARD", + "version": "0.1.0" + } + ], + "mandatory_requirement_count": 46, + "mandatory_requirements": [ + { + "code": "com.nvidia.simready.HI.010", + "rule": "simready.foundation.tier_core.capabilities.hierarchy.validation.UndefinedPrimsChecker", + "version": "0.1.0" + }, + { + "code": "com.nvidia.simready.NP.002", + "rule": "simready.foundation.tier_core.capabilities.core.naming_paths.validation.FileNamingConventionChecker", + "version": "0.1.0" + }, + { + "code": "com.nvidia.simready.NP.003", + "rule": "simready.foundation.tier_core.capabilities.core.naming_paths.validation.DirectoryStructureChecker", + "version": "0.1.0" + }, + { + "code": "com.nvidia.simready.NP.004", + "rule": "simready.foundation.tier_core.capabilities.core.naming_paths.validation.PathLengthLimitsChecker", + "version": "0.1.0" + }, + { + "code": "com.nvidia.simready.NP.005", + "rule": "simready.foundation.tier_core.capabilities.core.naming_paths.validation.AssetFolderStructureChecker", + "version": "0.1.0" + }, + { + "code": "com.nvidia.simready.NP.007", + "rule": "simready.foundation.tier_core.capabilities.core.naming_paths.validation.RelativePathsChecker", + 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/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 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"level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.MB.001'] did not pass for feature FET_004_MUJOCO." + }, + { + "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.NEWTON.COL.001', 'com.nvidia.simready.RB.MB.001'] did not pass for feature FET_004_NEWTON." + }, + { + "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.RB.MB.001'] did not pass for feature FET_004_STANDARD." + }, + { + "level": "INFO", + "logger": 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sha256:42018b47405d29c2331574b26fbfa98831389fb2d3486203841a76e0ca7afb37 +size 31918 diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/powerTool_drill_b01/reconstruction-3/harbor-trajectory-4.json b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/powerTool_drill_b01/reconstruction-3/harbor-trajectory-4.json new file mode 100644 index 0000000000000000000000000000000000000000..574c3325e125aa6895df4fb13923fcb487ffac8e --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/powerTool_drill_b01/reconstruction-3/harbor-trajectory-4.json @@ -0,0 +1,2654 @@ +{ + "schema_version": "ATIF-v1.7", + "session_id": "01a15c30-237a-74f8-8b3a-76b657d8a323", + "agent": { + "name": "pi", + "version": "0.85.1", + "model_name": "harbor-endpoint/gpt-6.1-sol" + }, + "steps": [ + { + "step_id": 1, + "timestamp": "2026-10-21T02:00:22.909Z", + "source": "user", + "message": [ + { + "type": "text", + "text": "\nReconstruct the supplied object as /output/asset.usd.\nNominal dimensions in canonical metres XYZ: [0.2163844726378463, 0.08936920017004013, 0.24394267840034445]\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": "6a9b876e", + "pi_parent_id": "1bc82f63" + } + }, + { + "step_id": 2, + "timestamp": "2026-10-21T02:00:26.231Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_MCVnR1cOVfjXTmH2Bes7Ige2|fc_091e7fed85c4774c016ad81cb9ff1087d190c22b389296bc3e", + "function_name": "read", + "arguments": { + "path": "/task/contract.md", + "offset": 1, + "limit": 2000 + } + }, + { + "tool_call_id": "call_AuCvEnsimlIzbYhAjlFU0WlN|fc_091e7fed85c4774c016ad81cb9ff2087d1b7a4de63b55ea015", + "function_name": "read", + "arguments": { + "path": "/task/tool-docs.md", + "offset": 1, + "limit": 2000 + } + }, + { + "tool_call_id": "call_nn27seIcBE4QXu7D0dbzn5gO|fc_091e7fed85c4774c016ad81cb9ff2887d1a1c4d26cd3425bdb", + "function_name": "read", + "arguments": { + "path": "/task/scoring-policy.json", + "offset": 1, + "limit": 2000 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_MCVnR1cOVfjXTmH2Bes7Ige2|fc_091e7fed85c4774c016ad81cb9ff1087d190c22b389296bc3e", + "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_AuCvEnsimlIzbYhAjlFU0WlN|fc_091e7fed85c4774c016ad81cb9ff2087d1b7a4de63b55ea015", + "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_nn27seIcBE4QXu7D0dbzn5gO|fc_091e7fed85c4774c016ad81cb9ff2887d1a1c4d26cd3425bdb", + "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": 2668, + "completion_tokens": 100, + "cached_tokens": 0, + "extra": { + "cache_write_tokens": 2665, + "reasoning_tokens": 0, + "pi_total_tokens": 2768 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "04b15fea", + "pi_parent_id": "6a9b876e", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81cb78d4887d1a666f6be385051a4", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 3, + "timestamp": "2026-10-21T02:00:30.410Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Creating detailed drill metadata**\n\nI'm looking to create detailed metadata for a drill cordless. First, I need to gather all the requirements for the tools I have at my disposal to inspect this. I want to ensure that I cover all necessary details thoroughly. I wonder what specific attributes and functionalities I'll need to include in the metadata. Let\u2019s explore that together and see what we can find!", + "tool_calls": [ + { + "tool_call_id": "call_M915sbA3WvNZ5GkOW4cpquui|fc_091e7fed85c4774c016ad81cbe120487d19bfa055f80052182", + "function_name": "mcp", + "arguments": { + "server": "benchmark" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_M915sbA3WvNZ5GkOW4cpquui|fc_091e7fed85c4774c016ad81cbe120487d19bfa055f80052182", + "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": 4295, + "completion_tokens": 36, + "cached_tokens": 2665, + "extra": { + "cache_write_tokens": 1627, + "reasoning_tokens": 16, + "pi_total_tokens": 4331 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "5246d15f", + "pi_parent_id": "ba715082", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81cbae7e487d18ffdb3e5907da3ad", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 4, + "timestamp": "2026-10-21T02:00:34.745Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_cYADre3y39Rm8LZkpKjqGDu7|fc_091e7fed85c4774c016ad81cc0dec087d1816169d69c589305", + "function_name": "bash", + "arguments": { + "command": "ls -la /output; python - <<'PY'\nfrom pxr import Usd,UsdGeom,UsdPhysics,UsdShade\nprint('PXR ok')\nPY\nwhich usdview || true; ls /tmp | head; env | sort | grep -Ei 'usd|render|isaac'", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_cYADre3y39Rm8LZkpKjqGDu7|fc_091e7fed85c4774c016ad81cc0dec087d1816169d69c589305", + "content": "total 0\ndrwxrwxrwx 2 actor actor 40 Oct 21 02:00 .\ndrwxr-xr-x 1 root root 56 Oct 21 02:00 ..\nPXR ok\nharbor-pi-agent\nharbor-pi-mcp-adapter\njiti\nnode-compile-cache\nsimready-relay.ready\n\n\nCommand exited with code 1", + "extra": { + "tool_name": "bash", + "is_error": true + } + } + ] + }, + "metrics": { + "prompt_tokens": 4405, + "completion_tokens": 87, + "cached_tokens": 4292, + "extra": { + "cache_write_tokens": 110, + "reasoning_tokens": 0, + "pi_total_tokens": 4492 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "00997d73", + "pi_parent_id": "5ae098f9", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81cbf537c87d18549a8cf428021ab", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 5, + "timestamp": "2026-10-21T02:00:59.716Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "The reference is a cordless drill/driver. I\u2019ll model the housing and grip as one rigid assembly, with separate bodies for the rotating chuck, adjustable torque collar, spring-return trigger, direction selector, and removable battery. The chuck and collar will use axial revolute joints; the controls and battery will use limited sliding joints.", + "reasoning_content": "**Adjusting handle orientation**\n\nI\u2019m looking at the handle's positioning. It seems like to place the top center at an equivalent of .03 and the bottom center at .04. This suggests that the handle should be moderately slanted forward at the top. I wonder how these small adjustments will affect the overall ergonomics and usability. It\u2019s interesting to think about how even slight changes can impact functionality! Let\u2019s make sure we get this right.\n**Designing a torque collar**\n\nI\u2019m considering that the torque collar has a chunky black cylinder with a split chuck. I need to differentiate the front and rear chuck sections. The gear ring also needs its dimensions handled carefully, and I want to avoid chunky primitives. For aesthetics, I'll create a detailed red shell and a white gear case with sculpted features, making sure to add tactile details like rubber ribs. I'll rely on specific tools and techniques to achieve the right textures and finish.\n\n**Working on USD Preview Surface**\n\nI need to set up the diffuseColor input connections for the USD Preview Surface, making sure to preserve the color without any brand text. I'm thinking of using a red salmon color with values around .75, .08, and .07, although it looks faded. I also want to check the material settings for brightness and get early validation after the first author checks for requirements. It could be useful to inspect the installed rendering capabilities for efficient coding in the temporary directory.", + "tool_calls": [ + { + "tool_call_id": "call_SmbFSqlw3rInxnDemCwuGsBU|fc_091e7fed85c4774c016ad81cdb24d487d1925931c27ece17b0", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport importlib.util\nfor n in ['pxr','numpy','PIL','scipy','trimesh','pyrender','OpenGL']:\n print(n,importlib.util.find_spec(n))\nPY\nls -la /opt; find / -maxdepth 3 -iname '*render*' 2>/dev/null | head -40", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_SmbFSqlw3rInxnDemCwuGsBU|fc_091e7fed85c4774c016ad81cdb24d487d1925931c27ece17b0", + "content": "pxr ModuleSpec(name='pxr', loader=<_frozen_importlib_external.SourceFileLoader object at 0x73e93ce388c0>, origin='/usr/local/lib/python3.12/dist-packages/pxr/__init__.py', submodule_search_locations=['/usr/local/lib/python3.12/dist-packages/pxr'])\nnumpy ModuleSpec(name='numpy', loader=<_frozen_importlib_external.SourceFileLoader object at 0x73e93ce394f0>, origin='/usr/local/lib/python3.12/dist-packages/numpy/__init__.py', submodule_search_locations=['/usr/local/lib/python3.12/dist-packages/numpy'])\nPIL ModuleSpec(name='PIL', loader=<_frozen_importlib_external.SourceFileLoader object at 0x73e93ce388c0>, origin='/usr/local/lib/python3.12/dist-packages/PIL/__init__.py', submodule_search_locations=['/usr/local/lib/python3.12/dist-packages/PIL'])\nscipy None\ntrimesh None\npyrender None\nOpenGL None\ntotal 4\ndrwxr-xr-x 1 root root 30 Oct 20 22:14 .\ndrwxr-xr-x 1 root root 56 Oct 21 02:00 ..\ndrwxr-xr-x 6 root root 4096 Oct 20 22:13 nvm\ndrwxr-xr-x 1 root root 29 Oct 20 22:14 simready\n/tmp/jiti/pi-mcp-adapter-tool-result-renderer.3d5eaefd.mjs", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 4588, + "completion_tokens": 1016, + "cached_tokens": 4402, + "extra": { + "cache_write_tokens": 183, + "reasoning_tokens": 839, + "pi_total_tokens": 5604 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "ef269365", + "pi_parent_id": "6c4e0ac4", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81cc37a5c87d1bda10bd297d84669", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 6, + "timestamp": "2026-10-21T02:01:02.503Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_BCoUn760ajYNhVKpNszqXoRu|fc_091e7fed85c4774c016ad81cdd96e887d1acb07447807b09e1", + "function_name": "bash", + "arguments": { + "command": "ls -R /opt/simready | head -80; find / -name '*usd*' -type f 2>/dev/null | head -50; ls /task", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_BCoUn760ajYNhVKpNszqXoRu|fc_091e7fed85c4774c016ad81cdd96e887d1acb07447807b09e1", + "content": "/opt/simready:\nopencode\npi\npython-requirements.txt\nruntime\n\n/opt/simready/opencode:\nnode_modules\npackage-lock.json\npackage.json\n\n/opt/simready/opencode/node_modules:\nopencode-ai\nopencode-linux-x64\n\n/opt/simready/opencode/node_modules/opencode-ai:\nLICENSE\nbin\npackage.json\npostinstall.mjs\n\n/opt/simready/opencode/node_modules/opencode-ai/bin:\nopencode.exe\n\n/opt/simready/opencode/node_modules/opencode-linux-x64:\nbin\npackage.json\n\n/opt/simready/opencode/node_modules/opencode-linux-x64/bin:\nopencode\n\n/opt/simready/pi:\nnode_modules\npackage-lock.json\npackage.json\n\n/opt/simready/pi/node_modules:\n@anthropic-ai\n@aws\n@aws-crypto\n@aws-sdk\n@babel\n@earendil-works\n@esbuild\n@google\n@protobufjs\n@smithy\n@stablelib\n@types\nagent-base\nbase64-js\nbignumber.js\nbowser\nbuffer-equal-constant-time\ndata-uri-to-buffer\ndebug\ndiff\necdsa-sig-formatter\nesbuild\nextend\nfast-sha256\nfetch-blob\nformdata-polyfill\ngaxios\ngcp-metadata\nget-east-asian-width\ngoogle-auth-library\ngoogle-logging-utils\nhttp-proxy-agent\nhttps-proxy-agent\nignore\njson-bigint\njson-schema-to-ts\njwa\njws\nlong\nmarked\nms\nnode-domexception\nnode-fetch\n/usr/local/lib/python3.12/dist-packages/pxr/Usd/__pycache__/usdGenSchema.cpython-312.pyc\n/usr/local/lib/python3.12/dist-packages/pxr/Usd/__pycache__/usdInitSchema.cpython-312.pyc\n/usr/local/lib/python3.12/dist-packages/pxr/Usd/_usd.so\n/usr/local/lib/python3.12/dist-packages/pxr/Usd/usdGenSchema.py\n/usr/local/lib/python3.12/dist-packages/pxr/Usd/usdInitSchema.py\n/usr/local/lib/python3.12/dist-packages/pxr/UsdGeom/_usdGeom.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdHydra/_usdHydra.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdLod/_usdLod.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdLux/_usdLux.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdMedia/_usdMedia.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdPhysics/_usdPhysics.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdProc/_usdProc.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdProfiles/_usdProfiles.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdRender/_usdRender.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdRi/_usdRi.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdSemantics/_usdSemantics.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdShade/_usdShade.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdSkel/_usdSkel.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdUI/_usdUI.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdUtils/__pycache__/usdzUtils.cpython-312.pyc\n/usr/local/lib/python3.12/dist-packages/pxr/UsdUtils/_usdUtils.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdUtils/usdzUtils.py\n/usr/local/lib/python3.12/dist-packages/pxr/UsdValidation/_usdValidation.so\n/usr/local/lib/python3.12/dist-packages/pxr/UsdVol/_usdVol.so\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usd/resources/codegenTemplates/schema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usd/resources/codegenTemplates/schemaUserDoc.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usd/resources/generatedSchema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usd/resources/usd/schema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdGeom/resources/generatedSchema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdGeom/resources/usdGeom/schema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdHydra/resources/generatedSchema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdHydra/resources/shaders/shaderDefs.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdHydra/resources/usdHydra/schema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdLod/resources/generatedSchema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdLod/resources/usdLod/schema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdLux/resources/generatedSchema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdLux/resources/usdLux/schema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdMedia/resources/generatedSchema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdMedia/resources/usdMedia/schema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdPhysics/resources/generatedSchema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdPhysics/resources/usdPhysics/schema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdProc/resources/generatedSchema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdProc/resources/usdProc/schema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdProfiles/resources/UsdProfiles/schema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdProfiles/resources/generatedSchema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdRender/resources/generatedSchema.usda\n/usr/local/lib/python3.12/dist-packages/pxr/pluginfo/usdRender/resources/usdRender/schema.usd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+ "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 5959, + "completion_tokens": 58, + "cached_tokens": 4585, + "extra": { + "cache_write_tokens": 1371, + "reasoning_tokens": 0, + "pi_total_tokens": 6017 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "7d31d8e5", + "pi_parent_id": "73ace261", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81cdc63d087d18bc8386c34428f48", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 7, + "timestamp": "2026-10-21T02:01:09.173Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Exploring rendering options**\n\nI'm thinking about using my own rendering setup with trimesh and pyrender, and possibly OSMesa. However, it seems that the preview tool isn't available right now due to certain limits. I need to consider if validation can accurately capture what I'm attempting. Also, I really need to check the schema for validation; that\u2019s important to ensure everything aligns correctly. There seems to be a lot to sort out, but I'm eager to figure it all out!", + "tool_calls": [ + { + "tool_call_id": "call_DwxWlTQ3OeaH1cOmJfRC0Tv2|fc_091e7fed85c4774c016ad81ce4d51c87d1aa6f5d183e501c38", + "function_name": "mcp", + "arguments": { + "describe": "benchmark_validate_candidate" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_DwxWlTQ3OeaH1cOmJfRC0Tv2|fc_091e7fed85c4774c016ad81ce4d51c87d1aa6f5d183e501c38", + "content": "benchmark_validate_candidate\nServer: benchmark\n\nValidate a frozen candidate and return NVIDIA findings. Each new request consumes one validation call. Repeating a request ID returns its existing result.\n\nShape:\n{ request_id: string; }", + "extra": { + "tool_name": "mcp", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 7583, + "completion_tokens": 58, + "cached_tokens": 5956, + "extra": { + "cache_write_tokens": 1624, + "reasoning_tokens": 36, + "pi_total_tokens": 7641 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "cf3a8d56", + "pi_parent_id": "1baf098e", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81ce1f40487d187a3a836e8d3c801", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 8, + "timestamp": "2026-10-21T02:01:12.830Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_V1vb7VVwVnnkUlHmlesBPAyY|fc_091e7fed85c4774c016ad81ce8028087d18f990c470c22b3c8", + "function_name": "bash", + "arguments": { + "command": "find /opt/simready/runtime -maxdepth 3 -type f | head -40; python - <<'PY'\nfrom pxr import UsdSemantics\nprint(dir(UsdSemantics))\nPY", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_V1vb7VVwVnnkUlHmlesBPAyY|fc_091e7fed85c4774c016ad81ce8028087d18f990c470c22b3c8", + "content": "/opt/simready/runtime/simready_bench/__init__.py\n/opt/simready/runtime/simready_bench/engine/actor_relay.py\n/opt/simready/runtime/simready_bench/engine/actor_mcp.py\n/opt/simready/runtime/simready_bench/engine/__init__.py\n['LabelsAPI', 'LabelsQuery', 'Tokens', '_CanApplyResult', '__MFB_FULL_PACKAGE_NAME', '__builtins__', '__cached__', '__doc__', '__file__', '__loader__', '__name__', '__package__', '__path__', '__spec__']", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 7696, + "completion_tokens": 100, + "cached_tokens": 7580, + "extra": { + "cache_write_tokens": 113, + "reasoning_tokens": 31, + "pi_total_tokens": 7796 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "2c5f40ee", + "pi_parent_id": "709b9db0", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81ce5b05887d1a6dd91c467e62e77", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 9, + "timestamp": "2026-10-21T02:02:13.699Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Considering chuck mechanisms**\n\nI'm thinking about the relative rotation for opening the chuck spindle sleeve. I wonder if the internal jaws of the chuck need to slide radially. The user is identifying rigid parts and joints typical of a drill, like the battery, trigger, chuck, and torque. I could include details about the three prismatic jaws, each aligned at a 20\u00b0 angle on the radial axis, with a range of .003 and springs that push inward.", + "tool_calls": [ + { + "tool_call_id": "call_MaV1Ar6A4uCgnKNBpqe6vGyE|fc_091e7fed85c4774c016ad81d24fd9887d1b98c112c923df10e", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nfrom pxr import UsdSemantics\nprint(UsdSemantics.LabelsAPI.__doc__)\nprint(dir(UsdSemantics.LabelsAPI))\nPY", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_MaV1Ar6A4uCgnKNBpqe6vGyE|fc_091e7fed85c4774c016ad81d24fd9887d1b98c112c923df10e", + "content": "None\n['Apply', 'CanApply', 'ComputeInheritedTaxonomies', 'CreateLabelsAttr', 'Get', 'GetAll', 'GetDirectTaxonomies', 'GetLabelsAttr', 'GetPath', 'GetPrim', 'GetSchemaAttributeNames', 'GetSchemaClassPrimDefinition', 'GetSchemaKind', 'IsAPISchema', 'IsAppliedAPISchema', 'IsConcrete', 'IsMultipleApplyAPISchema', 'IsSemanticsLabelsAPIPath', 'IsTyped', '_GetStaticTfType', '__bool__', '__class__', '__delattr__', '__dict__', '__dir__', '__doc__', '__eq__', '__format__', '__ge__', '__getattribute__', '__getstate__', '__gt__', '__hash__', '__init__', '__init_subclass__', '__instance_size__', '__le__', '__lt__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__']", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 7939, + "completion_tokens": 2653, + "cached_tokens": 7693, + "extra": { + "cache_write_tokens": 243, + "reasoning_tokens": 2588, + "pi_total_tokens": 10592 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "91bc7c89", + "pi_parent_id": "287bd08e", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81ce9931087d18ea4ed93c74e34dc", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 10, + "timestamp": "2026-10-21T02:05:19.273Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Calculating coding parameters**\n\nI need to code something within around 46 turns, and I think I've used about 12 so far. So, that leaves me with around 34 turns. I also need to consider my token budget, which started at 28k, but now I see it's about 48k. I might not need to worry much about that, though. I should focus on normal handling to prevent surface winding and verify the mesh orientation algorithm to ensure faces are computed outward.\n\n**Exploring mesh normals and rings**\n\nI need to decide whether to use auto smooth or flat normals. For lofting a ring, I'll go from 0 to 2\u03c0, and I should think about the tangents and derivatives involved. The inward and outward calculations will be essential for the face orientations. As I work on the z loft, I'll ensure the normals are correctly oriented based on whether the ring's layout is clockwise or counterclockwise. Also, I might need to manage caps independently to avoid unwanted smoothing effects. Can I duplicate rings for better efficiency?\n\n**Constructing rings and normals**\n\nI'm considering building rings with a repeated structure to make things simpler using smooth faces. For caps, I\u2019ll assign specific normals per corner to ensure accuracy. I\u2019ll use the trimesh helper to calculate area-weighted normals for the side vertices and set cap normals separately with face-varying norms. For UV mapping, I might generate triplanar noise and apply a texture with specific parameters. Choosing the largest normal axis for mapping sounds useful, and I'll attach normal maps for added detail on plastic surfaces. It\u2019s important to transform coordinates appropriately for the best results!", + "tool_calls": [ + { + "tool_call_id": "call_hT5CmvICrCMOfrPfDPthnNhF|fc_091e7fed85c4774c016ad81d3339b087d1b19d64f670373053", + "function_name": "write", + "arguments": { + "path": "/tmp/build_asset.py", + "content": "from pxr import Usd, UsdGeom, UsdShade, UsdPhysics, UsdSemantics, Sdf, Gf, Vt, Kind\nimport numpy as np, math, os\nfrom PIL import Image\nos.makedirs('/output/textures',exist_ok=True)\nS=Usd.Stage.CreateNew('/output/asset.usd')\nUsdGeom.SetStageUpAxis(S,UsdGeom.Tokens.z); UsdGeom.SetStageMetersPerUnit(S,1)\nS.SetStartTimeCode(0); S.SetEndTimeCode(1); S.SetTimeCodesPerSecond(24)\nroot=UsdGeom.Xform.Define(S,'/Drill'); S.SetDefaultPrim(root.GetPrim())\nUsd.ModelAPI(root).SetKind(Kind.Tokens.component)\nroot.GetPrim().SetAssetInfoByKey('name','Cordless Drill Driver')\nroot.GetPrim().SetAssetInfoByKey('identifier',Sdf.AssetPath('asset.usd'))\nroot.GetPrim().SetCustomDataByKey('description','Compact red cordless drill/driver with keyless chuck, adjustable clutch, two-speed gearbox, reversible trigger and slide-on lithium-ion battery.')\nroot.GetPrim().SetCustomDataByKey('dimensions_m',Gf.Vec3d(.2163844726378463,.08936920017004013,.24394267840034445))\n\ndef semantic(p,label,mat=None):\n UsdSemantics.LabelsAPI.Apply(p,'class').CreateLabelsAttr([label])\n # Legacy semantic form is kept for older simulation readers.\n p.CreateAttribute('semantic:class',Sdf.ValueTypeNames.String,custom=True).Set(label)\n if mat:\n UsdSemantics.LabelsAPI.Apply(p,'material').CreateLabelsAttr([mat])\nsemantic(root.GetPrim(),'cordless_drill')\nlooks=UsdGeom.Scope.Define(S,'/Drill/Looks')\nrng=np.random.default_rng(426)\n# Subtle isotropic injection-moulded surface, self contained maps.\nh=rng.normal(0,1,(512,512)); gx=(np.roll(h,1,1)-np.roll(h,-1,1))*.052; gy=(np.roll(h,1,0)-np.roll(h,-1,0))*.052\nn=np.stack([gx,gy,np.ones_like(h)],axis=-1); n/=np.linalg.norm(n,axis=-1)[...,None]\nImage.fromarray(np.uint8(np.clip((n*.5+.5)*255,0,255))).save('/output/textures/moulded_normal.png')\nnoise=np.uint8(np.clip(244+rng.normal(0,3,(512,512)),225,255))\nImage.fromarray(np.stack([noise]*3,-1)).save('/output/textures/moulded_grain.png')\nM={}\ndef material(name,color,rough=.45,metal=0,grain=True):\n m=UsdShade.Material.Define(S,'/Drill/Looks/'+name)\n sh=UsdShade.Shader.Define(S,m.GetPath().AppendChild('Surface')); sh.CreateIdAttr('UsdPreviewSurface')\n sh.CreateInput('diffuseColor',Sdf.ValueTypeNames.Color3f).Set(Gf.Vec3f(*color))\n sh.CreateInput('roughness',Sdf.ValueTypeNames.Float).Set(rough)\n sh.CreateInput('metallic',Sdf.ValueTypeNames.Float).Set(metal)\n sh.CreateInput('ior',Sdf.ValueTypeNames.Float).Set(1.46)\n sh.CreateInput('opacity',Sdf.ValueTypeNames.Float).Set(1)\n if grain:\n uv=UsdShade.Shader.Define(S,m.GetPath().AppendChild('UV')); uv.CreateIdAttr('UsdPrimvarReader_float2'); uv.CreateInput('varname',Sdf.ValueTypeNames.Token).Set('st'); uv.CreateOutput('result',Sdf.ValueTypeNames.Float2)\n tex=UsdShade.Shader.Define(S,m.GetPath().AppendChild('Microtexture')); tex.CreateIdAttr('UsdUVTexture'); tex.CreateInput('file',Sdf.ValueTypeNames.Asset).Set(Sdf.AssetPath('textures/moulded_normal.png'));tex.CreateInput('sourceColorSpace',Sdf.ValueTypeNames.Token).Set('raw');tex.CreateInput('wrapS',Sdf.ValueTypeNames.Token).Set('repeat');tex.CreateInput('wrapT',Sdf.ValueTypeNames.Token).Set('repeat');tex.CreateInput('st',Sdf.ValueTypeNames.Float2).ConnectToSource(uv.ConnectableAPI(),'result');tex.CreateInput('scale',Sdf.ValueTypeNames.Float4).Set(Gf.Vec4f(2,2,2,1));tex.CreateInput('bias',Sdf.ValueTypeNames.Float4).Set(Gf.Vec4f(-1,-1,-1,0));tex.CreateOutput('rgb',Sdf.ValueTypeNames.Float3);sh.CreateInput('normal',Sdf.ValueTypeNames.Normal3f).ConnectToSource(tex.ConnectableAPI(),'rgb')\n m.CreateSurfaceOutput().ConnectToSource(sh.ConnectableAPI(),'surface'); M[name]=m\n semantic(m.GetPrim(),name,'metal' if metal>.5 else 'polymer')\n return m\nmaterial('RedHousing',(.64,.105,.084),.4)\nmaterial('RedEdge',(.48,.055,.043),.44)\nmaterial('RedSwitch',(.74,.125,.10),.39)\nmaterial('CharcoalRubber',(.067,.065,.064),.69)\nmaterial('GripRidges',(.095,.092,.09),.64)\nmaterial('GraphitePlastic',(.115,.111,.108),.46)\nmaterial('BatteryRubber',(.068,.067,.068),.58)\nmaterial('PanelGraphite',(.087,.085,.083),.56)\nmaterial('GearCase',(.69,.70,.715),.33,.22)\nmaterial('GearCaseDark',(.51,.525,.54),.4,.2)\nmaterial('Seam',(.026,.023,.022),.62,grain=False)\nmaterial('Cavity',(.009,.009,.009),.87,grain=False)\nmaterial('Steel',(.51,.54,.57),.25,.88,False)\nmaterial('SteelDark',(.19,.21,.23),.3,.9,False)\nmaterial('IndexMark',(.65,.64,.6),.5,grain=False)\n\norigins={}\ndef body(name,origin,mass,label):\n path='/Drill/'+name; x=UsdGeom.Xform.Define(S,path); x.AddTranslateOp().Set(Gf.Vec3d(*origin)); p=x.GetPrim(); origins[path]=np.array(origin,float)\n rb=UsdPhysics.RigidBodyAPI.Apply(p);rb.CreateRigidBodyEnabledAttr(True);rb.CreateKinematicEnabledAttr(False)\n ma=UsdPhysics.MassAPI.Apply(p); ma.CreateMassAttr(mass);ma.CreateCenterOfMassAttr(Gf.Vec3f(0));ma.CreateDiagonalInertiaAttr(Gf.Vec3f(max(mass*.0003,1e-9),max(mass*.0005,1e-9),max(mass*.0005,1e-9)));ma.CreatePrincipalAxesAttr(Gf.Quatf(1))\n semantic(p,label); return path\nH=body('Housing',(.020,0,.143),.89,'drill_housing')\nB=body('Battery',(.006,0,.025),.49,'rechargeable_battery')\nC=body('ChuckSpindle',(-.099,0,.207),.17,'chuck_spindle')\nCS=body('ChuckSleeve',(-.100,0,.207),.11,'keyless_chuck_sleeve')\nT=body('TorqueCollar',(-.050,0,.207),.065,'torque_adjustment_collar')\nTR=body('Trigger',(-.009,0,.149),.012,'speed_control_trigger')\nD=body('DirectionSelector',(.004,0,.170),.006,'forward_reverse_selector')\nSP=body('SpeedSelector',(.030,0,.240),.004,'gear_speed_selector')\nBL=body('BatteryLatch',(-.063,0,.039),.006,'battery_release_latch')\n\ndef mesh(parent,name,pts,faces,mat,collide=False,smooth=True,capfaces=None):\n pts=np.array(pts,dtype=float); offs=origins.get(parent,np.zeros(3)); local=pts-offs\n m=UsdGeom.Mesh.Define(S,parent+'/'+name);m.CreatePointsAttr(Vt.Vec3fArray.FromNumpy(local.astype(np.float32)));m.CreateFaceVertexCountsAttr([len(f) for f in faces]);m.CreateFaceVertexIndicesAttr([int(i) for f in faces for i in f]);m.CreateSubdivisionSchemeAttr('none');m.CreateOrientationAttr('rightHanded');m.CreateDoubleSidedAttr(False)\n m.CreateExtentAttr([Gf.Vec3f(*local.min(0)),Gf.Vec3f(*local.max(0))])\n # Area weighted normals with flat end caps.\n fn=[]; vn=np.zeros_like(pts)\n for f in faces:\n nr=np.cross(pts[f[1]]-pts[f[0]],pts[f[2]]-pts[f[0]])\n fn.append(nr)\n for i in f: vn[i]+=nr\n ln=np.linalg.norm(vn,axis=1);vn/=np.maximum(ln[:,None],1e-20)\n norms=[]; st=[]\n for fi,f in enumerate(faces):\n normal=fn[fi]/max(np.linalg.norm(fn[fi]),1e-20)\n for i in f: norms.append(vn[i] if smooth and (not capfaces or fi not in capfaces) else normal)\n axis=np.argmax(np.abs(normal)); axes=[j for j in range(3) if j!=axis]\n for i in f: st.append((float(pts[i,axes[0]]/.025),float(pts[i,axes[1]]/.025)))\n m.CreateNormalsAttr(Vt.Vec3fArray.FromNumpy(np.array(norms,dtype=np.float32)));m.SetNormalsInterpolation('faceVarying')\n UsdGeom.PrimvarsAPI(m).CreatePrimvar('st',Sdf.ValueTypeNames.TexCoord2fArray,'faceVarying').Set(st)\n UsdShade.MaterialBindingAPI.Apply(m.GetPrim()).Bind(M[mat]);semantic(m.GetPrim(),name.lower(), 'metal' if mat.startswith('Steel') else 'polymer')\n if collide:\n UsdPhysics.CollisionAPI.Apply(m.GetPrim()).CreateCollisionEnabledAttr(True);UsdPhysics.MeshCollisionAPI.Apply(m.GetPrim()).CreateApproximationAttr('convexHull')\n return m\n\ndef loftx(parent,name,profile,mat,N=96,phase=0,exp=2,collide=False,rib=0,ribs=0):\n pts=[]\n # profile rows: x, y_radius, z_radius, center_z\n for x,ry,rz,zc in profile:\n for j in range(N):\n t=2*np.pi*j/N+phase;c=np.cos(t);s=np.sin(t)\n rr=1+rib*(.5+.5*np.cos(t*ribs)) if ribs else 1\n pts.append((x,ry*np.sign(c)*abs(c)**(2/exp)*rr,zc+rz*np.sign(s)*abs(s)**(2/exp)*rr))\n faces=[]\n for k in range(len(profile)-1):\n for j in range(N): faces.append([k*N+j,k*N+(j+1)%N,(k+1)*N+(j+1)%N,(k+1)*N+j])\n faces += [list(range(N-1,-1,-1)),list(range((len(profile)-1)*N,len(profile)*N))]\n return mesh(parent,name,pts,faces,mat,collide,True,{len(faces)-2,len(faces)-1})\n\ndef loftz(parent,name,profile,mat,N=80,exp=3.0,collide=False):\n pts=[]\n for z,cx,rx,ry in profile:\n for j in range(N):\n t=2*np.pi*j/N;c=np.cos(t);s=np.sin(t);pts.append((cx+rx*np.sign(c)*abs(c)**(2/exp),ry*np.sign(s)*abs(s)**(2/exp),z))\n faces=[]\n for k in range(len(profile)-1):\n for j in range(N):faces.append([k*N+j,k*N+(j+1)%N,(k+1)*N+(j+1)%N,(k+1)*N+j])\n faces+=[list(range(N-1,-1,-1)),list(range((len(profile)-1)*N,len(profile)*N))]\n return mesh(parent,name,pts,faces,mat,collide,True,{len(faces)-2,len(faces)-1})\n\ndef octpoly(x0,x1,y0,y1,c):\n return [(x0+c,y0),(x1-c,y0),(x1,y0+c),(x1,y1-c),(x1-c,y1),(x0+c,y1),(x0,y1-c),(x0,y0+c)]\ndef polyloft(parent,name,rings,mat,collide=False,smooth=False):\n # rings list (z,polygon)\n pts=[(x,y,z) for z,pg in rings for x,y in pg];N=len(rings[0][1]);faces=[]\n for i in range(len(rings)-1):\n for j in range(N):faces.append([i*N+j,i*N+(j+1)%N,(i+1)*N+(j+1)%N,(i+1)*N+j])\n faces+=[list(range(N-1,-1,-1)),list(range((len(rings)-1)*N,len(rings)*N))]\n return mesh(parent,name,pts,faces,mat,collide,smooth,{len(faces)-2,len(faces)-1})\n\ndef bevelbox(parent,name,center,size,bevel,mat,rot=None,collide=False):\n # rounded/chamfered rectangular slab, bevel all outer edges.\n x,y,z=center;dx,dy,dz=size;b=min(bevel,dx*.4,dy*.4,dz*.45)\n rings=[(z-dz/2,octpoly(x-dx/2+b,x+dx/2-b,y-dy/2+b,y+dy/2-b,b*.4)),(z-dz/2+b,octpoly(x-dx/2,x+dx/2,y-dy/2,y+dy/2,b)),(z+dz/2-b,octpoly(x-dx/2,x+dx/2,y-dy/2,y+dy/2,b)),(z+dz/2,octpoly(x-dx/2+b,x+dx/2-b,y-dy/2+b,y+dy/2-b,b*.4))]\n pts=[(px,py,pz) for pz,pg in rings for px,py in pg];N=8;faces=[]\n for i in range(3):\n for j in range(N):faces.append([i*N+j,i*N+(j+1)%N,(i+1)*N+(j+1)%N,(i+1)*N+j])\n faces+=[list(range(N-1,-1,-1)),list(range(24,32))]\n if rot is not None:\n pts=(np.array(pts)-np.array(center))@np.array(rot).T+np.array(center)\n return mesh(parent,name,pts,faces,mat,collide,True,{24,25})\n\ndef tube(parent,name,points,radius,mat,N=8,collide=False):\n # round moulded bead or recessed seam following an arbitrary curve.\n P=np.array(points,float); pts=[]\n for k,p in enumerate(P):\n d=P[min(k+1,len(P)-1)]-P[max(k-1,0)];d/=max(np.linalg.norm(d),1e-12)\n up=np.array([0,0,1.]) if abs(d[2])<.9 else np.array([0,1.,0]);u=np.cross(d,up);u/=np.linalg.norm(u);v=np.cross(d,u)\n for j in range(N):pts.append(p+radius*(np.cos(j*2*np.pi/N)*u+np.sin(j*2*np.pi/N)*v))\n faces=[]\n for k in range(len(P)-1):\n for j in range(N):faces.append([k*N+j,k*N+(j+1)%N,(k+1)*N+(j+1)%N,(k+1)*N+j])\n # Tube rings generated with opposite handedness; reverse sides.\n faces=[f[::-1] for f in faces];faces+=[list(range(N)),list(range(len(pts)-1,len(pts)-N-1,-1))]\n return mesh(parent,name,pts,faces,mat,collide,True)\n\n# Housing: axial motor moulding, gently squared circular section.\nZ=.207\nmotor_prof=[(-.011,.0295,.030,Z),(-.008,.032,.032,Z),(.000,.033,.034,Z),(.018,.0332,.0347,Z),(.040,.034,.0358,Z),(.059,.0343,.0366,Z),(.074,.0335,.0355,Z),(.080,.0315,.0336,Z)]\n# Rectangular ventilation cells cut through the rear side wall.\nxs=sorted(set([p[0] for p in motor_prof]+[.050,.054,.058,.062,.066,.070]))\nts=sorted(set([2*np.pi*j/128 for j in range(128)]+[v for t0,t1 in [(2.35,2.55),(2.66,2.87),(2.98,3.18),(2*np.pi-2.55,2*np.pi-2.35),(2*np.pi-2.87,2*np.pi-2.66),(2*np.pi-3.18,2*np.pi-2.98)] for v in [t0,t1]]))\n# Mirror vents also to the far side: ranges at positive-y angles near 0.\nventangs=[(2.35,2.55),(2.66,2.87),(2.98,3.18),(.59,.79),(.27,.48),(-.04,.16)]\nts=sorted(set([2*np.pi*j/128 for j in range(128)]+[v%(2*np.pi) for a,b in ventangs for v in (a,b)]))\npts=[];N=len(ts)\ndef interp_prof(x):\n return [np.interp(x,[p[0] for p in motor_prof],[p[i] for p in motor_prof]) for i in range(1,4)]\ndef motorpt(x,t,depth=0):\n ry,rz,zc=interp_prof(x);c=np.cos(t);ss=np.sin(t);return np.array([x,(ry-depth)*np.sign(c)*abs(c)**(2/2.25),zc+(rz-depth)*np.sign(ss)*abs(ss)**(2/2.25)])\nfor x in xs:\n for t in ts:pts.append(motorpt(x,t))\nfaces=[];boundary=[]\ndef isvent(x,t):\n xx=any(a2*np.pi-.04\n return xx and aa\nfor k in range(len(xs)-1):\n for j,t0 in enumerate(ts):\n j1=(j+1)%N;t1=ts[j1] if j1 else 2*np.pi; xm=(xs[k]+xs[k+1])/2;tm=(t0+t1)/2\n if isvent(xm,tm):continue\n faces.append([k*N+j,k*N+j1,(k+1)*N+j1,(k+1)*N+j])\n# Every exposed opening edge gets a wall so the slot reads as a real deep aperture.\nedgecount={}\nfor f in faces:\n for a,b in zip(f,f[1:]+f[:1]):edgecount[tuple(sorted((a,b)))]=edgecount.get(tuple(sorted((a,b))),0)+1\nfor (a,b),count in edgecount.items():\n if count==1 and (a//N not in (0,len(xs)-1) or b//N not in (0,len(xs)-1)):\n pa=np.array(pts[a]);pb=np.array(pts[b]);qa=pa.copy();qb=pb.copy();qa[1:]-=(pa[1:]-np.array([0,Z]))*.075;qb[1:]-=(pb[1:]-np.array([0,Z]))*.075\n ia=len(pts);pts.extend([qa,qb]);faces.append([b,a,ia,ia+1])\nfaces+=[list(range(N-1,-1,-1)),list(range((len(xs)-1)*N,len(xs)*N))]\nmesh(H,'MotorRedShell',pts,faces,'RedHousing',True,True,{len(faces)-2,len(faces)-1})\nloftx(H,'VentRecess',[(.047,.0295,.032,Z),(.073,.0295,.032,Z)],'Cavity',96)\n# End cap has a scalloped rubber rim and a grey moulded back.\nloftx(H,'RearCapSeam',[(.0765,.0326,.0347,Z),(.078,.0335,.0355,Z),(.080,.0335,.0355,Z)],'Seam',96,exp=2.3)\nloftx(H,'RearMotorBumper',[(.078,.0328,.0353,Z),(.080,.034,.0363,Z),(.084,.0327,.0345,Z),(.0875,.029,.031,Z),(.0888,.023,.025,Z),(.089,.012,.013,Z)],'GraphitePlastic',96,exp=2.2,collide=True)\nloftx(H,'RearCapInset',[(.0883,.019,.021,Z),(.0893,.018,.020,Z),(.0895,.015,.017,Z)],'PanelGraphite',80)\n# Rear mould seam.\nfor sign in [-1,1]:\n tt=np.linspace(-.4,1.9,24) if sign==1 else np.linspace(1.4,3.6,24)\n pp=[(.084, .032*np.cos(t), Z+.034*np.sin(t)) for t in tt]\n tube(H,'RearCapJoint_'+str(sign).replace('-','m'),pp,.00022,'Seam')\n# Raised rubber strips along both shoulders of motor.\ndef motorpatch(name,x0,x1,t0,t1,mat,dep=.001):\n rings=[];pts=[];NU=12;NV=9\n for i in range(NU):\n u=i/(NU-1);x=x0+(x1-x0)*u;trim=.05*(1-abs(2*u-1))\n for j in range(NV):\n v=j/(NV-1);t=t0+(t1-t0)*v\n p=motorpt(x,t,-dep*(min(1,u*8,(1-u)*8,v*8,(1-v)*8)*.7+.3));pts.append(p)\n faces=[]\n for i in range(NU-1):\n for j in range(NV-1):faces.append([i*NV+j,i*NV+j+1,(i+1)*NV+j+1,(i+1)*NV+j])\n mesh(H,name,pts,faces,mat,False,True)\nmotorpatch('ShoulderOvermouldL',-.003,.059,2.13,2.52,'GraphitePlastic',.0010)\nmotorpatch('ShoulderOvermouldR',-.003,.059,.62,1.01,'GraphitePlastic',.0010)\nmotorpatch('UnderRailL',.004,.073,3.67,3.92,'GraphitePlastic',.0012)\nmotorpatch('UnderRailR',.004,.073,5.50,5.75,'GraphitePlastic',.0012)\nmotorpatch('TopDorsalGrip',-.005,.043,1.26,1.88,'GraphitePlastic',.0005)\n# Central mould parting line below the barrel.\nfor sign in [-1,1]:\n points=[motorpt(x,3.40 if sign<0 else -.26,-.00010) for x in np.linspace(-.006,.076,32)]\n tube(H,'MotorMouldSeam'+('L' if sign<0 else 'R'),points,.00018,'RedEdge',6)\n# Pearl grey gearbox jacket: radial stepped shoulders and shallow ribs.\nloftx(H,'GearboxRedGasket',[(-.0405,.0283,.0283,Z),(-.039,.031,.031,Z),(-.004,.031,.031,Z)],'RedEdge',96)\nloftx(H,'SilverGearbox',[(-.0408,.0275,.0275,Z),(-.0398,.0300,.030,Z),(-.036,.0318,.0318,Z),(-.015,.0335,.0338,Z),(-.006,.033,.0335,Z),(-.003,.0316,.032,Z)],'GearCase',96,exp=2.2,collide=True)\n# Long raised facets, as moulded into the die-cast front gearbox.\nfor j in range(10):\n t=j*2*np.pi/10+.10; p=[];faces=[]\n for ix,x in enumerate([-.039,-.036,-.013,-.006]):\n r=np.interp(x,[-.039,-.036,-.013,-.006],[.0303,.0322,.0341,.0334])\n for v in [-1,-.72,.72,1]:\n a=t+v*.065;rr=r+(1-abs(v))*.0015;p.append((x,rr*np.cos(a),Z+rr*np.sin(a)))\n for ix in range(3):\n for k in range(3):faces.append([ix*4+k,ix*4+k+1,(ix+1)*4+k+1,(ix+1)*4+k])\n mesh(H,'GearboxRaisedFacet%02d'%j,p,faces,'GearCase',False,True)\n# Gearbox screw recesses and hex/torx style hardware, mounted on radial faces.\ndef radial_disc(parent,name,x,t,r,diam,depth,mat):\n normal=np.array([0,np.cos(t),np.sin(t)]);center=np.array([x,normal[1]*r,Z+normal[2]*r]);u=np.array([1.,0,0]);v=np.cross(normal,u);pts=[];N=32\n for d,rr in [(-depth,diam*.43),(0,diam*.5),(.0002,diam*.42)]:\n for j in range(N):pts.append(center+d*normal+rr*(np.cos(j*2*np.pi/N)*u+np.sin(j*2*np.pi/N)*v))\n faces=[]\n for k in range(2):\n for j in range(N):faces.append([k*N+j,k*N+(j+1)%N,(k+1)*N+(j+1)%N,(k+1)*N+j])\n faces.append(list(range(2*N,3*N)))\n mesh(parent,name,pts,faces,mat,False,True)\nfor i,t in enumerate([2.60,.54,4.71]):\n radial_disc(H,'GearScrewWell'+str(i),-.012,t,.0334,.0058,.0019,'Cavity')\n radial_disc(H,'GearScrew'+str(i),-.012,t,.0333,.0039,.001,'SteelDark')\n# Bottom neck forward of trigger (integral silver casting).\nbevelbox(H,'GearboxLowerBoss',(-.010,0,.176),(.032,.045,.019),.005,'GearCase',collide=True)\n# Torque adjustment ring. Large rear keyless grip ring with broad shallow flute channels.\nloftx(T,'ClutchCollar',[(-.075,.023,.023,Z),(-.073,.0278,.0278,Z),(-.070,.029,.029,Z),(-.043,.0297,.0297,Z),(-.041,.029,.029,Z),(-.040,.028,.028,Z)],'GraphitePlastic',120,collide=True)\n# 15 broad trapezoidal shallow flutes, individually bevelled around cylinder.\nfor j in range(15):\n t=2*np.pi*j/15;p=[];faces=[]\n for x,r in [(-.0715,.0282),(-.0695,.0294),(-.046,.0300),(-.044,.0298)]:\n for a,dep in [(-.105,0),(-.085,.00012),(.085,.00012),(.105,0)]:\n p.append((x,(r+dep)*np.cos(t+a),Z+(r+dep)*np.sin(t+a)))\n for k in range(3):\n for v in range(3):faces.append([k*4+v,k*4+v+1,(k+1)*4+v+1,(k+1)*4+v])\n mesh(T,'ClutchFlute%02d'%j,p,faces,'GripRidges',False,True)\n # hairline grooves running between flutes\n a=t+.115\n tube(T,'ClutchGroove%02d'%j,[(x,r*np.cos(a),Z+r*np.sin(a)) for x,r in [(-.069,.0291),(-.047,.0299)]],.00028,'PanelGraphite',6)\n# Fine fixed index line on gearbox top.\ntube(H,'ClutchFixedIndex',[(-.040,.0,.238),(-.035,.0,.240)],.00045,'GraphitePlastic',6)\n# Rear portion of rotating chuck, tapered spindle collar.\nloftx(C,'ChuckRearCone',[(-.100,.0203,.0203,Z),(-.096,.0223,.0223,Z),(-.080,.0239,.0239,Z),(-.075,.0235,.0235,Z),(-.073,.0215,.0215,Z)],'GraphitePlastic',96,collide=True,rib=.01,ribs=24)\nloftx(C,'ChuckSleeveSeam',[(-.101,.0204,.0204,Z),(-.1003,.0213,.0213,Z),(-.0996,.0212,.0212,Z)],'Seam',96)\n# Front chuck gripping sleeve, subtly corrugated and tapered at the nose.\nloftx(CS,'KeylessSleeve',[(-.1268844726378463,.0117,.0117,Z),(-.1259,.014,.014,Z),(-.1240,.0163,.0163,Z),(-.119,.0187,.0187,Z),(-.103,.0214,.0214,Z),(-.101,.0217,.0217,Z)],'GraphitePlastic',144,collide=True)\nfor j in range(27):\n t=2*np.pi*j/27;p=[];faces=[]\n for x,r in [(-.1245,.0156),(-.1225,.0170),(-.107,.0209),(-.102,.02185)]:\n for a,dr in [(-.065,0),(-.043,.0008),(.043,.0008),(.065,0)]:p.append((x,(r+dr)*np.cos(t+a),Z+(r+dr)*np.sin(t+a)))\n for k in range(3):\n for v in range(3):faces.append([k*4+v,k*4+v+1,(k+1)*4+v+1,(k+1)*4+v])\n mesh(CS,'ChuckGripRib%02d'%j,p,faces,'GripRidges',False,True)\n# Hollow metal nose annulus, no drill bit fitted.\ndef annulus(parent,name,x0,x1,outer,inner,mat,N=96):\n pts=[]\n for x,r in [(x0,inner),(x0,outer),(x1,outer),(x1,inner)]:\n for j in range(N):\n t=2*np.pi*j/N;pts.append((x,r*np.cos(t),Z+r*np.sin(t)))\n faces=[]\n for k in range(4):\n for j in range(N):faces.append([k*N+j,k*N+(j+1)%N,((k+1)%4)*N+(j+1)%N,((k+1)%4)*N+j])\n # Reverse because the section starts inner-front and moves outward.\n faces=[f[::-1] for f in faces]\n return mesh(parent,name,pts,faces,mat,False,True)\nannulus(C,'PolishedChuckNose',-.1267,-.1237,.0115,.0067,'Steel')\nannulus(C,'ChuckInnerSocket',-.1263,-.117,.0068,.0058,'SteelDark',72)\nloftx(C,'BoreDarkBack',[(-.118,.0059,.0059,Z),(-.115,.0059,.0059,Z)],'Cavity',64)\nJAW=[]\nfor j in range(3):\n t=2*np.pi*j/3+.15;n=np.array([0,np.cos(t),np.sin(t)]);v=np.cross([1,0,0],n);ctr=np.array([-.1235,0,Z])+n*.0045\n P=body('ChuckJaw'+str(j),ctr,.004,'chuck_jaw');JAW.append((P,t,ctr))\n # Jaw trapezoid, face tips at the bore opening.\n pts=[]\n for x,ri,w in [(-.1263,.0026,.0014),(-.119,.0037,.0020)]:\n for rad,tan in [(ri,-w),(ri,w),(.0062,w),(.0062,-w)]:pts.append(np.array([x,0,Z])+n*rad+v*tan)\n mesh(P,'SteelJaw',pts,[[0,3,2,1],[4,5,6,7],[0,1,5,4],[1,2,6,5],[2,3,7,6],[3,0,4,7]],'Steel',True,False)\n\n# Pistol grip core, continuously curved towards the barrel.\ngrp=[(.054,.036,.018,.020),(.059,.035,.020,.021),(.071,.034,.018,.020),(.091,.032,.016,.0185),(.112,.027,.016,.0175),(.132,.021,.017,.017),(.148,.020,.020,.019),(.161,.022,.024,.021),(.173,.026,.033,.025),(.182,.030,.039,.026)]\nloftz(H,'RedGripAndNeck',grp,'RedHousing',96,3.1,True)\n# Grip rubber patch goes continuously around the back, leaving a red strip on front.\npatchprof=[(.061,.035,.019,.0208,1.85),(.066,.035,.0198,.0212,2.2),(.079,.034,.0184,.0205,2.52),(.098,.030,.0166,.0190,2.56),(.118,.025,.0167,.0181,2.45),(.137,.020,.0182,.0182,2.40),(.151,.021,.021,.0203,2.10),(.164,.025,.026,.022,1.80),(.174,.032,.030,.024,1.2)]\npts=[];NN=80\nfor z,cx,rx,ry,ang in patchprof:\n for j in range(NN):\n t=-ang+2*ang*j/(NN-1);c=np.cos(t);sn=np.sin(t);pts.append((cx+rx*np.sign(c)*abs(c)**(2/3.1),ry*np.sign(sn)*abs(sn)**(2/3.1),z))\nfaces=[]\nfor k in range(len(patchprof)-1):\n for j in range(NN-1):faces.append([k*NN+j,k*NN+j+1,(k+1)*NN+j+1,(k+1)*NN+j])\nmesh(H,'GripRubberOvermould',pts,faces,'CharcoalRubber',False,True)\n# A shaped upper side inlay with fine diagonal moulded ribs on either side.\ndef handle_y(x,z):\n cx=np.interp(z,[p[0] for p in grp],[p[1] for p in grp]);rx=np.interp(z,[p[0] for p in grp],[p[2] for p in grp]);ry=np.interp(z,[p[0] for p in grp],[p[3] for p in grp]);q=min(.985,abs((x-cx)/rx));return ry*(1-q**3.1)**(1/3.1)\n# Variable x-z polygon follows the swept handle and tapers at its lower tip.\npoly=[(.015,.115),(.012,.121),(.014,.137),(.023,.154),(.041,.172),(.057,.174),(.047,.153),(.037,.133),(.038,.119),(.030,.111),(.022,.112)]\nfor sign in [-1,1]:\n # Side panels are triangulated as a fan, with explicit convex segments.\n p=[(x,sign*(handle_y(x,z)+.0010),z) for x,z in poly]\n center=np.mean(np.array(p),axis=0);pts2=[center]+p;fa=[]\n for j in range(len(p)):fa.append([0,j+1,(j+1)%len(p)+1] if sign<0 else [0,(j+1)%len(p)+1,j+1])\n mesh(H,'UpperGripInlay'+('L' if sign<0 else 'R'),pts2,fa,'PanelGraphite',False,True)\n # A fine red border is moulded around this black panel.\n path=[(x,sign*(handle_y(x,z)+.0012),z) for x,z in poly+[poly[0]]]\n tube(H,'UpperGripRedPiping'+str(sign).replace('-','m'),path,.00055,'RedEdge',8)\n # Closely spaced diagonal ridges on upper grip, clipped to a narrow strip.\n for k in range(22):\n z0=.117+k*.00165\n # x range interpolates upwards along the diagonal rearward rake.\n x0=.016+(z0-.117)*.38;x1=.035+(z0-.117)*.42\n ptsr=[]\n for u in np.linspace(0,1,10):\n x=x0+(x1-x0)*u;z=z0+.008*u\n ptsr.append((x,sign*(handle_y(x,z)+.00155),z))\n tube(H,'UpperGripRib'+str(sign).replace('-','m')+'_%02d'%k,ptsr,.00033,'GripRidges',6)\n # Lower contoured grip chevrons, on the broad lower section.\n for k in range(11):\n z=.071+k*.0030;ptsr=[]\n cx=np.interp(z,[p[0] for p in grp],[p[1] for p in grp]);rx=np.interp(z,[p[0] for p in grp],[p[2] for p in grp]);ry=np.interp(z,[p[0] for p in grp],[p[3] for p in grp])\n for t in np.linspace(1.25,2.55,22):\n a=t*sign;x=cx+rx*np.sign(np.cos(a))*abs(np.cos(a))**(2/3.1);y=(ry+.0010)*np.sign(np.sin(a))*abs(np.sin(a))**(2/3.1);zz=z-.003*np.sin((t-1.25)/1.3*np.pi);ptsr.append((x,y,zz))\n tube(H,'LowerGripFlute'+str(sign).replace('-','m')+'_%02d'%k,ptsr,.00043,'GripRidges',7)\n if k in [0,10]:tube(H,'LowerGripRedBorder'+str(sign).replace('-','m')+str(k),[(x,y*1.005,z+.00035) for x,y,z in ptsr],.00028,'RedEdge',6)\n# Black trigger set into red guard-free neck.\nbevelbox(TR,'TriggerFace',(-.010,0,.149),(.020,.027,.025),.005,'CharcoalRubber',collide=True)\n# ribbed, slightly projecting contact face\nfor k in range(4):\n tube(TR,'TriggerRib'+str(k),[(-.0202,y,.143+k*.003) for y in np.linspace(-.009,.009,14)],.00028,'PanelGraphite',6)\n# Forward/reverse cross bolt immediately above the trigger.\nbevelbox(D,'SelectorCrossBolt',(.004,0,.171),(.014,.049,.008),.002,'PanelGraphite',collide=True)\nfor sign in [-1,1]:bevelbox(D,'DirectionRedEnd'+str(sign).replace('-','m'),(.004,sign*.024,.171),(.012,.003,.007),.001,'RedHousing')\n# Red raised two-speed platform and sliding graphite selector on top.\nbevelbox(H,'GearSwitchRedRecess',(.030,0,.2400),(.031,.021,.004),.002,'RedEdge')\nbevelbox(SP,'TwoSpeedSwitch',(.030,0,.241),(.024,.014,.004),.0015,'GraphitePlastic',collide=True)\nfor k in range(5):bevelbox(SP,'SpeedSwitchRib'+str(k),(.022+k*.0036,0,.2430),(.0013,.012,.0011),.00035,'GripRidges')\nbevelbox(H,'RaisedRedTopPad',(.058,0,.240),(.019,.022,.006),.002,'RedHousing')\n\n# Flared red shoe above the removable battery.\nfoot=[(.039,octpoly(-.055,.073,-.031,.031,.010)),(.044,octpoly(-.060,.078,-.034,.034,.012)),(.051,octpoly(-.058,.077,-.0335,.0335,.013)),(.057,octpoly(-.050,.073,-.030,.030,.014)),(.062,octpoly(-.036,.067,-.025,.025,.016)),(.066,octpoly(-.015,.059,-.021,.021,.015))]\npolyloft(H,'RedBatteryShoe',foot,'RedHousing',True,True)\n# Small side slide-rail mouldings and the shell split line on foot.\nfor sign in [-1,1]:\n bevelbox(H,'ShoeRail'+str(sign).replace('-','m'),(.020,sign*.0325,.044),(.058,.003,.006),.001,'RedEdge')\n tube(H,'ShoeMouldSeam'+str(sign).replace('-','m'),[(x,sign*(.026+.004*np.sin((x+.05)/.12*np.pi)),.056) for x in np.linspace(-.046,.067,36)],.00016,'RedEdge',6)\n# Lengthwise shell seam across top of red foot.\ntube(H,'ShoeCenterSeam',[(x,0,np.interp(x,[-.053,-.033,-.012,.018,.055,.073],[.053,.059,.064,.066,.062,.054])) for x in np.linspace(-.053,.073,50)],.00015,'RedEdge',6)\n# Thick battery pack with chamfered impact corners.\nW=.08936920017004013/2\nbattery_rings=[(.000,octpoly(-.070,.078,-.0365,.0365,.008)),(.0025,octpoly(-.075,.083,-.041,.041,.009)),(.0075,octpoly(-.078,.086,-W,W,.009)),(.025,octpoly(-.078,.086,-W,W,.010)),(.034,octpoly(-.074,.085,-.042,.042,.010)),(.042,octpoly(-.063,.079,-.035,.035,.011))]\npolyloft(B,'BatteryOuterShell',battery_rings,'GraphitePlastic',True,False)\npolyloft(B,'BatteryBaseRubber',[(.000,octpoly(-.069,.078,-.0365,.0365,.008)),(.0025,octpoly(-.075,.083,-.041,.041,.009)),(.007,octpoly(-.0777,.0858,-W+.0002,W-.0002,.009))],'BatteryRubber',False,False)\n# Separate lower side impact panels and recessed planar inset on each side.\nsidepoly=[(-.030,.006),(.067,.006),(.080,.014),(.080,.027),(.070,.032),(-.020,.032),(-.038,.023),(-.041,.014)]\nfor sign in [-1,1]:\n # Extruded polygon in the XZ plane with bevelled outer layer.\n cy=np.mean([x for x,z in sidepoly]);cz=np.mean([z for x,z in sidepoly]);pts=[]\n for y,sc in [(sign*(W-.0003),1),(sign*(W+.0000),.92),(sign*(W+.00015),.86)]:\n for x,z in sidepoly:pts.append((cy+(x-cy)*sc,y,cz+(z-cz)*sc))\n faces=[];N=len(sidepoly)\n for k in range(2):\n for j in range(N):\n f=[k*N+j,k*N+(j+1)%N,(k+1)*N+(j+1)%N,(k+1)*N+j];faces.append(f if sign>0 else f[::-1])\n f=list(range(2*N,3*N));faces.append(f if sign<0 else f[::-1]);mesh(B,'BatteryImpactPanel'+str(sign).replace('-','m'),pts,faces,'BatteryRubber',False,True)\n inset=[(-.027,.012),(.064,.012),(.073,.018),(.073,.026),(.066,.028),(-.019,.028),(-.029,.022)]\n p=[(x,sign*(W+.00022),z) for x,z in inset];fa=[list(range(len(p)))];fa=[fa[0] if sign<0 else fa[0][::-1]];mesh(B,'BatteryInsetFace'+str(sign).replace('-','m'),p,fa,'PanelGraphite',False,False)\n pp=[(x,sign*(W+.00035),z) for x,z in inset+[inset[0]]];tube(B,'BatteryPanelSeam'+str(sign).replace('-','m'),pp,.00025,'Seam',7)\n # Step in the upper lid, at the top of the battery sidewall.\n tube(B,'BatteryLidParting'+str(sign).replace('-','m'),[(-.064,sign*.038,.036),(-.018,sign*.041,.034),(.073,sign*.041,.034),(.080,sign*.035,.037)],.00022,'Seam',6)\n# Front nose impact cap and central split mould line.\npolyloft(B,'BatteryFrontBumper',[(.002,octpoly(-.075,-.028,-.035,.035,.006)),(.006,octpoly(-.078,-.029,-.040,.040,.007)),(.025,octpoly(-.078,-.031,-.040,.040,.008)),(.033,octpoly(-.072,-.035,-.036,.036,.009))],'PanelGraphite',False,True)\ntube(B,'BatteryFrontSplit',[(-.0782,0,.004),(-.0782,0,.024),(-.070,0,.034),(-.059,0,.042)],.00019,'Seam',7)\n# Latch sits on the sloping front battery shoulder.\na=-.42;R=np.array([[np.cos(a),0,np.sin(a)],[0,1,0],[-np.sin(a),0,np.cos(a)]])\nbevelbox(B,'BatteryLatchWell',(-.062,0,.036),(.027,.029,.006),.0024,'Seam',R)\nbevelbox(BL,'RedReleaseButton',(-.063,0,.039),(.022,.025,.005),.0021,'RedSwitch',R,True)\nfor k in range(4):\n c=np.array([-.069+k*.004,0,.0417]);bevelbox(BL,'LatchFingerRidge'+str(k),c,(.00085,.019,.00075),.0002,'RedHousing',R)\n# Black slider coupling visible under the shoe at the front.\nbevelbox(B,'BatteryInterfaceBlock',(-.042,0,.043),(.034,.056,.008),.003,'PanelGraphite')\n# A pair of tiny ventilation gaps at battery rear.\nfor sign in [-1,1]:\n for k in range(3):bevelbox(B,'BatteryRearSlot'+str(sign).replace('-','m')+str(k),(.078,sign*(.018+k*.005),.031),(.003,.0027,.004),.0005,'Seam')\n\n# Joint frames use the same world attachment point on both connected bodies.\njoints=UsdGeom.Scope.Define(S,'/Drill/Joints')\ndef quat_align_x(vec):\n q=Gf.Rotation(Gf.Vec3d(1,0,0),Gf.Vec3d(*vec)).GetQuat();return Gf.Quatf(q)\ndef joint(name,typ,b0,b1,pos,axis='X',limits=None,orient=None,drive=None):\n path='/Drill/Joints/'+name\n if typ=='revolute':j=UsdPhysics.RevoluteJoint.Define(S,path)\n elif typ=='prismatic':j=UsdPhysics.PrismaticJoint.Define(S,path)\n else:j=UsdPhysics.FixedJoint.Define(S,path)\n j.CreateBody0Rel().SetTargets([b0]);j.CreateBody1Rel().SetTargets([b1]);j.CreateLocalPos0Attr(Gf.Vec3f(*(np.array(pos)-origins[b0])));j.CreateLocalPos1Attr(Gf.Vec3f(*(np.array(pos)-origins[b1])))\n q=orient or Gf.Quatf(1);j.CreateLocalRot0Attr(q);j.CreateLocalRot1Attr(q);j.CreateJointEnabledAttr(True);j.CreateCollisionEnabledAttr(False)\n if typ!='fixed':\n j.CreateAxisAttr(axis)\n if limits is not None:j.CreateLowerLimitAttr(limits[0]);j.CreateUpperLimitAttr(limits[1])\n if drive:\n da=UsdPhysics.DriveAPI.Apply(j.GetPrim(),'angular' if typ=='revolute' else 'linear');da.CreateTypeAttr('force');da.CreateTargetPositionAttr(drive[0]);da.CreateStiffnessAttr(drive[1]);da.CreateDampingAttr(drive[2]);da.CreateMaxForceAttr(drive[3])\n return j\njoint('MotorSpindleRotation','revolute',H,C,(-.074,0,Z),axis='X')\njoint('KeylessSleeveAdjustment','revolute',C,CS,(-.102,0,Z),axis='X',limits=(-165,165),drive=(0,.02,.002,.2))\njoint('ClutchTorqueSelection','revolute',H,T,(-.040,0,Z),axis='X',limits=(0,300),drive=(0,.05,.004,.4))\njoint('TriggerSpringTravel','prismatic',H,TR,(-.007,0,.154),axis='X',limits=(0,.005),drive=(0,140,3,5))\njoint('DirectionCrossSlide','prismatic',H,D,(.004,0,.171),axis='Y',limits=(-.004,.004),drive=(0,120,3,4))\njoint('TwoSpeedLongitudinalSlide','prismatic',H,SP,(.030,0,.240),axis='X',limits=(-.004,.004),drive=(0,100,2,2))\njoint('BatterySlideRail','prismatic',H,B,(.014,0,.043),axis='X',limits=(-.115,0),drive=(0,1600,18,75))\njoint('BatteryReleaseSpring','prismatic',B,BL,(-.063,0,.039),axis='Z',limits=(-.003,0),drive=(0,250,4,8))\nfor i,(p,t,c) in enumerate(JAW):\n vec=np.array([.93,.367*np.cos(t),.367*np.sin(t)])\n joint('JawRadialTravel'+str(i),'prismatic',C,p,c,axis='X',limits=(0,.0036),orient=quat_align_x(vec),drive=(0,500,4,20))\n# Physics scene and human-readable SI metadata.\nscene=UsdPhysics.Scene.Define(S,'/Drill/PhysicsScene');scene.CreateGravityDirectionAttr(Gf.Vec3f(0,0,-1));scene.CreateGravityMagnitudeAttr(9.81)\nroot.GetPrim().CreateAttribute('simready:assetType',Sdf.ValueTypeNames.Token,custom=True).Set('prop')\nroot.GetPrim().CreateAttribute('simready:description',Sdf.ValueTypeNames.String,custom=True).Set('A battery-powered hand drill with articulated controls and keyless chuck')\nS.GetRootLayer().Save()\nprint('Saved',S.GetRootLayer().identifier)\nbb=UsdGeom.BBoxCache(0,['default','render']).ComputeWorldBound(root.GetPrim()).ComputeAlignedBox();print('Bounds',bb.GetMin(),bb.GetMax(),'size',bb.GetSize())\nprint('Prims',len(list(S.Traverse())))\n" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_hT5CmvICrCMOfrPfDPthnNhF|fc_091e7fed85c4774c016ad81d3339b087d1b19d64f670373053", + "content": "Successfully wrote to /tmp/build_asset.py", + "extra": { + "tool_name": "write", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 10837, + "completion_tokens": 12853, + "cached_tokens": 7936, + "extra": { + "cache_write_tokens": 2898, + "reasoning_tokens": 516, + "pi_total_tokens": 23690 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "e3b97b25", + "pi_parent_id": "2afe91d1", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81d2666bc87d190a85628b012d40c", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 11, + "timestamp": "2026-10-21T02:05:21.890Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_isgf5nkKGeJPNpYcxNL2GIAY|fc_091e7fed85c4774c016ad81de1828c87d18008674ffb72131a", + "function_name": "bash", + "arguments": { + "command": "python /tmp/build_asset.py", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_isgf5nkKGeJPNpYcxNL2GIAY|fc_091e7fed85c4774c016ad81de1828c87d18008674ffb72131a", + "content": "Saved /output/asset.usd\nBounds (-0.12688447199761868, -0.04528459906578064, -3.725290284584126e-10) (0.08949999928474427, 0.04528459906578064, 0.24359999674558638) size (0.21638447128236293, 0.09056919813156128, 0.24359999711811542)\nPrims 301", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 23708, + "completion_tokens": 54, + "cached_tokens": 10834, + "extra": { + "cache_write_tokens": 12871, + "reasoning_tokens": 25, + "pi_total_tokens": 23762 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "fe829be2", + "pi_parent_id": "76a120f7", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81ddfe49887d1984fcddb4055a83b", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 12, + "timestamp": "2026-10-21T02:05:32.429Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_YcePP3EUsQuwmh5zL54CSWCz|fc_091e7fed85c4774c016ad81dec0db087d19bc474af619ad181", + "function_name": "mcp", + "arguments": { + "tool": "benchmark_validate_candidate", + "args": { + "request_id": "check-1" + } + } + }, + { + "tool_call_id": "call_DWKZjBtQnn8AJMgK0GEAG3uV|fc_091e7fed85c4774c016ad81dec0dc487d1a06cb4802008a326", + "function_name": "bash", + "arguments": { + "command": "pip -q install trimesh pyrender PyOpenGL_accelerate && ldconfig -p | grep -E 'OSMesa|EGL|libGL\\.'", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_YcePP3EUsQuwmh5zL54CSWCz|fc_091e7fed85c4774c016ad81dec0db087d19bc474af619ad181", + "content": 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",\"status\":\"pass\",\"finding_count\":0}]},\"nvidia_validator_report\":{\"available\":true,\"report_id\":\"2a71998801c2a3ceffb09ad4fbd0b3bc3faf391153203127417c181bb7396038\",\"sha256\":\"2a71998801c2a3ceffb09ad4fbd0b3bc3faf391153203127417c181bb7396038\",\"bytes\":409550,\"total_characters\":409550,\"issue_counts\":{\"issues\":4,\"soft_issues\":351,\"warnings\":0,\"infos\":0},\"complete_report_available\":true,\"delivery\":\"agent_file\",\"file_path\":\"/tmp/simready-validation-reports/2a71998801c2a3ceffb09ad4fbd0b3bc3faf391153203127417c181bb7396038.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 -e ; use sed -n ,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 + } + }, + { + "source_call_id": "call_DWKZjBtQnn8AJMgK0GEAG3uV|fc_091e7fed85c4774c016ad81dec0dc487d1a06cb4802008a326", + "content": "/bin/bash: line 1: pip: command not found\n\n\nCommand exited with code 127", + "extra": { + "tool_name": "bash", + "is_error": true + } + } + ] + }, + "metrics": { + "prompt_tokens": 23880, + "completion_tokens": 341, + "cached_tokens": 23705, + "extra": { + "cache_write_tokens": 172, + "reasoning_tokens": 243, + "pi_total_tokens": 24221 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "d15e971f", + "pi_parent_id": "8f833fa8", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81de4bf4c87d1a096af86b67c408e", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 13, + "timestamp": "2026-10-21T02:05:41.418Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Considering pip installation**\n\nI\u2019m thinking about whether I need to run `python -m pip`. It\u2019s a bit of a question in my mind because `pip` can sometimes be tricky to install or use, and I wonder if that\u2019s necessary for my tasks. If I'm trying to get a package installed, using `python -m pip` might be a cleaner way to ensure I'm using the right environment. I should look into what the requirements are.", + "tool_calls": [ + { + "tool_call_id": "call_WZlWjfgMjXK2kunBhBt05GBV|fc_091e7fed85c4774c016ad81df510f487d18762aa7afb91235f", + "function_name": "bash", + "arguments": { + "command": "rg -n -m 20 -M 240 -F -e 'com.nvidia.simready.SR.002' -e 'com.nvidia.simready.SR.004' -e 'com.nvidia.usd.AA.001' /tmp/simready-validation-reports/2a71998801c2a3ceffb09ad4fbd0b3bc3faf391153203127417c181bb7396038.json; head -100 /tmp/simready-validation-reports/2a71998801c2a3ceffb09ad4fbd0b3bc3faf391153203127417c181bb7396038.json", + "timeout": 200 + } + }, + { + "tool_call_id": "call_c7hfQen9KQhXqM2OGdDcKzBu|fc_091e7fed85c4774c016ad81df5110c87d18be30e662162d322", + "function_name": "bash", + "arguments": { + "command": "python -m pip install --quiet trimesh pyrender PyOpenGL_accelerate; ldconfig -p | grep -E 'OSMesa|EGL|libGL\\.'; which uv", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_WZlWjfgMjXK2kunBhBt05GBV|fc_091e7fed85c4774c016ad81df510f487d18762aa7afb91235f", + "content": "37: \"failing requirements\": \"['com.nvidia.usd.AA.001']\",\n39:[Omitted long matching line]\n150: \"failing requirements\": \"['com.nvidia.usd.AA.001']\",\n152:[Omitted long matching line]\n158: \"failing requirements\": \"['com.nvidia.simready.SR.002', 'com.nvidia.simready.SR.004', 'com.nvidia.usd.AA.001']\",\n160:[Omitted long matching line]\n317: \"code\": \"com.nvidia.simready.SR.002\",\n322: \"code\": \"com.nvidia.simready.SR.004\",\n372: \"code\": \"com.nvidia.usd.AA.001\",\n897: \"rule_id\": \"com.nvidia.simready.SR.002\",\n908: \"rule_id\": \"com.nvidia.simready.SR.004\",\n919: \"rule_id\": \"com.nvidia.usd.AA.001\",\n930: \"rule_id\": \"com.nvidia.usd.AA.001\",\n1574: \"message\": \"Failed requirements ['com.nvidia.simready.SR.002', 'com.nvidia.simready.SR.004', 'com.nvidia.usd.AA.001'] preclude feature FET_033_STANDARD.\"\n1579: \"message\": \"Failed requirements ['com.nvidia.usd.AA.001'] preclude feature FET_031_STANDARD.\"\n1599: \"message\": \"Failed requirements ['com.nvidia.usd.AA.001'] preclude feature FET_001_STANDARD.\"\n1686: \"com.nvidia.simready.SR.002\",\n1687: \"com.nvidia.simready.SR.004\",\n1705: \"com.nvidia.usd.AA.001\",\n3458: \"code\": \"com.nvidia.simready.SR.002\",\n{\n \"asset_path\": \"/output/asset.usd\",\n \"asset_sha256\": \"f8f0a331ba9cda93795fd0b06a20eb7845034e4d052ff5bb6d9932a66cfcdc36\",\n \"engine_dispatch_completed\": true,\n \"features_summary\": {\n \"FET_000_MUJOCO\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[{'FET_000_STANDARD': {'version': '0.1.0'}}]\",\n \"optional requirements\": \"['com.nvidia.simready.NP.006', 'com.nvidia.simready.RV.007', 'com.nvidia.simready.SR.001']\",\n \"passed\": false,\n \"version\": \"0.1.0\"\n },\n \"FET_000_NEWTON\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[{'FET_000_STANDARD': {'version': '0.1.0'}}]\",\n \"optional requirements\": \"['com.nvidia.simready.NP.006', 'com.nvidia.simready.RV.004', 'com.nvidia.simready.SR.001']\",\n \"passed\": false,\n \"version\": \"0.1.0\"\n },\n \"FET_000_PHYSX\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[{'FET_000_STANDARD': {'version': '0.1.0'}}]\",\n \"optional requirements\": \"['com.nvidia.simready.NP.006', 'com.nvidia.simready.RV.001', 'com.nvidia.simready.SR.001']\",\n \"passed\": false,\n \"version\": \"0.1.0\"\n },\n \"FET_000_STANDARD\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[]\",\n \"optional requirements\": \"['com.nvidia.simready.NP.006', 'com.nvidia.simready.SR.001']\",\n \"passed\": false,\n \"version\": \"0.2.0\"\n },\n \"FET_001_STANDARD\": {\n \"blocking_failure\": true,\n \"dependencies\": \"[]\",\n \"failing requirements\": \"['com.nvidia.usd.AA.001']\",\n \"passed\": false,\n \"requirement_messages\": \"{\\\"com.nvidia.usd.AA.001\\\": [\\\"Dependent Reference \\\\\\\"asset.usd\\\\\\\" should begin with \\\\\\\"./\\\\\\\" or \\\\\\\"../\\\\\\\".\\\", \\\"Dependent Reference \\\\\\\"textures/moulded_normal.png\\\\\\\" should begin with \\\\\\\"./\\\\\\\" or \\\\\\\"../\\\\\\\".\\\"]}\",\n \"version\": \"1.0.1\"\n },\n \"FET_003_MUJOCO\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[]\",\n \"optional requirements\": \"['com.nvidia.simready.MUJOCO.COL.001']\",\n \"passed\": false,\n \"version\": \"0.1.0\"\n },\n \"FET_003_NEWTON\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[]\",\n \"optional requirements\": \"['com.nvidia.simready.NEWTON.COL.001']\",\n \"passed\": false,\n \"version\": \"0.1.0\"\n },\n \"FET_003_PHYSX\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[]\",\n \"passed\": true,\n \"version\": \"0.4.0\"\n },\n \"FET_003_STANDARD\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[]\",\n \"passed\": true,\n \"version\": \"0.2.0\"\n },\n \"FET_004_MUJOCO\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[{'FET_003_MUJOCO': {'version': '0.1.0'}}]\",\n \"optional requirements\": \"['com.nvidia.simready.MUJOCO.COL.001']\",\n \"passed\": false,\n \"version\": \"0.1.0\"\n },\n \"FET_004_NEWTON\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[{'FET_003_NEWTON': {'version': '0.1.0'}}]\",\n \"optional requirements\": \"['com.nvidia.simready.NEWTON.COL.001']\",\n \"passed\": false,\n \"version\": \"0.1.0\"\n },\n \"FET_004_PHYSX\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[{'FET_003_PHYSX': {'version': '0.4.0'}}]\",\n \"passed\": true,\n \"version\": \"0.4.0\"\n },\n \"FET_004_STANDARD\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[{'FET_003_STANDARD': {'version': '0.2.0'}}]\",\n \"passed\": true,\n \"version\": \"0.2.0\"\n },\n \"FET_005_STANDARD\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[]\",\n \"optional requirements\": \"['com.nvidia.simready.GSP.001', 'com.nvidia.simready.PMT.001']\",\n \"passed\": false,\n \"version\": \"0.1.0\"\n },", + "extra": { + "tool_name": "bash", + "is_error": false + } + }, + { + "source_call_id": "call_c7hfQen9KQhXqM2OGdDcKzBu|fc_091e7fed85c4774c016ad81df5110c87d18be30e662162d322", + "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\tlibGL.so.1 (libc6,x86-64) => /lib/x86_64-linux-gnu/libGL.so.1\n\n\nCommand exited with code 1", + "extra": { + "tool_name": "bash", + "is_error": true + } + } + ] + }, + "metrics": { + "prompt_tokens": 25878, + "completion_tokens": 251, + "cached_tokens": 23877, + "extra": { + "cache_write_tokens": 1998, + "reasoning_tokens": 11, + "pi_total_tokens": 26129 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "45e0b012", + "pi_parent_id": "d96c0346", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81df118cc87d1aaba2d8e4bf0ceb0", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 14, + "timestamp": "2026-10-21T02:05:46.749Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Exploring installation options**\n\nI think I might need to install some libraries like libegl and libosmesa, and there\u2019s a possibility there's a relevant Python package available. It seems I could also explore using software rendering via CPU, which involves utilizing numpy for triangle shading. Maybe I should confirm if PyVista is an option? I might try running an apt-get update and installing libegl1-mesa, but I\u2019ll need root access for that, right?", + "tool_calls": [ + { + "tool_call_id": "call_y0apSYsv1wogNlEkLOEjwVd2|fc_091e7fed85c4774c016ad81dfa61f487d1b9bf639570dbe088", + "function_name": "bash", + "arguments": { + "command": "sed -n '880,946p' /tmp/simready-validation-reports/2a71998801c2a3ceffb09ad4fbd0b3bc3faf391153203127417c181bb7396038.json", + "timeout": 200 + } + }, + { + "tool_call_id": "call_6TQSO5Xi9IZ3Z7llPf2dFrRQ|fc_091e7fed85c4774c016ad81dfa620887d1a1c53424308081de", + "function_name": "bash", + "arguments": { + "command": "python -m pip install --break-system-packages --quiet trimesh pyrender PyOpenGL_accelerate; apt-get update -qq && apt-get install -y -qq libegl1 libgl1-mesa-dri libosmesa6", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_y0apSYsv1wogNlEkLOEjwVd2|fc_091e7fed85c4774c016ad81dfa61f487d1b9bf639570dbe088", + "content": "\"profiles/robotics_prop.toml\": \"55436c902cd238daab9be26caaa9f197509825d866f8b6fcfbb74de61b93fcd9\"\n },\n \"versions\": {\n \"simready-foundation-tier-core\": \"2026.8.0\",\n \"simready-validate\": \"2026.8.0\",\n \"usd-profiles-nvidia\": \"1.22.0\",\n \"usd-validation-nvidia\": \"1.22.0\"\n }\n },\n \"issues\": [\n {\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"message\": \"No thumbnail found at /output/.thumbs/256x256/asset.usd.png for SimReady asset \",\n \"prim_path\": null,\n \"requirement_version\": \"0.1.0\",\n \"rule\": \"simready.foundation.tier_core.capabilities.core.sim_ready.validation.ThumbnailExists\",\n \"rule_id\": \"com.nvidia.simready.SR.002\",\n \"severity\": \"failure\",\n \"suggestions\": []\n },\n {\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"message\": \"Required metadata fields are missing: author, asset_name, asset_type, asset_license, category, source_file, usd_date_generated, qcode, rigid_body_count, asset_extents, mass. Fields may be authored in root-layer customLayerData (including SimReady_Metadata) and/or the same-directory sidecar JSON.\",\n \"prim_path\": null,\n \"requirement_version\": \"0.1.0\",\n \"rule\": \"simready.foundation.tier_core.capabilities.core.sim_ready.validation.MetadataUnion\",\n \"rule_id\": \"com.nvidia.simready.SR.004\",\n \"severity\": \"failure\",\n \"suggestions\": []\n },\n {\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"LayerId(identifier='/output/asset.usd')\",\n \"message\": \"Dependent Reference \\\"asset.usd\\\" should begin with \\\"./\\\" or \\\"../\\\".\",\n \"prim_path\": null,\n \"requirement_version\": \"1.0.0\",\n \"rule\": \"usd_validation_nvidia.rules._atomic_asset.AnchoredAssetPathsChecker\",\n \"rule_id\": \"com.nvidia.usd.AA.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n },\n {\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"LayerId(identifier='/output/asset.usd')\",\n \"message\": \"Dependent Reference \\\"textures/moulded_normal.png\\\" should begin with \\\"./\\\" or \\\"../\\\".\",\n \"prim_path\": null,\n \"requirement_version\": \"1.0.0\",\n \"rule\": \"usd_validation_nvidia.rules._atomic_asset.AnchoredAssetPathsChecker\",\n \"rule_id\": \"com.nvidia.usd.AA.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n }\n ],\n \"logs\": [\n {\n \"level\": \"INFO\",\n \"logger\": \"simready.validate\",\n \"message\": \"simready.validate (2026.8.0) initialize.\"\n },\n {\n \"level\": \"INFO\",\n \"logger\": \"simready.validate\",\n \"message\": \"Clearing requirements registry\"\n },\n {", + "extra": { + "tool_name": "bash", + "is_error": false + } + }, + { + "source_call_id": "call_6TQSO5Xi9IZ3Z7llPf2dFrRQ|fc_091e7fed85c4774c016ad81dfa620887d1a1c53424308081de", + "content": "WARNING: Retrying (Retry(total=4, connect=None, read=None, redirect=None, status=None)) after connection broken by 'NewConnectionError(': Failed to establish a new connection: [Errno -3] Temporary failure in name resolution')': /simple/trimesh/\nWARNING: Retrying (Retry(total=3, connect=None, read=None, redirect=None, status=None)) after connection broken by 'NewConnectionError(': Failed to establish a new connection: [Errno -3] Temporary failure in name resolution')': /simple/trimesh/\nWARNING: Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'NewConnectionError(': Failed to establish a new connection: [Errno -3] Temporary failure in name resolution')': /simple/trimesh/\nWARNING: Retrying (Retry(total=1, connect=None, read=None, redirect=None, status=None)) after connection broken by 'NewConnectionError(': Failed to establish a new connection: [Errno -3] Temporary failure in name resolution')': /simple/trimesh/\nWARNING: Retrying (Retry(total=0, connect=None, read=None, redirect=None, status=None)) after connection broken by 'NewConnectionError(': Failed to establish a new connection: [Errno -3] Temporary failure in name resolution')': /simple/trimesh/\nERROR: Could not find a version that satisfies the requirement trimesh (from versions: none)\nERROR: No matching distribution found for trimesh\nE: List directory /var/lib/apt/lists/partial is missing. - Acquire (13: Permission denied)\n\n\nCommand exited with code 100", + "extra": { + "tool_name": "bash", + "is_error": true + } + } + ] + }, + "metrics": { + "prompt_tokens": 27977, + "completion_tokens": 221, + "cached_tokens": 25875, + "extra": { + "cache_write_tokens": 2099, + "reasoning_tokens": 62, + "pi_total_tokens": 28198 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "50d6b4bf", + "pi_parent_id": "46702152", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81df65e4887d18b310393af514552", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 15, + "timestamp": "2026-10-21T02:05:58.068Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Considering rendering options**\n\nI\u2019m thinking I might need my own rendering setup. I wonder if available packages like Torch could help with that. So, first things first, I should check which packages are currently installed. That way, I can make sure I\u2019m on the right track. If Torch is available, it might be a good option to explore further. Let's see what I find in my installed packages list!", + "tool_calls": [ + { + "tool_call_id": "call_r57ZQ6LykUE7vBTKU3DhF8BA|fc_091e7fed85c4774c016ad81e05a1cc87d1aafceb4ffd3265bb", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nfrom importlib.metadata import distributions\nprint(' '.join(sorted(x.metadata['Name'] for x in distributions())))\nPY", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_r57ZQ6LykUE7vBTKU3DhF8BA|fc_091e7fed85c4774c016ad81e05a1cc87d1aafceb4ffd3265bb", + "content": "numpy pillow pip usd-core", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 29482, + "completion_tokens": 71, + "cached_tokens": 27974, + "extra": { + "cache_write_tokens": 1505, + "reasoning_tokens": 16, + "pi_total_tokens": 29553 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "686b639c", + "pi_parent_id": "51f4854a", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81e034c6487d18ae6f86462126e01", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 16, + "timestamp": "2026-10-21T02:06:32.017Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Exploring panel orientation**\n\nI'm considering how most open patches can be identified by their exterior sample direction. It seems like I can automate the face winding orientation for panels, using a mesh function to set normals outward based on the centroid. However, it may not be too generic for a toroidal annulus, but I think I can fix that by adjusting the shape. To ensure accuracy, I'll need an actual reference and a rendered view.", + "tool_calls": [ + { + "tool_call_id": "call_qBwAWHXCx4Xn7KIX69PM9Jrf|fc_091e7fed85c4774c016ad81e244bb487d184c8363efc95548a", + "function_name": "edit", + "arguments": { + "path": "/tmp/build_asset.py", + "edits": [ + { + "oldText": "Sdf.AssetPath('asset.usd')", + "newText": "Sdf.AssetPath('./asset.usd')" + }, + { + "oldText": "Sdf.AssetPath('textures/moulded_normal.png')", + "newText": "Sdf.AssetPath('./textures/moulded_normal.png')" + }, + { + "oldText": "faces=[f[::-1] for f in faces];faces+=[list(range(N)),list(range(len(pts)-1,len(pts)-N-1,-1))]", + "newText": "faces+=[list(range(N-1,-1,-1)),list(range(len(pts)-N,len(pts)))]" + }, + { + "oldText": " # Reverse because the section starts inner-front and moves outward.\n faces=[f[::-1] for f in faces]\n return mesh(parent,name,pts,faces,mat,False,True)", + "newText": " return mesh(parent,name,pts,faces,mat,False,True)" + }, + { + "oldText": "W=.08936920017004013/2", + "newText": "W=.08936920017004013/2-.0006" + }, + { + "oldText": "(.059,.0343,.0366,Z)", + "newText": "(.059,.0343,.03694267840034445,Z)" + }, + { + "oldText": "S.GetRootLayer().Save()\nprint('Saved'", + "newText": "S.GetRootLayer().customLayerData={'SimReady_Metadata': {'author':'OpenAI', 'asset_name':'Cordless Drill Driver', 'asset_type':'prop', 'asset_license':'CC0-1.0', 'category':'power_tool', 'source_file':'thumbnail.png', 'usd_date_generated':'2026-08-09', 'qcode':'Q16556', 'rigid_body_count':len(origins), 'asset_extents':Gf.Vec3d(.2163844726378463,.08936920017004013,.24394267840034445), 'mass':sum(float(UsdPhysics.MassAPI(S.GetPrimAtPath(p)).GetMassAttr().Get()) for p in origins)}}\nS.GetRootLayer().Save()\nprint('Saved'" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_qBwAWHXCx4Xn7KIX69PM9Jrf|fc_091e7fed85c4774c016ad81e244bb487d184c8363efc95548a", + "content": "Successfully replaced 7 block(s) in /tmp/build_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 29570, + "completion_tokens": 1772, + "cached_tokens": 29479, + "extra": { + "cache_write_tokens": 88, + "reasoning_tokens": 1303, + "pi_total_tokens": 31342 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "cb14a683", + "pi_parent_id": "72e6fd29", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81e06df0087d19812e45dd6d8480d", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 17, + "timestamp": "2026-10-21T02:06:56.798Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_j1OHvgYFlPv1VoggsBXuyUPm|fc_091e7fed85c4774c016ad81e2a27bc87d1bad089b791626b25", + "function_name": "write", + "arguments": { + "path": "/tmp/render_asset.py", + "content": "from pxr import Usd,UsdGeom,UsdShade, Gf\nfrom PIL import Image, ImageFilter\nimport numpy as np, math, sys, time\nstage=Usd.Stage.Open('/output/asset.usd')\nW=900;H=1000\nif len(sys.argv)>2: W=H=int(sys.argv[2])\nview=int(sys.argv[1]) if len(sys.argv)>1 else 0\nfocus=np.array([-.006,0,.122]);eyes=[np.array([-.38,-.56,.39]),np.array([-.40,.55,.37]),np.array([-.06,-.6,.27]),np.array([.4,-.5,.34])]; eye=eyes[view]\nz=eye-focus;z/=np.linalg.norm(z);x=np.cross([0,0,1.],z);x/=np.linalg.norm(x);y=np.cross(z,x);basis=np.array([x,y,z]);scale=H/.318\nbg=np.array([.052,.050,.050]);image=np.tile(bg,(H,W,1));dep=np.full((H,W),-100.);normals=np.zeros((H,W,3));alb=np.zeros((H,W,3));met=np.zeros((H,W));rough=np.ones((H,W));mask=np.zeros((H,W),bool)\ncache=UsdGeom.XformCache()\nlightdirs=[np.array([-.35,-.65,.95]),np.array([.5,-.0,.75]),np.array([-.1,.9,.3])];lightdirs=[l/np.linalg.norm(l) for l in lightdirs];weights=[.9,.43,.25]\nct=0;culled=0\nfor prim in stage.Traverse():\n if not prim.IsA(UsdGeom.Mesh): continue\n m=UsdGeom.Mesh(prim);pts=np.array(m.GetPointsAttr().Get(),float)\n trans=cache.GetLocalToWorldTransform(prim);matx=np.array(trans);pts=np.c_[pts,np.ones(len(pts))]@matx;pts=pts[:,:3]\n pos=(pts-focus)@basis.T;pos[:,0]=pos[:,0]*scale+W/2;pos[:,1]=-pos[:,1]*scale+H/2\n counts=list(m.GetFaceVertexCountsAttr().Get());ids=list(m.GetFaceVertexIndicesAttr().Get());ns=np.array(m.GetNormalsAttr().Get(),float)\n bound=UsdShade.MaterialBindingAPI(prim).ComputeBoundMaterial()[0];sh=UsdShade.Shader(stage.GetPrimAtPath(str(bound.GetPath())+'/Surface'))\n col=np.array(sh.GetInput('diffuseColor').Get(),float);r=float(sh.GetInput('roughness').Get());metal=float(sh.GetInput('metallic').Get())\n q=0\n for count in counts:\n face=ids[q:q+count];nr=ns[q:q+count];q+=count\n for k in range(1,count-1):\n ix=[0,k,k+1];tri=pos[np.array(face)[ix]];tn=nr[ix];ct+=1\n # rightHanded single sided culling, projected triangles are clockwise due flipped screen y.\n v0=tri[1,:2]-tri[0,:2];v1=tri[2,:2]-tri[0,:2];den=v0[0]*v1[1]-v0[1]*v1[0]\n if den>=-1e-12:culled+=1;continue\n lo=np.maximum(np.floor(tri[:,:2].min(0)).astype(int),[0,0]);hi=np.minimum(np.ceil(tri[:,:2].max(0)).astype(int),[W-1,H-1])\n if (hi=-1e-7)&(b>=-1e-7)&(c>=-1e-7)&(zz>dep[sl])\n if not vis.any():continue\n no=a[...,None]*tn[0]+b[...,None]*tn[1]+c[...,None]*tn[2];no/=np.maximum(np.linalg.norm(no,axis=2)[...,None],1e-10)\n dep[sl][vis]=zz[vis];normals[sl][vis]=no[vis];alb[sl][vis]=col;met[sl][vis]=metal;rough[sl][vis]=r;mask[sl][vis]=True\nprint('tri',ct,'culled',culled)\n# Diffuse irradiance plus broad studio highlights.\nno=normals\nirr=np.full((H,W),.34)\nfor l,w in zip(lightdirs,weights):irr+=np.maximum(0,(no*l).sum(2))*w\nimage[mask]=(alb*irr[...,None])[mask]\nfor l,w in zip(lightdirs,weights):\n half=l+z;half/=np.linalg.norm(half)\n spec=np.maximum(0,(no*half).sum(2))**(4+60*(1-rough)**2)\n inten=spec*(.03+.42*met)*w\n image[mask]+=inten[mask,None]\n# Screen-space occlusion, only small relative depths contribute.\nocc=np.zeros((H,W));nstep=0\nfor dx,dy in [(3,0),(-3,0),(0,3),(0,-3),(7,3),(-7,-3),(3,7),(-3,-7),(13,0),(-13,0),(0,13),(0,-13)]:\n other=np.roll(np.roll(dep,dx,1),dy,0);diff=other-dep\n occ+=np.clip((diff-.0002)/.005,0,1)*(diff<.018);nstep+=1\nimage[mask]*=(1-.45*occ[mask]/nstep)[:,None]\n# Deterministic subpixel finish for plastic.\nrng=np.random.default_rng(4);image[mask]*=rng.normal(1,.005,(H,W))[mask,None]\nimage=np.clip(image,0,1);rgb=np.where(image<=.0031308,image*12.92,1.055*image**(1/2.4)-.055)\nImage.fromarray(np.uint8(np.clip(rgb*255,0,255))).save('/tmp/preview'+str(view)+'.png')\n" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_j1OHvgYFlPv1VoggsBXuyUPm|fc_091e7fed85c4774c016ad81e2a27bc87d1bad089b791626b25", + "content": "Successfully wrote to /tmp/render_asset.py", + "extra": { + "tool_name": "write", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 31366, + "completion_tokens": 1556, + "cached_tokens": 29567, + "extra": { + "cache_write_tokens": 1796, + "reasoning_tokens": 0, + "pi_total_tokens": 32922 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "eb9232aa", + "pi_parent_id": "48a3c6f8", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81e28ceac87d18c40b374c4b7ecf8", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 18, + "timestamp": "2026-10-21T02:06:59.631Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_W6jdVCmh8S205fuxuu6c9bDX|fc_091e7fed85c4774c016ad81e42f2e487d18bed3618b045c9e0", + "function_name": "bash", + "arguments": { + "command": "python /tmp/build_asset.py && python /tmp/render_asset.py 0", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_W6jdVCmh8S205fuxuu6c9bDX|fc_091e7fed85c4774c016ad81e42f2e487d18bed3618b045c9e0", + "content": "Saved /output/asset.usd\nBounds (-0.12688447199761868, -0.044684600085020065, -3.725290284584126e-10) (0.08949999928474427, 0.044684600085020065, 0.2439426787495613) size (0.21638447128236293, 0.08936920017004013, 0.24394267912209033)\nPrims 301\ntri 40280 culled 19556", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 32940, + "completion_tokens": 36, + "cached_tokens": 31363, + "extra": { + "cache_write_tokens": 1574, + "reasoning_tokens": 0, + "pi_total_tokens": 32976 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "08450b28", + "pi_parent_id": "df9b6e8b", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81e418e4087d19887b2cfd986711a", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 19, + "timestamp": "2026-10-21T02:07:06.695Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_mEkaPFOa9flRZLrMlPuOK5C7|fc_091e7fed85c4774c016ad81e4a419487d18ba34e33c32d113c", + "function_name": "read", + "arguments": { + "path": "/tmp/preview0.png", + "offset": 1, + "limit": 2000 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_mEkaPFOa9flRZLrMlPuOK5C7|fc_091e7fed85c4774c016ad81e4a419487d18ba34e33c32d113c", + "content": [ + { + "type": "text", + "text": "Read image file [image/png]" + }, + { + "type": "image", + "source": { + "media_type": "image/png", + "path": "images/pi_image_2.png" + } + } + ], + "extra": { + "tool_name": "read", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 33104, + "completion_tokens": 31, + "cached_tokens": 32937, + "extra": { + "cache_write_tokens": 164, + "reasoning_tokens": 0, + "pi_total_tokens": 33135 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "3ab7e6c3", + "pi_parent_id": "6f38fd9d", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81e49183487d1ab953dbffea71ee6", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 20, + "timestamp": "2026-10-21T02:08:19.498Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "The first validation passed 43 of 46 mandatory checks. The failures are packaging issues: a missing thumbnail, missing asset metadata, and dependency paths that need `./` prefixes. I\u2019m repairing those and refining the visible details, including the chuck opening, gearbox screw recesses, grip panels, and battery latch.", + "reasoning_content": "**Describing grip characteristics**\n\nI'm considering how the grip might resemble ours, specifically noting that it could be quite slender and long. When I think about the handle, it seems to feature a black color that predominantly covers the front, especially near the bottom, with just a red leading strip to add a bit of flair. I wonder how these design elements affect usability and aesthetics overall. It's interesting to think about how such characteristics impact grip feel!\n\n\n**Modifying gear shape**\n\nI'm thinking about adjusting the white gearbox ring profile, with the back edge being stepped to vary with an angle, t. The white plain band is fixed at x-.003. I want to reference how the back edge's shape changes with this angular t, and include cutouts on the upper side. I\u2019m considering modifying the last two rings by applying an offset of 0.003 cos4t or a stepping method to avoid regularity.\n**Considering design edits**\n\nI'm thinking about adding dark red lines below existing ridges to echo that reference red groove. The main body under the rail should be black and extend down the handle via a shaped black panel. I\u2019m counting my remaining calls and it looks like I have about 39 left, maybe it's closer to 33? I need to ensure I make those edits carefully so everything looks great!", + "tool_calls": [ + { + "tool_call_id": "call_JP4u9lpLcuBkRIDAFLlaVVTW|fc_091e7fed85c4774c016ad81e84b06887d1b7e24b3e4dfbc90c", + "function_name": "edit", + "arguments": { + "path": "/tmp/build_asset.py", + "edits": [ + { + "oldText": "def loftx(parent,name,profile,mat,N=96,phase=0,exp=2,collide=False,rib=0,ribs=0):", + "newText": "def loftx(parent,name,profile,mat,N=96,phase=0,exp=2,collide=False,rib=0,ribs=0,openfront=False):" + }, + { + "oldText": " faces += [list(range(N-1,-1,-1)),list(range((len(profile)-1)*N,len(profile)*N))]\n return mesh(parent,name,pts,faces,mat,collide,True,{len(faces)-2,len(faces)-1})", + "newText": " if not openfront: faces.append(list(range(N-1,-1,-1)))\n faces.append(list(range((len(profile)-1)*N,len(profile)*N)))\n return mesh(parent,name,pts,faces,mat,collide,True,{len(faces)-1} if openfront else {len(faces)-2,len(faces)-1})" + }, + { + "oldText": "'GearCase',96,exp=2.2,collide=True)", + "newText": "'GearCase',96,exp=2,collide=True)" + }, + { + "oldText": "for i,t in enumerate([2.60,.54,4.71]):\n radial_disc(H,'GearScrewWell'+str(i),-.012,t,.0334,.0058,.0019,'Cavity')\n radial_disc(H,'GearScrew'+str(i),-.012,t,.0333,.0039,.001,'SteelDark')", + "newText": "for i,t in enumerate([2.60,.54,4.71,1.70]):\n radial_disc(H,'GearScrewWell'+str(i),-.012 if i<3 else -.030,t,.03415 if i<3 else .0335,.0058,.0019,'Cavity')\n radial_disc(H,'GearScrew'+str(i),-.012 if i<3 else -.030,t,.0342 if i<3 else .03355,.0032,.001,'SteelDark')" + }, + { + "oldText": "loftx(CS,'KeylessSleeve',[(-.1268844726378463,.0117,.0117,Z),(-.1259,.014,.014,Z),(-.1240,.0163,.0163,Z),(-.119,.0187,.0187,Z),(-.103,.0214,.0214,Z),(-.101,.0217,.0217,Z)],'GraphitePlastic',144,collide=True)", + "newText": "loftx(CS,'KeylessSleeve',[(-.1260,.0125,.0125,Z),(-.1252,.014,.014,Z),(-.1240,.0163,.0163,Z),(-.119,.0187,.0187,Z),(-.103,.0214,.0214,Z),(-.101,.0217,.0217,Z)],'GraphitePlastic',144,collide=True,openfront=True)" + }, + { + "oldText": "annulus(C,'PolishedChuckNose',-.1267,-.1237,.0115,.0067,'Steel')", + "newText": "annulus(C,'PolishedChuckNose',-.1268844726378463,-.1237,.0115,.0067,'Steel')\nannulus(CS,'ChuckFrontLip',-.1260,-.1240,.0125,.0112,'PanelGraphite')" + }, + { + "oldText": "patchprof=[(.061,.035,.019,.0208,1.85),(.066,.035,.0198,.0212,2.2),(.079,.034,.0184,.0205,2.52),(.098,.030,.0166,.0190,2.56),(.118,.025,.0167,.0181,2.45),(.137,.020,.0182,.0182,2.40),(.151,.021,.021,.0203,2.10),(.164,.025,.026,.022,1.80),(.174,.032,.030,.024,1.2)]", + "newText": "patchprof=[(.061,.035,.019,.0208,2.35),(.066,.035,.0198,.0212,2.78),(.079,.034,.0184,.0205,2.92),(.098,.030,.0166,.0190,2.88),(.118,.025,.0167,.0181,2.66),(.137,.020,.0182,.0182,2.48),(.151,.021,.021,.0203,2.10),(.164,.025,.026,.022,1.80),(.174,.032,.030,.024,1.2)]" + }, + { + "oldText": "for j in range(len(p)):fa.append([0,j+1,(j+1)%len(p)+1] if sign<0 else [0,(j+1)%len(p)+1,j+1])", + "newText": "for j in range(len(p)):fa.append([0,(j+1)%len(p)+1,j+1] if sign<0 else [0,j+1,(j+1)%len(p)+1])" + }, + { + "oldText": "for t in np.linspace(1.25,2.55,22):", + "newText": "for t in np.linspace(1.25,2.85,26):" + }, + { + "oldText": "(.027,.029,.006),.0024,'Seam',R)", + "newText": "(.032,.035,.006),.0024,'Seam',R)" + }, + { + "oldText": "(.022,.025,.005),.0021,'RedSwitch',R,True)", + "newText": "(.027,.031,.005),.0021,'RedSwitch',R,True)" + }, + { + "oldText": "(.00085,.019,.00075),.0002,'RedHousing',R)", + "newText": "(.00085,.024,.00075),.0002,'RedHousing',R)" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_JP4u9lpLcuBkRIDAFLlaVVTW|fc_091e7fed85c4774c016ad81e84b06887d1b7e24b3e4dfbc90c", + "content": "Successfully replaced 12 block(s) in /tmp/build_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 34266, + "completion_tokens": 3948, + "cached_tokens": 33101, + "extra": { + "cache_write_tokens": 1162, + "reasoning_tokens": 2575, + "pi_total_tokens": 38214 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "9b51538a", + "pi_parent_id": "31e2c365", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81e4bb3f887d1b8f819980d388d78", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 21, + "timestamp": "2026-10-21T02:08:37.781Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Analyzing handle dimensions**\n\nI need to adjust our x positions, setting them around .047 at .153 near the neck. The silhouette needs reworking for a chunkier handle, raising it to about .019-.021 instead of .016. The reference grip is about .042 in width for X and .038 for Y, while ours is only .032. I\u2019m looking to increase the handle RX for various dimensions, and we should also enlarge the overmold accordingly. Finally, I need to consider the fitting for the panel and ensure the body inertia remains unaffected.\n\n**Considering handle design**\n\nI'm thinking about whether to add a rear handle seam path or leave a black gap instead. It\u2019s an important design decision, and I want to ensure that it looks good and functions well. I\u2019m definitely weighing my options carefully here! Adding a seam path could enhance the overall look, while a gap might offer a cleaner design. Hmm, it\u2019s a bit of a tough call; I\u2019ll need to consider how each choice impacts the aesthetics and functionality.", + "tool_calls": [ + { + "tool_call_id": "call_YUZAZRRDMJojBm2WoyuGEkqR|fc_091e7fed85c4774c016ad81ea41e3087d1a277b2ff225e1371", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport json,collections\np=json.load(open('/tmp/simready-validation-reports/2a71998801c2a3ceffb09ad4fbd0b3bc3faf391153203127417c181bb7396038.json'))\nprint(p.keys())\nfor key in ['soft_issues','warnings']:\n print(key)\n v=p.get(key,[])\n print(collections.Counter(x.get('rule_id') for x in v))\n for x in v[:8]:print(x.get('message'))\nPY", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_YUZAZRRDMJojBm2WoyuGEkqR|fc_091e7fed85c4774c016ad81ea41e3087d1a277b2ff225e1371", + "content": "dict_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'])\nsoft_issues\nCounter({'com.nvidia.simready.DISP.001': 224, 'com.nvidia.simready.MUJOCO.COL.001': 17, 'com.nvidia.simready.NEWTON.COL.001': 17, 'com.nvidia.simready.NVM.002': 13, 'com.nvidia.simready.NVM.003': 13, 'com.nvidia.simready.NVM.001': 13, 'com.nvidia.simready.VM.PBR.001': 13, 'com.nvidia.simready.VM.MDL.003': 13, 'com.nvidia.simready.VM.PBR.003': 10, 'com.nvidia.simready.VM.BIND.002': 10, 'com.nvidia.simready.GSP.001': 1, 'com.nvidia.simready.SR.001': 1, 'com.nvidia.simready.ISA.001': 1, 'com.nvidia.simready.NP.006': 1, 'com.nvidia.simready.PMT.001': 1, 'com.nvidia.simready.RV.007': 1, 'com.nvidia.simready.RV.004': 1, 'com.nvidia.simready.RV.001': 1})\nRequired attribute \"omni:simready:nonvisual:base\" for nonvisual material doesn't exist.\nRequired attribute \"omni:simready:nonvisual:coating\" for nonvisual material doesn't exist.\nRequired attribute \"omni:simready:nonvisual:attributes\" for nonvisual material doesn't exist.\nRequired attribute \"omni:simready:nonvisual:base\" for nonvisual material doesn't exist.\nRequired attribute \"omni:simready:nonvisual:coating\" for nonvisual material doesn't exist.\nRequired attribute \"omni:simready:nonvisual:attributes\" for nonvisual material doesn't exist.\nRequired attribute \"omni:simready:nonvisual:base\" for nonvisual material doesn't exist.\nRequired attribute \"omni:simready:nonvisual:coating\" for nonvisual material doesn't exist.\nwarnings\nCounter()", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 38238, + "completion_tokens": 821, + "cached_tokens": 34263, + "extra": { + "cache_write_tokens": 3972, + "reasoning_tokens": 672, + "pi_total_tokens": 39059 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "6c6411b1", + "pi_parent_id": "664b9a3f", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81e94709487d1886c6f0287267e26", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 22, + "timestamp": "2026-10-21T02:08:43.202Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Considering displayColor options**\n\nI'm thinking about how I can improve the displayColor feature for each mesh. It seems like adding this could enhance the fallback functionality. I wonder if the displayProperty requirement for DISP aligns with the `displayColor`. I'll need to inspect that to see if they match up or if there are any issues. It really makes me consider how these details can make a difference in usability.", + "tool_calls": [ + { + "tool_call_id": "call_DQuu1dw0c9QHVGlt59ShHmjz|fc_091e7fed85c4774c016ad81ea957d487d18226c8c939f4b8e0", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport json\np=json.load(open('/tmp/simready-validation-reports/2a71998801c2a3ceffb09ad4fbd0b3bc3faf391153203127417c181bb7396038.json'))\nfor rid in ['com.nvidia.simready.DISP.001','com.nvidia.simready.GSP.001','com.nvidia.simready.VM.PBR.003','com.nvidia.simready.VM.BIND.002','com.nvidia.simready.SR.001','com.nvidia.simready.ISA.001','com.nvidia.simready.NP.006','com.nvidia.simready.PMT.001']:\n print(rid)\n print(next((x for x in p['soft_issues'] if x.get('rule_id')==rid),None))\nPY", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_DQuu1dw0c9QHVGlt59ShHmjz|fc_091e7fed85c4774c016ad81ea957d487d18226c8c939f4b8e0", + "content": "com.nvidia.simready.DISP.001\n{'asset': \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", 'location': \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Drill/Housing/MotorRedShell)\", 'message': \"GPrim '/Drill/Housing/MotorRedShell' does not resolve a 'primvars:displayColor', authored on the prim or inherited from an ancestor\", 'prim_path': '/Drill/Housing/MotorRedShell', 'requirement_version': '0.1.0', 'rule': 'simready.foundation.tier_core.capabilities.visualization.display_color.validation.DisplayColorCapabilityChecker', 'rule_id': 'com.nvidia.simready.DISP.001', 'severity': 'failure', 'suggestions': []}\ncom.nvidia.simready.GSP.001\n{'asset': \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", 'location': \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Drill)\", 'message': 'Asset must have at least one grasp vector prim.', 'prim_path': '/Drill', 'requirement_version': '0.1.0', 'rule': 'simready.foundation.tier_core.capabilities.physics_bodies.physics_graspable.validation.GraspableVectorLineChecker', 'rule_id': 'com.nvidia.simready.GSP.001', 'severity': 'failure', 'suggestions': []}\ncom.nvidia.simready.VM.PBR.003\n{'asset': \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", 'location': \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Drill/Looks/RedHousing/UV)\", 'message': \"input 'varname' on '/Drill/Looks/RedHousing/UV' has type token, nodedef declares string\", 'prim_path': '/Drill/Looks/RedHousing/UV', 'requirement_version': '0.1.0', 'rule': 'simready.foundation.tier_core.capabilities.visualization.materials.validation.VisualMaterialsCapabilityChecker', 'rule_id': 'com.nvidia.simready.VM.PBR.003', 'severity': 'failure', 'suggestions': []}\ncom.nvidia.simready.VM.BIND.002\n{'asset': \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", 'location': \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Drill/Looks/RedHousing/UV)\", 'message': 'Type mismatch for: inputs:varname\\texpected: string\\tactual: token', 'prim_path': '/Drill/Looks/RedHousing/UV', 'requirement_version': '0.1.0', 'rule': 'simready.foundation.tier_core.capabilities.visualization.materials.validation.VisualMaterialsCapabilityChecker', 'rule_id': 'com.nvidia.simready.VM.BIND.002', 'severity': 'failure', 'suggestions': []}\ncom.nvidia.simready.SR.001\n{'asset': \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", 'location': \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", 'message': \"Required metadata fields are missing: SimReady_Metadata, asset_name, asset_type, source_file, usd_date_generated. Fields must be authored directly in the root layer's customLayerData.\", 'prim_path': None, 'requirement_version': '0.1.0', 'rule': 'simready.foundation.tier_core.capabilities.core.sim_ready.validation.SimReadyCapabilityChecker', 'rule_id': 'com.nvidia.simready.SR.001', 'severity': 'failure', 'suggestions': []}\ncom.nvidia.simready.ISA.001\n{'asset': \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", 'location': \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Drill)\", 'message': 'Incomplete Isaac Sim composition: performance robot layout; missing layers: base, geometries, instances, materials.', 'prim_path': '/Drill', 'requirement_version': '0.1.0', 'rule': 'simready.foundation.tier_core.capabilities.isaac_sim.composition.validation.IsaacCompositionCapabilityChecker', 'rule_id': 'com.nvidia.simready.ISA.001', 'severity': 'failure', 'suggestions': []}\ncom.nvidia.simready.NP.006\n{'asset': \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", 'location': \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", 'message': \"Asset 'asset' has no metadata. Metadata must be stored in custom layer data as 'SimReady_Metadata' or a sidecar JSON file.\", 'prim_path': None, 'requirement_version': '0.1.0', 'rule': 'simready.foundation.tier_core.capabilities.core.naming_paths.validation.MetadataLocationChecker', 'rule_id': 'com.nvidia.simready.NP.006', 'severity': 'failure', 'suggestions': []}\ncom.nvidia.simready.PMT.001\n{'asset': \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", 'location': \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Drill/Housing/MotorRedShell)\", 'message': 'Prim has a collision API but no material binding through material:binding:physics.', 'prim_path': '/Drill/Housing/MotorRedShell', 'requirement_version': '0.1.0', 'rule': 'simready.foundation.tier_core.capabilities.physics_bodies.physics_materials.validation.PhysicsMaterialsCapabilityChecker', 'rule_id': 'com.nvidia.simready.PMT.001', 'severity': 'failure', 'suggestions': []}", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 39578, + "completion_tokens": 233, + "cached_tokens": 38235, + "extra": { + "cache_write_tokens": 1340, + "reasoning_tokens": 26, + "pi_total_tokens": 39811 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "40e42332", + "pi_parent_id": "48bf3b3e", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81ea6da0c87d1b97c04f32e481760", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 23, + "timestamp": "2026-10-21T02:09:13.297Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_juAxzyh56MQWgl75tsSmcPEP|fc_091e7fed85c4774c016ad81eb9003c87d1aae5aa53875ecdca", + "function_name": "edit", + "arguments": { + "path": "/tmp/build_asset.py", + "edits": [ + { + "oldText": "uv.CreateInput('varname',Sdf.ValueTypeNames.Token).Set('st')", + "newText": "uv.CreateInput('varname',Sdf.ValueTypeNames.String).Set('st')" + }, + { + "oldText": "material('IndexMark',(.65,.64,.6),.5,grain=False)\n\norigins={}", + "newText": "material('IndexMark',(.65,.64,.6),.5,grain=False)\nphysicsmat=UsdShade.Material.Define(S,'/Drill/Looks/ContactMaterial')\npma=UsdPhysics.MaterialAPI.Apply(physicsmat.GetPrim());pma.CreateStaticFrictionAttr(.85);pma.CreateDynamicFrictionAttr(.65);pma.CreateRestitutionAttr(.025)\n\norigins={}" + }, + { + "oldText": "UsdShade.MaterialBindingAPI.Apply(m.GetPrim()).Bind(M[mat]);semantic(m.GetPrim(),name.lower(), 'metal' if mat.startswith('Steel') else 'polymer')", + "newText": "UsdShade.MaterialBindingAPI.Apply(m.GetPrim()).Bind(M[mat]);semantic(m.GetPrim(),name.lower(), 'metal' if mat.startswith('Steel') else 'polymer')\n surf=UsdShade.Shader(S.GetPrimAtPath(str(M[mat].GetPath())+'/Surface'))\n m.CreateDisplayColorAttr([surf.GetInput('diffuseColor').Get()]);m.CreateDisplayOpacityAttr([1.0])" + }, + { + "oldText": "UsdPhysics.CollisionAPI.Apply(m.GetPrim()).CreateCollisionEnabledAttr(True);UsdPhysics.MeshCollisionAPI.Apply(m.GetPrim()).CreateApproximationAttr('convexHull')", + "newText": "UsdPhysics.CollisionAPI.Apply(m.GetPrim()).CreateCollisionEnabledAttr(True);UsdPhysics.MeshCollisionAPI.Apply(m.GetPrim()).CreateApproximationAttr('convexHull')\n UsdShade.MaterialBindingAPI(m).Bind(physicsmat,materialPurpose='physics')" + }, + { + "oldText": "grp=[(.054,.036,.018,.020),(.059,.035,.020,.021),(.071,.034,.018,.020),(.091,.032,.016,.0185),(.112,.027,.016,.0175),(.132,.021,.017,.017),(.148,.020,.020,.019),(.161,.022,.024,.021),(.173,.026,.033,.025),(.182,.030,.039,.026)]", + "newText": "grp=[(.054,.036,.018,.020),(.059,.035,.020,.021),(.071,.034,.021,.020),(.091,.032,.019,.0185),(.112,.027,.0185,.0175),(.132,.021,.019,.017),(.148,.020,.023,.019),(.161,.022,.026,.021),(.173,.026,.033,.025),(.182,.030,.039,.026)]" + }, + { + "oldText": "patchprof=[(.061,.035,.019,.0208,2.35),(.066,.035,.0198,.0212,2.78),(.079,.034,.0184,.0205,2.92),(.098,.030,.0166,.0190,2.88),(.118,.025,.0167,.0181,2.66),(.137,.020,.0182,.0182,2.48),(.151,.021,.021,.0203,2.10),(.164,.025,.026,.022,1.80),(.174,.032,.030,.024,1.2)]", + "newText": "patchprof=[(.061,.035,.0205,.0215,2.35),(.066,.035,.0215,.0218,2.78),(.079,.034,.0214,.0209,2.92),(.098,.030,.0196,.0190,2.88),(.118,.025,.0192,.0181,2.66),(.137,.020,.0207,.0182,2.48),(.151,.021,.024,.0203,2.10),(.164,.025,.027,.022,1.80),(.174,.032,.030,.024,1.2)]" + }, + { + "oldText": "loftx(C,'ChuckSleeveSeam',[(-.101,.0204,.0204,Z),(-.1003,.0213,.0213,Z),(-.0996,.0212,.0212,Z)],'Seam',96)", + "newText": "loftx(C,'ChuckSleeveSeam',[(-.101,.0204,.0204,Z),(-.1003,.0213,.0213,Z),(-.0996,.0212,.0212,Z)],'Seam',96)\nfor j in range(28):\n t=2*np.pi*j/28;p=[];faces=[]\n for x,r in [(-.098,.0218),(-.096,.0224),(-.080,.0240),(-.077,.0239)]:\n for a,dr in [(-.061,0),(-.042,.0005),(.042,.0005),(.061,0)]:p.append((x,(r+dr)*np.cos(t+a),Z+(r+dr)*np.sin(t+a)))\n for k in range(3):\n for v in range(3):faces.append([k*4+v,k*4+v+1,(k+1)*4+v+1,(k+1)*4+v])\n mesh(C,'RearChuckFineRib%02d'%j,p,faces,'GripRidges',False,True)" + }, + { + "oldText": "# Physics scene and human-readable SI metadata.\nscene=", + "newText": "# Non-adjacent contacting parts are intentionally filtered: a convex sleeve\n# proxy must not collide with the internal jaws that it encloses.\nUsdPhysics.FilteredPairsAPI.Apply(S.GetPrimAtPath(CS)).CreateFilteredPairsRel().SetTargets([p for p,t,c in JAW]+[T])\nUsdPhysics.FilteredPairsAPI.Apply(S.GetPrimAtPath(T)).CreateFilteredPairsRel().SetTargets([C])\nUsdPhysics.FilteredPairsAPI.Apply(S.GetPrimAtPath(BL)).CreateFilteredPairsRel().SetTargets([H])\n# Physics scene and human-readable SI metadata.\nscene=" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_juAxzyh56MQWgl75tsSmcPEP|fc_091e7fed85c4774c016ad81eb9003c87d1aae5aa53875ecdca", + "content": "Successfully replaced 8 block(s) in /tmp/build_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 41114, + "completion_tokens": 1880, + "cached_tokens": 39575, + "extra": { + "cache_write_tokens": 1536, + "reasoning_tokens": 516, + "pi_total_tokens": 42994 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "b7b76bda", + "pi_parent_id": "87615cc5", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": 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I need to introduce a new function to create smoother turns and make sure the black panel is triangulated properly. Adjusting the camera rendering is also essential. I'm thinking through these adjustments carefully, aiming to improve the overall quality and functionality. Let's see how these changes impact the rendering!", + "tool_calls": [ + { + "tool_call_id": "call_GepoQj1I1EBRpXGbL2499soq|fc_091e7fed85c4774c016ad81ed657f087d18f5accc8ce5bb1e4", + "function_name": "edit", + "arguments": { + "path": "/tmp/build_asset.py", + "edits": [ + { + "oldText": " pts=np.array(pts,dtype=float); offs=origins.get(parent,np.zeros(3)); local=pts-offs", + "newText": " pts=np.array(pts,dtype=float)\n edge_counts={}\n for f in faces:\n for a,b in zip(f,f[1:]+f[:1]):\n e=tuple(sorted((a,b)));edge_counts[e]=edge_counts.get(e,0)+1\n if edge_counts and all(v==2 for v in edge_counts.values()):\n volume=sum(np.dot(pts[f[0]],np.cross(pts[f[i]],pts[f[i+1]])) for f in faces for i in range(1,len(f)-1))/6\n if volume<0:faces=[f[::-1] for f in faces]\n offs=origins.get(parent,np.zeros(3)); local=pts-offs" + }, + { + "oldText": "S.GetRootLayer().customLayerData={'SimReady_Metadata': {'author'", + "newText": "S.GetRootLayer().customLayerData={'asset_name':'Cordless Drill Driver', 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image file [image/png]" + }, + { + "type": "image", + "source": { + "media_type": "image/png", + "path": "images/pi_image_4.png" + } + } + ], + "extra": { + "tool_name": "read", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 44044, + "completion_tokens": 74, + "cached_tokens": 43858, + "extra": { + "cache_write_tokens": 183, + "reasoning_tokens": 0, + "pi_total_tokens": 44118 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "67c939ac", + "pi_parent_id": "15c33561", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81ee84bec87d19d456337b5e86a14", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 28, + "timestamp": "2026-10-21T02:11:02.764Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Figuring out triangulation**\n\nI\u2019m working on triangulating a panel surface using a grid of XZ coordinates. The panel could lie between the center and boundary, and I need to use polygon point tests to clip. My aim is to create a mapping for the boundary using triangular subdivisions. I plan to utilize ear clipping for the 2D triangulation and then refine it into a barycentric grid. With 11 polygon vertices, I expect to yield around 576 triangles, which should help smooth the panel layout.\n\n**Adjusting vertices and projections**\n\nI\u2019m noticing that the polyhedron's outside handle projections are causing the Y-axis values to be artificially low, but the boundary might hug closely. I need to adjust an outlying vertex based on the updates I'm making. Setting one vertex at .043 and .153 seems necessary because input values like .047 are too far off. Additionally, I need to account for top slopes and adjust surface mappings for the ribs. Finally, ensuring the rubber patch geometry uses the right parameters is crucial for maintaining the proper structure.\n\n**Defining geometry adjustments**\n\nI'm planning to use parameter t ranging from 1.30 to 2.85 for geometry, keeping the same black patch. The points are calculated with adjusted coordinates using a small offset for curvature. I\u2019m aware that varying Z values can intersect at given coordinates, and this will help refine the actual surface profile changes. Additionally, I need to add a fine red accent groove just below the main line for visual appeal while ensuring I use the 'RedEdge' material with a specific radius.", + "tool_calls": [ + { + "tool_call_id": "call_VCT5J4vli36GDSm3hnTw882e|fc_091e7fed85c4774c016ad81f184a4887d197b28cd80250654b", + "function_name": "edit", + "arguments": { + "path": "/tmp/build_asset.py", + "edits": [ + { + "oldText": " pts.append((x,ry*np.sign(c)*abs(c)**(2/exp)*rr,zc+rz*np.sign(s)*abs(s)**(2/exp)*rr))", + "newText": " xx=x\n if name=='SilverGearbox' and x>-.016:\n xx-=.0045*max(0,np.cos(4*(t-2.35)))**4*((x+.016)/.013)\n pts.append((xx,ry*np.sign(c)*abs(c)**(2/exp)*rr,zc+rz*np.sign(s)*abs(s)**(2/exp)*rr))" + }, + { + "oldText": "(.040,.034,.0358,Z),(.059,.0343,.03694267840034445,Z),(.074,.0335,.0355,Z)", + "newText": "(.040,.034,.0342,Z),(.059,.0343,.0347,Z),(.074,.0335,.03694267840034445,Z)" + }, + { + "oldText": " p=motorpt(x,t,-dep*(min(1,u*8,(1-u)*8,v*8,(1-v)*8)*.7+.3));pts.append(p)", + "newText": " left=x0+.0025*abs(2*v-1)**6;right=x1-.0020*abs(2*v-1)**6;xx=left+(right-left)*u\n p=motorpt(xx,t,-dep*(min(1,u*8,(1-u)*8,v*8,(1-v)*8)*.7+.3));pts.append(p)" + }, + { + "oldText": "(.066,.035,.0215,.0218,2.78),(.079,.034,.0214,.0209,2.92),(.098,.030,.0196,.0190,2.88),(.118,.025,.0192,.0181,2.66)", + "newText": "(.066,.035,.0215,.0218,3.05),(.079,.034,.0214,.0209,3.08),(.098,.030,.0196,.0190,3.02),(.118,.025,.0192,.0181,2.90)" + }, + { + "oldText": "# Variable x-z polygon follows the swept handle and tapers at its lower tip.\npoly=[(.015,.115),(.012,.121),(.014,.137),(.023,.154),(.041,.172),(.057,.174),(.047,.153),(.037,.133),(.038,.119),(.030,.111),(.022,.112)]", + "newText": "def rubber_y(x,z):\n cx=np.interp(z,[p[0] for p in patchprof],[p[1] for p in patchprof]);rx=np.interp(z,[p[0] for p in patchprof],[p[2] for p in patchprof]);ry=np.interp(z,[p[0] for p in patchprof],[p[3] for p in patchprof]);q=min(.995,abs((x-cx)/rx));return max(handle_y(x,z),ry*(1-q**3.1)**(1/3.1))\n# Variable x-z polygon follows the swept handle and tapers at its lower tip.\npoly=[(.015,.115),(.012,.121),(.014,.137),(.023,.154),(.041,.172),(.057,.174),(.043,.153),(.037,.133),(.038,.119),(.030,.111),(.022,.112)]\ndef triangulate_polygon(pg):\n # Ear clip in x-z so the concave grip outline is kept exactly.\n p=np.array(pg);order=list(range(len(p)));area=sum(np.cross(p[(i+1)%len(p)]-p[i],p[(i+2)%len(p)]-p[(i+1)%len(p)]) for i in range(len(p)))\n signed=sum(p[i,0]*p[(i+1)%len(p),1]-p[(i+1)%len(p),0]*p[i,1] for i in range(len(p)))\n sg=1 if signed>0 else -1;out=[]\n def cross2(a,b):return a[0]*b[1]-a[1]*b[0]\n while len(order)>3:\n found=False\n for k in range(len(order)):\n a,b,c=[order[(k+j)%len(order)] for j in [-1,0,1]];pa,pb,pc=p[a],p[b],p[c]\n if cross2(pb-pa,pc-pb)*sg<=1e-12:continue\n inside=False\n for i in order:\n if i in [a,b,c]:continue\n pp=p[i]\n if min(cross2(pb-pa,pp-pa)*sg,cross2(pc-pb,pp-pb)*sg,cross2(pa-pc,pp-pc)*sg)>-1e-12:inside=True;break\n if inside:continue\n out.append((a,b,c));order.pop(k);found=True;break\n if not found:break\n if len(order)==3:out.append(tuple(order))\n return out\npolytris=triangulate_polygon(poly)" + }, + { + "oldText": " # Side panels are triangulated as a fan, with explicit convex segments.\n p=[(x,sign*(handle_y(x,z)+.0010),z) for x,z in poly]\n center=np.mean(np.array(p),axis=0);pts2=[center]+p;fa=[]\n for j in range(len(p)):fa.append([0,(j+1)%len(p)+1,j+1] if sign<0 else [0,j+1,(j+1)%len(p)+1])\n mesh(H,'UpperGripInlay'+('L' if sign<0 else 'R'),pts2,fa,'PanelGraphite',False,True)\n # A fine red border is moulded around this black panel.\n path=[(x,sign*(handle_y(x,z)+.0012),z) for x,z in poly+[poly[0]]]\n tube(H,'UpperGripRedPiping'+str(sign).replace('-','m'),path,.00055,'RedEdge',8)\n # Closely spaced diagonal ridges on upper grip, clipped to a narrow strip.\n for k in range(22):\n z0=.117+k*.00165\n # x range interpolates upwards along the diagonal rearward rake.\n x0=.016+(z0-.117)*.38;x1=.035+(z0-.117)*.42\n ptsr=[]\n for u in np.linspace(0,1,10):\n x=x0+(x1-x0)*u;z=z0+.008*u\n ptsr.append((x,sign*(handle_y(x,z)+.00155),z))\n tube(H,'UpperGripRib'+str(sign).replace('-','m')+'_%02d'%k,ptsr,.00033,'GripRidges',6)", + "newText": " # Refine the inlay triangles against the curved rubber surface.\n pts2=[];fa=[]\n for a,b,c in polytris:\n A,Bb,Cc=np.array(poly)[[a,b,c]];grid={};n=8\n for i in range(n+1):\n for j in range(n+1-i):\n x,z=A+(Bb-A)*(i/n)+(Cc-A)*(j/n);grid[i,j]=len(pts2);pts2.append((x,sign*(rubber_y(x,z)+.00035),z))\n for i in range(n):\n for j in range(n-i):\n tri=[grid[i,j],grid[i+1,j],grid[i,j+1]];fa.append(tri if sign>0 else tri[::-1])\n if i+j0 else tri[::-1])\n mesh(H,'UpperGripInlay'+('L' if sign<0 else 'R'),pts2,fa,'PanelGraphite',False,True)\n # 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",\"status\":\"pass\",\"finding_count\":0}]},\"nvidia_validator_report\":{\"available\":true,\"report_id\":\"8ea27354288b99ab890723223da31d563fa541b525edd31e419a36963b51c0f0\",\"sha256\":\"8ea27354288b99ab890723223da31d563fa541b525edd31e419a36963b51c0f0\",\"bytes\":231696,\"total_characters\":231696,\"issue_counts\":{\"issues\":1,\"soft_issues\":104,\"warnings\":0,\"infos\":0},\"complete_report_available\":true,\"delivery\":\"agent_file\",\"file_path\":\"/tmp/simready-validation-reports/8ea27354288b99ab890723223da31d563fa541b525edd31e419a36963b51c0f0.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 -e ; use sed -n ,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": 55786, + "completion_tokens": 29, + "cached_tokens": 55454, + "extra": { + "cache_write_tokens": 329, + "reasoning_tokens": 0, + "pi_total_tokens": 55815 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "bfda5c08", + "pi_parent_id": "4eac24d1", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81f8c402487d1a9c0d15a2ae6670d", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 34, + "timestamp": "2026-10-21T02:12:39.507Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_0M1wXRCcjcMY4AVikuXXgDeF|fc_091e7fed85c4774c016ad81f970f1c87d1af14ec75d71a2e6f", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport json\np=json.load(open('/tmp/simready-validation-reports/8ea27354288b99ab890723223da31d563fa541b525edd31e419a36963b51c0f0.json'))\nfor a in p['issues']: print(a)\nPY", + "timeout": 200 + } + }, + { + "tool_call_id": "call_2MvlTt8cH9TtnUruMrbIBTf4|fc_091e7fed85c4774c016ad81f970f3087d1891668f1a09345b7", + "function_name": "read", + "arguments": { + "path": "/tmp/preview0.png", + "offset": 1, + "limit": 2000 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_0M1wXRCcjcMY4AVikuXXgDeF|fc_091e7fed85c4774c016ad81f970f1c87d1af14ec75d71a2e6f", + "content": "{'asset': \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", 'location': \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Drill/Looks/ContactMaterial)\", 'message': \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\", 'prim_path': '/Drill/Looks/ContactMaterial', 'requirement_version': '0.1.0', 'rule': 'simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker', 'rule_id': 'com.nvidia.simready.SL.MAT.001', 'severity': 'failure', 'suggestions': []}", + "extra": { + "tool_name": "bash", + "is_error": false + } + }, + { + "source_call_id": "call_2MvlTt8cH9TtnUruMrbIBTf4|fc_091e7fed85c4774c016ad81f970f3087d1891668f1a09345b7", + "content": [ + { + "type": "text", + "text": "Read image file [image/png]" + }, + { + "type": "image", + "source": { + "media_type": "image/png", + "path": "images/pi_image_6.png" + } + } + ], + "extra": { + "tool_name": "read", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 57438, + "completion_tokens": 146, + "cached_tokens": 0, + "extra": { + "cache_write_tokens": 57435, + "reasoning_tokens": 9, + "pi_total_tokens": 57584 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "b84516fe", + "pi_parent_id": "d7c24a9f", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81f939acc87d1b7cdbdeac6602e59", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 35, + "timestamp": "2026-10-21T02:13:41.310Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Inspecting joint frame attachments**\n\nI need to inspect the joint frame attachments by coding to verify that everything is in order. I have to check if the axes match, ensuring that the lower and upper limits contain zero. It's really important that the quaternion is normalized and that colliders are enabled. This means I\u2019m double-checking every detail to make sure everything works perfectly. Let's make sure I cover all those bases!", + "tool_calls": [ + { + "tool_call_id": "call_z95ODGBSXVR5mzCgke0nJzC4|fc_091e7fed85c4774c016ad81fcbf41487d192cbf103a31e576e", + "function_name": "edit", + "arguments": { + "path": "/tmp/build_asset.py", + "edits": [ + { + "oldText": "pma=UsdPhysics.MaterialAPI.Apply(physicsmat.GetPrim());pma.CreateStaticFrictionAttr(.85);pma.CreateDynamicFrictionAttr(.65);pma.CreateRestitutionAttr(.025)", + "newText": "pma=UsdPhysics.MaterialAPI.Apply(physicsmat.GetPrim());pma.CreateStaticFrictionAttr(.85);pma.CreateDynamicFrictionAttr(.65);pma.CreateRestitutionAttr(.025)\nsemantic(physicsmat.GetPrim(),'contact_material','polymer')" + }, + { + "oldText": " m.CreateSurfaceOutput().ConnectToSource(sh.ConnectableAPI(),'surface'); M[name]=m", + "newText": " if grain:\n color_tex=UsdShade.Shader.Define(S,m.GetPath().AppendChild('MouldedColor'));color_tex.CreateIdAttr('UsdUVTexture');color_tex.CreateInput('file',Sdf.ValueTypeNames.Asset).Set(Sdf.AssetPath('./textures/moulded_grain.png'));color_tex.CreateInput('sourceColorSpace',Sdf.ValueTypeNames.Token).Set('raw');color_tex.CreateInput('wrapS',Sdf.ValueTypeNames.Token).Set('repeat');color_tex.CreateInput('wrapT',Sdf.ValueTypeNames.Token).Set('repeat');color_tex.CreateInput('st',Sdf.ValueTypeNames.Float2).ConnectToSource(uv.ConnectableAPI(),'result');color_tex.CreateInput('scale',Sdf.ValueTypeNames.Float4).Set(Gf.Vec4f(*(list(np.array(color)/(.957))+[1])));color_tex.CreateOutput('rgb',Sdf.ValueTypeNames.Float3);sh.CreateInput('diffuseColor',Sdf.ValueTypeNames.Color3f).ConnectToSource(color_tex.ConnectableAPI(),'rgb')\n m.CreateSurfaceOutput().ConnectToSource(sh.ConnectableAPI(),'surface'); M[name]=m" + }, + { + "oldText": "# Physics scene and human-readable SI metadata.\nscene=", + "newText": "# Mass properties in SI, including the motor-heavy housing center of mass.\nprops={H:((.005,0,.0276),(.0024,.0038,.0012)), B:((-.002,0,-.004),(.000396,.00117,.00142)), C:((.010,0,0),(.000049,.000068,.000068)), CS:((-.0135,0,0),(.000035,.000024,.000024)), T:((-.0075,0,0),(.000046,.000030,.000030)), TR:((0,0,0),(1.35e-6,1.03e-6,1.13e-6)), D:((0,0,.001),(1.28e-6,.13e-6,1.35e-6)), SP:((0,0,.0015),(.075e-6,.20e-6,.25e-6)), BL:((0,0,0),(.49e-6,.38e-6,.85e-6))}\nfor p,(com,inertia) in props.items():\n api=UsdPhysics.MassAPI(S.GetPrimAtPath(p));api.CreateCenterOfMassAttr(Gf.Vec3f(*com));api.CreateDiagonalInertiaAttr(Gf.Vec3f(*inertia))\nfor p,t,c in JAW:\n UsdPhysics.MassAPI(S.GetPrimAtPath(p)).CreateDiagonalInertiaAttr(Gf.Vec3f(1e-8,2e-8,2e-8))\n# Physics scene and human-readable SI metadata.\nscene=" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_z95ODGBSXVR5mzCgke0nJzC4|fc_091e7fed85c4774c016ad81fcbf41487d192cbf103a31e576e", + "content": "Successfully replaced 3 block(s) in /tmp/build_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 58890, + "completion_tokens": 3184, + "cached_tokens": 57435, + "extra": { + "cache_write_tokens": 1452, + "reasoning_tokens": 2390, + "pi_total_tokens": 62074 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "beb36144", + "pi_parent_id": "b1bdcd84", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81f98a8ac87d1bc31bcc75c6b04a7", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 36, + "timestamp": "2026-10-21T02:13:56.044Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_lK44jEfGwiPNUSipvEM0Cv7F|fc_091e7fed85c4774c016ad81fdcca8087d1bd8928e3b9be5ef9", + "function_name": "write", + "arguments": { + "path": "/tmp/check_asset.py", + "content": "from pxr import Usd,UsdGeom,UsdPhysics,Gf\nimport numpy as np, os\ns=Usd.Stage.Open('/output/asset.usd');x=UsdGeom.XformCache();count=0\nprint('Rigid bodies:')\nfor p in s.Traverse():\n if p.HasAPI(UsdPhysics.RigidBodyAPI):\n rb=UsdPhysics.RigidBodyAPI(p);ma=UsdPhysics.MassAPI(p)\n assert rb.GetRigidBodyEnabledAttr().Get() and not rb.GetKinematicEnabledAttr().Get()\n assert ma.GetMassAttr().Get()>0\n print(' ',p.GetName(),ma.GetMassAttr().Get(),'kg')\n if p.IsA(UsdPhysics.Joint):\n j=UsdPhysics.Joint(p);b0=s.GetPrimAtPath(j.GetBody0Rel().GetTargets()[0]);b1=s.GetPrimAtPath(j.GetBody1Rel().GetTargets()[0]);p0=x.GetLocalToWorldTransform(b0).Transform(Gf.Vec3d(j.GetLocalPos0Attr().Get()));p1=x.GetLocalToWorldTransform(b1).Transform(Gf.Vec3d(j.GetLocalPos1Attr().Get()));err=(p0-p1).GetLength()\n assert err<1e-7,(p.GetPath(),err)\n q0=j.GetLocalRot0Attr().Get();q1=j.GetLocalRot1Attr().Get();assert abs(q0.GetLength()-1)<1e-5 and q0==q1\n assert j.GetJointEnabledAttr().Get()\n if p.IsA(UsdPhysics.RevoluteJoint):\n a=UsdPhysics.RevoluteJoint(p);print(' ',p.GetName(),'revolute',a.GetAxisAttr().Get(),(a.GetLowerLimitAttr().Get(),a.GetUpperLimitAttr().Get()),'frame error',err)\n elif p.IsA(UsdPhysics.PrismaticJoint):\n a=UsdPhysics.PrismaticJoint(p);lo,hi=a.GetLowerLimitAttr().Get(),a.GetUpperLimitAttr().Get();assert lo<=0<=hi;print(' ',p.GetName(),'prismatic',a.GetAxisAttr().Get(),(lo,hi),'frame error',err)\n count+=1\nprint('Verified',count,'connected joints; all authored local attachment frames coincide.')\nprint('Stage dimensions:',UsdGeom.BBoxCache(0,['default','render']).ComputeWorldBound(s.GetDefaultPrim()).ComputeAlignedBox().GetSize())\n" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_lK44jEfGwiPNUSipvEM0Cv7F|fc_091e7fed85c4774c016ad81fdcca8087d1bd8928e3b9be5ef9", + "content": "Successfully wrote to /tmp/check_asset.py", + "extra": { + "tool_name": "write", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 62098, + "completion_tokens": 761, + "cached_tokens": 58887, + "extra": { + "cache_write_tokens": 3208, + "reasoning_tokens": 187, + "pi_total_tokens": 62859 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "4b3b9cb1", + "pi_parent_id": "60409b74", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81fd6b07887d1a17fb4cefea9d18f", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 37, + "timestamp": "2026-10-21T02:13:59.801Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_JnuWuZr6TKen7W0F2UMYKyVP|fc_091e7fed85c4774c016ad81fe6c42887d1a5a7a46c4e4639c0", + "function_name": "bash", + "arguments": { + "command": "python /tmp/build_asset.py && python /tmp/check_asset.py && python /tmp/render_asset.py 1 && python /tmp/render_asset.py 3", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_JnuWuZr6TKen7W0F2UMYKyVP|fc_091e7fed85c4774c016ad81fe6c42887d1a5a7a46c4e4639c0", + "content": "Saved /output/asset.usd\nBounds (-0.12688447216153145, -0.044684600085020065, -3.725290284584126e-10) (0.08949999928474427, 0.044684600085020065, 0.2439426787495613) size (0.2163844714462757, 0.08936920017004013, 0.24394267912209033)\nPrims 385\nRigid bodies:\n Housing 0.8899999856948853 kg\n Battery 0.49000000953674316 kg\n ChuckSpindle 0.17000000178813934 kg\n ChuckSleeve 0.10999999940395355 kg\n TorqueCollar 0.06499999761581421 kg\n Trigger 0.012000000104308128 kg\n DirectionSelector 0.006000000052154064 kg\n SpeedSelector 0.004000000189989805 kg\n BatteryLatch 0.006000000052154064 kg\n ChuckJaw0 0.004000000189989805 kg\n ChuckJaw1 0.004000000189989805 kg\n ChuckJaw2 0.004000000189989805 kg\n MotorSpindleRotation revolute X (-inf, inf) frame error 4.164254741414339e-09\n KeylessSleeveAdjustment revolute X (-165.0, 165.0) frame error 6.891787140972383e-11\n ClutchTorqueSelection revolute X (0.0, 300.0) frame error 3.4188667801778665e-09\n TriggerSpringTravel prismatic X (0.0, 0.004999999888241291) frame error 7.970576137122392e-10\n DirectionCrossSlide prismatic Y (-0.004000000189989805, 0.004000000189989805) frame error 1.1156392982982608e-09\n TwoSpeedLongitudinalSlide prismatic X (-0.004000000189989805, 0.004000000189989805) frame error 2.869740813185908e-09\n BatterySlideRail prismatic X (-0.11500000208616257, 0.0) frame error 8.356615948201523e-10\n BatteryReleaseSpring prismatic Z (-0.003000000026077032, 0.0) frame error 1.7817327908019134e-09\n JawRadialTravel0 prismatic X (0.0, 0.009999999776482582) frame error 6.515251673450941e-10\n JawRadialTravel1 prismatic X (0.0, 0.009999999776482582) frame error 6.452696064605849e-10\n JawRadialTravel2 prismatic X (0.0, 0.009999999776482582) frame error 6.699575203778497e-10\nVerified 11 connected joints; all authored local attachment frames coincide.\nStage dimensions: (0.2163844714462757, 0.08936920017004013, 0.24394267912209033)\ntri 67536 culled 33748\ntri 67536 culled 33659", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 62877, + "completion_tokens": 52, + "cached_tokens": 62095, + "extra": { + "cache_write_tokens": 779, + "reasoning_tokens": 0, + "pi_total_tokens": 62929 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "cc34bc8b", + "pi_parent_id": "7c344cb7", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81fe59d7c87d1a4fec406203acc60", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 38, + "timestamp": "2026-10-21T02:14:14.810Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Evaluating validation methods**\n\nI need to inspect multiple views to ensure thorough validation. It's important to look at things from different angles and perspectives to catch any potential issues. I wonder what methodologies could help me with this. Maybe I should consider various validation techniques and see how they can complement each other. It's all about making sure everything aligns correctly, so nothing gets overlooked! 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Now, I need to work on the report wording!", + "tool_calls": [ + { + "tool_call_id": "call_aIxKrMKYDzSEJXZPnC0tJiYS|fc_091e7fed85c4774c016ad82001fae087d182828005d65625f9", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport json\np=json.load(open('/tmp/simready-validation-reports/cb969bb981d8fd857951a32adab57fd70f79bebd38b75bec2d84793d3fe762db.json'))\nfor a in p['issues'][:2]: print(a)\nPY", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_aIxKrMKYDzSEJXZPnC0tJiYS|fc_091e7fed85c4774c016ad82001fae087d182828005d65625f9", + "content": "{'asset': \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", 'location': \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Drill/Looks/RedHousing/MouldedColor)\", 'message': \"Texture '/Drill/Looks/RedHousing/MouldedColor' feeds 'diffuseColor' on '/Drill/Looks/RedHousing/Surface' and has color space 'raw' (raw), expected 'srgb_rec709_scene'\", 'prim_path': '/Drill/Looks/RedHousing/MouldedColor', 'requirement_version': '0.1.0', 'rule': 'simready.foundation.tier_core.capabilities.visualization.materials.validation.VisualMaterialsCapabilityChecker', 'rule_id': 'com.nvidia.simready.VM.TEX.003', 'severity': 'failure', 'suggestions': [{'callable': \"functools.partial(>, token='sRGB')\", 'location': \"EditTargetIdList(_values=[EditTargetId(layer_id=LayerId(identifier='/output/asset.usd'), path=Sdf.Path('/Drill/Looks/RedHousing/MouldedColor'), composed=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Drill/Looks/RedHousing/MouldedColor'), spec_ids=EditTargetIdList(_values=[]), variant_selection_path=Sdf.Path.emptyPath))])\", 'message': \"Set 'inputs:sourceColorSpace' to 'sRGB'.\"}]}\n{'asset': \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\", 'location': \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Drill/Looks/RedEdge/MouldedColor)\", 'message': \"Texture '/Drill/Looks/RedEdge/MouldedColor' feeds 'diffuseColor' on '/Drill/Looks/RedEdge/Surface' and has color space 'raw' (raw), expected 'srgb_rec709_scene'\", 'prim_path': '/Drill/Looks/RedEdge/MouldedColor', 'requirement_version': '0.1.0', 'rule': 'simready.foundation.tier_core.capabilities.visualization.materials.validation.VisualMaterialsCapabilityChecker', 'rule_id': 'com.nvidia.simready.VM.TEX.003', 'severity': 'failure', 'suggestions': [{'callable': \"functools.partial(>, token='sRGB')\", 'location': \"EditTargetIdList(_values=[EditTargetId(layer_id=LayerId(identifier='/output/asset.usd'), path=Sdf.Path('/Drill/Looks/RedEdge/MouldedColor'), composed=PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=Sdf.Path('/Drill/Looks/RedEdge/MouldedColor'), spec_ids=EditTargetIdList(_values=[]), variant_selection_path=Sdf.Path.emptyPath))])\", 'message': \"Set 'inputs:sourceColorSpace' to 'sRGB'.\"}]}", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 67700, + "completion_tokens": 190, + "cached_tokens": 63686, + "extra": { + "cache_write_tokens": 4011, + "reasoning_tokens": 92, + "pi_total_tokens": 67890 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "f326824a", + "pi_parent_id": "8ce8c4b0", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad81ffca9b487d19353f9223ea083a1", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 40, + "timestamp": "2026-10-21T02:14:33.489Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Finalizing asset validation**\n\nI need to avoid modifying assets after validation unless absolutely necessary, so I\u2019ll make a final call on that. 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So, I'll go ahead and validate.", + "tool_calls": [ + { + "tool_call_id": "call_r5r12uBwSK57FF9PxvQDTnhY|fc_091e7fed85c4774c016ad82008925087d1a6b2ad0269a182eb", + "function_name": "edit", + "arguments": { + "path": "/tmp/build_asset.py", + "edits": [ + { + "oldText": "color_tex.CreateInput('sourceColorSpace',Sdf.ValueTypeNames.Token).Set('raw')", + "newText": "color_tex.CreateInput('sourceColorSpace',Sdf.ValueTypeNames.Token).Set('sRGB')" + }, + { + "oldText": "list(np.array(color)/(.957))", + "newText": "list(np.array(color)/(.90466))" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_r5r12uBwSK57FF9PxvQDTnhY|fc_091e7fed85c4774c016ad82008925087d1a6b2ad0269a182eb", + "content": "Successfully replaced 2 block(s) in /tmp/build_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 68647, + "completion_tokens": 177, + "cached_tokens": 67697, + "extra": { + "cache_write_tokens": 947, + 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"{\"request_id\":\"check-4\",\"snapshot_sha256\":\"bade5b4a2e272f9ddf70b6eced07ae5d4ec9db69e54b4a832bcbe58556d513fd\",\"validation_calls_used\":4,\"validation_calls_remaining\":1,\"feedback\":{\"schema_version\":\"simready-validator-feedback-v1\",\"snapshot_sha256\":\"bade5b4a2e272f9ddf70b6eced07ae5d4ec9db69e54b4a832bcbe58556d513fd\",\"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\":\"285e3e386ac7db87b3152aecf47135806a06423b2dd8b9b68527bd29b9861c72\",\"sha256\":\"285e3e386ac7db87b3152aecf47135806a06423b2dd8b9b68527bd29b9861c72\",\"bytes\":230552,\"total_characters\":230552,\"issue_counts\":{\"issues\":0,\"soft_issues\":104,\"warnings\":0,\"infos\":0},\"complete_report_available\":true,\"delivery\":\"agent_file\",\"file_path\":\"/tmp/simready-validation-reports/285e3e386ac7db87b3152aecf47135806a06423b2dd8b9b68527bd29b9861c72.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 -e ; use sed -n ,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": 70072, + "completion_tokens": 29, + "cached_tokens": 68845, + "extra": { + "cache_write_tokens": 1224, + "reasoning_tokens": 0, + "pi_total_tokens": 70101 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "0148efa5", + "pi_parent_id": "37fe4c6b", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad8201b0bd887d1b9c4abd5be76581c", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 43, + "timestamp": "2026-10-21T02:15:04.617Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Preparing final findings**\n\nI need to ensure that we inspect all mandatory passes before submitting. I'll read the file summary for any issues, whether optional or necessary. I can use a simple bash command to yield counts and firsts without making any changes. It's important that my final commentary on the report includes all mandatory passes and approximate dimensions. I don't want to overexplain; rather, I aim to keep the answer concise for the submit tool.", + "tool_calls": [ + { + "tool_call_id": "call_7ZpcMTQPciNnG7xQET6XNrq3|fc_091e7fed85c4774c016ad82026d02c87d18bca92bd43b845b0", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport json,collections\np=json.load(open('/tmp/simready-validation-reports/285e3e386ac7db87b3152aecf47135806a06423b2dd8b9b68527bd29b9861c72.json'))\nprint('Final NVIDIA report inspected')\nprint('Passed:',p['passed'],'Mandatory issues:',len(p['issues']),'Warnings:',len(p['warnings']),'Infrastructure errors:',p.get('infrastructure_errors'))\nprint('Optional findings by requirement:')\nfor k,v in collections.Counter(a['rule_id'] for a in p['soft_issues']).items():print(k,v)\nPY", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_7ZpcMTQPciNnG7xQET6XNrq3|fc_091e7fed85c4774c016ad82026d02c87d18bca92bd43b845b0", + "content": "Final NVIDIA report inspected\nPassed: True Mandatory issues: 0 Warnings: 0 Infrastructure errors: []\nOptional findings by requirement:\ncom.nvidia.simready.VM.PBR.001 13\ncom.nvidia.simready.VM.MDL.003 13\ncom.nvidia.simready.NVM.002 13\ncom.nvidia.simready.NVM.003 13\ncom.nvidia.simready.NVM.001 13\ncom.nvidia.simready.GSP.001 1\ncom.nvidia.simready.ISA.001 1\ncom.nvidia.simready.MUJOCO.COL.001 17\ncom.nvidia.simready.RV.007 1\ncom.nvidia.simready.NEWTON.COL.001 17\ncom.nvidia.simready.RV.004 1\ncom.nvidia.simready.RV.001 1", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 71732, + "completion_tokens": 235, + "cached_tokens": 70069, + "extra": { + "cache_write_tokens": 1660, + "reasoning_tokens": 63, + "pi_total_tokens": 71967 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "39de7d92", + "pi_parent_id": "4352a538", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad82022575487d1ae8217bead1033d9", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 44, + "timestamp": "2026-10-21T02:15:09.912Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "The asset now passes all 46 mandatory NVIDIA checks, with no mandatory findings or warnings. I also inspected it from multiple angles and verified all 11 joint attachment frames. Its bounds match the supplied dimensions to numerical precision.", + "tool_calls": [ + { + "tool_call_id": "call_e31YtJGb0sq7JHtwMnazEEWN|fc_091e7fed85c4774c016ad8202d375c87d1a8a17d9987a63d08", + "function_name": "mcp", + "arguments": { + "tool": "benchmark_submit_asset", + "args": { + "request_id": "final" + } + } + } + ], + "observation": { + "results": [] + }, + "metrics": { + "prompt_tokens": 72157, + "completion_tokens": 78, + "cached_tokens": 71729, + "extra": { + "cache_write_tokens": 425, + "reasoning_tokens": 0, + "pi_total_tokens": 72235 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "5a727b9f", + "pi_parent_id": "3571392a", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_091e7fed85c4774c016ad82029ed9087d1b56ddfb1469e1486", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + } + ], + "final_metrics": { + "total_prompt_tokens": 1679495, + "total_completion_tokens": 42371, + "total_cached_tokens": 1551429, + "total_steps": 44, + "extra": { + "cache_write_tokens": 127937, + "reasoning_tokens": 17644, + "pi_total_tokens": 1721866 + } + } +} \ No newline at end of file diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/powerTool_drill_b01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/powerTool_drill_b01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png new file mode 100644 index 0000000000000000000000000000000000000000..239898a37dfdbbd24c9fd43b6d3e210fa7e441e4 --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/powerTool_drill_b01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:854612c40d8393290d5eecf918b64cf8ff3eab8d255d1ad2e4989641fc8f95f0 +size 197875 diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/powerTool_drill_b01/reconstruction-3/nvidia-validator.json b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/powerTool_drill_b01/reconstruction-3/nvidia-validator.json new file mode 100644 index 0000000000000000000000000000000000000000..fa43e533dee20154cb1ba8bcc1e3af67eaf2918f --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/powerTool_drill_b01/reconstruction-3/nvidia-validator.json @@ -0,0 +1,4898 @@ +{ + "asset_path": "/output/asset.usd", + "asset_sha256": "893d5bd6a612cb520a563c191304b1909c820c0092a060091eda8bea6149d282", + "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" + }, + "FET_006_MDL": { + "blocking_failure": false, + "dependencies": "[]", + "optional requirements": "['com.nvidia.simready.VM.MDL.003']", + "passed": false, + "version": "0.2.0" + }, + "FET_006_OPENPBR": { + "blocking_failure": false, + "dependencies": "[]", + "optional requirements": "['com.nvidia.simready.VM.PBR.001']", + "passed": false, + "version": "0.1.0" + }, + "FET_006_STANDARD": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0.2.0" + }, + "FET_007_STANDARD": { + "blocking_failure": false, + "dependencies": "[]", + "optional requirements": "['com.nvidia.simready.NVM.001', 'com.nvidia.simready.NVM.002', 'com.nvidia.simready.NVM.003']", + "passed": false, + "version": "0.2.0" + }, + "FET_010_STANDARD": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0.1.0" + }, + "FET_011_RTX": { + "blocking_failure": false, + "dependencies": "[{'FET_011_STANDARD': {'version': '0.2.0'}}]", + "passed": true, + "version": "0.1.0" + }, + "FET_011_STANDARD": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0.2.0" + }, + "FET_031_STANDARD": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0.1.0" + }, + "FET_033_STANDARD": { + "blocking_failure": false, + "dependencies": "[{'FET_031_STANDARD': {'version': '0.1.0'}}]", + "passed": true, + "version": "0.4.0" + }, + "FET_046_STANDARD": { + "blocking_failure": false, + "dependencies": "[{'FET_011_STANDARD': {'version': '0.2.0'}}]", + "passed": true, + "version": "0.1.0" + }, + "FET_100_ISAAC": { + "blocking_failure": false, + "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]", + "optional requirements": "['com.nvidia.simready.ISA.001']", + "passed": false, + "version": "0.4.0" + } + }, + "infos": [], + "infrastructure_errors": [], + "inventory": { + "effective_inventory_sha256": "ea2d9a1c262a18bef59c919b7045bca42f86b44753f90da743f14d4fd8696125", + "mandatory_features": [ + { + "id": "FET_000_STANDARD", + "version": "0.2.0" + }, + { + "id": "FET_001_STANDARD", + "version": "1.0.1" + }, + { + "id": "FET_003_STANDARD", + "version": "0.2.0" + }, + { + "id": "FET_006_STANDARD", + "version": "0.2.0" + }, + { + "id": "FET_011_RTX", + "version": "0.1.0" + }, + { + "id": "FET_011_STANDARD", + "version": "0.2.0" + }, + { + "id": "FET_031_STANDARD", + "version": "0.1.0" + }, + { + "id": "FET_033_STANDARD", + "version": "0.4.0" + }, + { + "id": "FET_046_STANDARD", + "version": "0.1.0" + } + ], + "mandatory_requirement_count": 46, + "mandatory_requirements": [ + { + "code": "com.nvidia.simready.HI.010", + "rule": "simready.foundation.tier_core.capabilities.hierarchy.validation.UndefinedPrimsChecker", + "version": "0.1.0" + }, + { + "code": 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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 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/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.NEWTON.COL.001'] did not pass for feature FET_004_NEWTON." + }, + { + "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.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.MUJOCO.COL.001'] did not pass for feature FET_003_MUJOCO." + }, + { + "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.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.ISA.001'] did not pass for feature FET_100_ISAAC." + }, + { + "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.MUJOCO.COL.001'] did not pass for feature FET_004_MUJOCO." + }, + { + "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.RV.004'] did not pass for feature FET_000_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", + 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b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/report.html index b2108bb091c4f3bbe98aa36fa33a4ac37d9db08e..ec0746951ee020abe2cb1c4ed7c16cd246e576e2 100644 --- a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/report.html +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/report.html @@ -1 +1 @@ -SimReadyBench results

SimReadyBench results

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.

74 of 100 reconstruction attempts completed.

Scores CSV | Detailed results JSON

Results by asset

AssetModelHarnessSkillsRepetitionStatusFormal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
accessory_eyeglasses_a01gpt-6.1-solpinone1completed100% (46/46)40.21% (0.804287/2)0% (0/2)72.55% (37/51)52.24% (0.5224/1)19.32% (0.772785/4)0% (0/29)13.91% (2134/15341)5030782.55685.581496445302581526703Not measuredNot measuredNot measured
accessory_eyeglasses_a01gpt-6.1-solpinone2completed100% (46/46)66.28% (1.32561/2)0% (0/2)64.71% (33/51)79.03% (0.790262/1)37.83% (1.51339/4)62.07% (18/29)56.49% (8666/15341)4030578.87501.9977861228121000673Not measuredNot measuredNot measured
accessory_eyeglasses_a01gpt-6.1-solpinone3completed100% (46/46)85.47% (1.7094/2)0% (0/2)76.47% (39/51)84.81% (0.848127/1)46.21% (1.84845/4)62.07% (18/29)58.59% (8988/15341)3840691.4595.071047023283671075390Not measuredNot measuredNot measured
accessory_eyeglasses_a01gpt-6.1-solpinone4completed100% (46/46)63.84% (1.27689/2)0% (0/2)72.55% (37/51)77.15% (0.771528/1)37.55% (1.50198/4)62.07% (18/29)20.42% (3132/15341)3730631.73558.261069125253751094500Not measuredNot measuredNot measured
box_cardboard_open_a01gpt-6.1-solpinone1completed100% (46/46)80.4% (1.60807/2)N/A70.59% (36/51)82.18% (0.821836/1)82.18% (0.821836/1)N/A44.95% (6444/14336)2930431.15384.2755840016418574818Not measuredNot measuredNot measured
box_cardboard_open_a01gpt-6.1-solpinone2completed100% (46/46)0% (0/2)N/A74.51% (38/51)83.63% (0.836295/1)83.63% (0.836295/1)N/A34.05% (4881/14336)2920407.12352.8557454016108590648Not measuredNot measuredNot measured
box_cardboard_open_a01gpt-6.1-solpinone3completed100% (46/46)0% (0/2)N/A74.51% (38/51)77.87% (0.778707/1)77.87% (0.778707/1)N/A30.91% (4431/14336)3230463.45405.8171765617729735385Not measuredNot measuredNot measured
box_cardboard_open_a01gpt-6.1-solpinone4completed100% (46/46)76.59% (1.53173/2)N/A74.51% (38/51)77.8% (0.778012/1)77.8% (0.778012/1)N/A43.08% (6176/14336)4130576.55510.911062333218151084148Not measuredNot measuredNot measured
bucket_utility_red_a01gpt-6.1-solpinone1completed100% (46/46)41.49% (0.829812/2)0.01% (0.000121476/1)76.47% (39/51)54.74% (0.547449/1)28.71% (0.574159/2)63.64% (7/11)31.4% (5136/16356)4340805.12716.051649778315561681334Not measuredNot measuredNot measured
bucket_utility_red_a01gpt-6.1-solpinone2completed100% (46/46)43.33% (0.866571/2)0.34% (0.00336069/1)70.59% (36/51)58.21% (0.58211/1)29.27% (0.585487/2)54.55% (6/11)32.31% (5285/16356)3520532.75470.8378965220782810434Not measuredNot measuredNot measured
bucket_utility_red_a01gpt-6.1-solpinone3completed100% (46/46)0% (0/2)0.01% (8.61068e-05/1)72.55% (37/51)73.1% (0.730956/1)37.68% (0.753671/2)72.73% (8/11)9.62% (1573/16356)3630607.49534.7795128224345975627Not measuredNot measuredNot measured
bucket_utility_red_a01gpt-6.1-solpinone4completed100% (46/46)35.87% (0.717405/2)0.27% (0.00266133/1)72.55% (37/51)47.74% (0.477375/1)36.57% (0.731475/2)63.64% (7/11)13.35% (2184/16356)3530573.88507.1976368422833786517Not measuredNot measuredNot measured
chair_office_amf_black_a01gpt-6.1-solpinone1completed100% (46/46)76.44% (1.52878/2)0% (0/1)68.63% (35/51)74.46% (0.744639/1)21.7% (0.216991/1)N/A31.78% (5207/16384)3430703.39625.7189808527574925659Not measuredNot measuredNot measured
chair_office_amf_black_a01gpt-6.1-solpinone2completed100% (46/46)43.66% (0.873218/2)N/A68.63% (35/51)59.83% (0.598322/1)59.83% (0.598322/1)N/A23.96% (3925/16384)4030633.2558.551060920244431085363Not measuredNot measuredNot measured
chair_office_amf_black_a01gpt-6.1-solpinone3completed100% (46/46)80.58% (1.61164/2)0% (0/1)76.47% (39/51)79.3% (0.793004/1)26.9% (0.268992/1)N/A30.74% (5036/16384)3930685.16618.789153328320919853Not measuredNot measuredNot measured
chair_office_amf_black_a01gpt-6.1-solpinone4completed100% (46/46)53.63% (1.07263/2)0% (0/1)76.47% (39/51)74.19% (0.741903/1)16.1% (0.16101/1)N/A29.11% (4770/16384)3940573.97493.461135730220001157730Not measuredNot measuredNot measured
cleaning_cloth_a01gpt-6.1-solpinone1completed100% (46/46)0% (0/2)N/A74.51% (38/51)90.94% (0.909413/1)90.94% (0.909413/1)N/A39.07% (5601/14336)4530927.19656.511454939241121479051Not measuredNot measuredNot measured
cleaning_cloth_a01gpt-6.1-solpinone2completed100% (46/46)0% (0/2)N/A74.51% (38/51)97.57% (0.975744/1)97.57% (0.975744/1)N/A14.29% (2048/14336)3720634.25500.9687451721134895651Not measuredNot measuredNot measured
cleaning_cloth_a01gpt-6.1-solpinone4completed100% (46/46)99.24% (1.98482/2)N/A74.51% (38/51)98.49% (0.984882/1)98.49% (0.984882/1)N/A28.57% (4096/14336)3640723.44563.471049555246861074241Not measuredNot measuredNot measured
container_bottle_glass_a01gpt-6.1-solpinone1completed100% (46/46)80.72% (1.61437/2)N/A74.51% (38/51)81.71% (0.817125/1)81.71% (0.817125/1)N/A29.9% (4899/16384)3630562.03496.6689682921319918148Not measuredNot measuredNot measured
container_bottle_glass_a01gpt-6.1-solpinone2completed100% (46/46)90.98% (1.81958/2)N/A74.51% (38/51)90.94% (0.909423/1)90.94% (0.909423/1)N/A68.26% (11184/16384)3220366.66320.6752012414220534344Not measuredNot measuredNot measured
container_bottle_glass_a01gpt-6.1-solpinone3completed100% (46/46)0% (0/2)N/A66.67% (34/51)81.06% (0.810559/1)81.06% (0.810559/1)N/A49.19% (8060/16384)2920383.45331.6752314214382537524Not measuredNot measuredNot measured
container_bottle_glass_a01gpt-6.1-solpinone4completed100% (46/46)86.65% (1.73301/2)N/A74.51% (38/51)87.47% (0.874685/1)87.47% (0.874685/1)N/A64.38% (10548/16384)3130427.21364.4558386517011600876Not measuredNot measuredNot measured
engineComponent_camshaft_a01gpt-6.1-solpinone1completed100% (46/46)88.94% (1.77876/2)N/A68.63% (35/51)83.03% (0.83032/1)83.03% (0.83032/1)N/A68.05% (9755/14336)3520585.38498.6968569820938706636Not measuredNot measuredNot measured
engineComponent_camshaft_a01gpt-6.1-solpinone2completed100% (46/46)0% (0/2)N/A74.51% (38/51)92.25% (0.922452/1)92.25% (0.922452/1)N/A13.35% (1914/14336)3530476.47420.9479247518052810527Not measuredNot measuredNot measured
engineComponent_camshaft_a01gpt-6.1-solpinone3completed100% (46/46)94.44% (1.88877/2)0% (0/1)76.47% (39/51)93.91% (0.939092/1)50% (0.5/1)N/A65.85% (9440/14336)2820476.92398.7663111317682648795Not measuredNot measuredNot measured
engineComponent_camshaft_a01gpt-6.1-solpinone4completed100% (46/46)0% (0/2)N/A64.71% (33/51)82.91% (0.829092/1)82.91% (0.829092/1)N/A12.8% (1835/14336)3520495.14421.4586116116684877845Not measuredNot measuredNot measured
food_beverage_coffeeCup_a01gpt-6.1-solpinone1completed100% (46/46)72.53% (1.45061/2)100% (1/1)74.51% (38/51)95.87% (0.95874/1)95.2% (1.90396/2)88.89% (8/9)31.53% (6458/20480)4730595.82538.511221647216701243317Not measuredNot measuredNot measured
food_beverage_coffeeCup_a01gpt-6.1-solpinone2completed100% (46/46)71.92% (1.4383/2)66.67% (0.666667/1)76.47% (39/51)96.09% (0.960929/1)66.67% (1.33333/2)77.78% (7/9)57.68% (11813/20480)3830709.44603.021329399246641354063Not measuredNot measuredNot measured
food_prepared_croissant_a01gpt-6.1-solpinone1completed100% (46/46)61.34% (1.22685/2)N/A74.51% (38/51)81.36% (0.813564/1)81.36% (0.813564/1)N/A26.82% (5493/20480)3130576.94428.0963334719361652708Not measuredNot measuredNot measured
food_prepared_croissant_a01gpt-6.1-solpinone3completed100% (46/46)45.81% (0.916291/2)N/A74.51% (38/51)81.26% (0.812608/1)81.26% (0.812608/1)N/A18.64% (3817/20480)4030735.6576.471168721263381195059Not measuredNot measuredNot measured
food_produce_banana_a01gpt-6.1-solpinone1completed100% (46/46)40.94% (0.818773/2)N/A74.51% (38/51)72.57% (0.725665/1)72.57% (0.725665/1)N/A16.19% (3316/20480)2620575.19395.2861192818503630431Not measuredNot measuredNot measured
food_produce_banana_a01gpt-6.1-solpinone3completed100% (46/46)41.81% (0.836119/2)N/A74.51% (38/51)73.2% (0.731976/1)73.2% (0.731976/1)N/A30.98% (6345/20480)2930479.22322.5169990915132715041Not measuredNot measuredNot measured
food_produce_broccoli_b01gpt-6.1-solpinone1completed100% (46/46)19.37% (0.387413/2)N/A70.59% (36/51)32.63% (0.326308/1)32.63% (0.326308/1)N/A19.79% (4052/20480)4130578.42489.1191931320121939434Not measuredNot measuredNot measured
food_produce_broccoli_b01gpt-6.1-solpinone2completed100% (46/46)14.87% (0.297407/2)N/A74.51% (38/51)28% (0.279981/1)28% (0.279981/1)N/A6% (1228/20480)3020540.6429.0567400518334692339Not measuredNot measuredNot measured
food_produce_broccoli_b01gpt-6.1-solpinone3completed100% (46/46)11.69% (0.2338/2)N/A74.51% (38/51)22.17% (0.22168/1)22.17% (0.22168/1)N/A9.12% (1867/20480)3130878.56747.76Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
food_produce_broccoli_b01gpt-6.1-solpinone4completed100% (46/46)15.27% (0.305363/2)N/A74.51% (38/51)21.29% (0.212897/1)21.29% (0.212897/1)N/A12.43% (2545/20480)3430628.61455.9276191419385781299Not measuredNot measuredNot measured
handTool_hammer_crossPeen_a01gpt-6.1-solpinone1completed100% (46/46)96.62% (1.93244/2)N/A74.51% (38/51)97.72% (0.97724/1)97.72% (0.97724/1)N/A56.41% (8397/14886)3430647.77573.351080321258721106193Not measuredNot measuredNot measured
handTool_hammer_crossPeen_a01gpt-6.1-solpinone2completed100% (46/46)30.61% (0.612167/2)N/A72.55% (37/51)89.45% (0.894505/1)89.45% (0.894505/1)N/A40% (5955/14886)3830681.27567.851207554265111234065Not measuredNot measuredNot measured
handTool_hammer_crossPeen_a01gpt-6.1-solpinone3completed100% (46/46)84.12% (1.68244/2)N/A74.51% (38/51)88.42% (0.884239/1)88.42% (0.884239/1)N/A50.14% (7464/14886)3430529.57448.0694788722185970072Not measuredNot measuredNot measured
handTool_hammer_crossPeen_a01gpt-6.1-solpinone4completed100% (46/46)92.03% (1.84065/2)N/A74.51% (38/51)93.59% (0.935882/1)93.59% (0.935882/1)N/A41.05% (6110/14886)3730695.31575.081091634252321116866Not measuredNot measuredNot measured
handTool_wrench_adjustable_a01gpt-6.1-solpinone1completed100% (46/46)0% (0/2)12.98% (0.129841/1)74.51% (38/51)94.04% (0.940356/1)85.22% (2.55663/3)85.71% (18/21)13.55% (1943/14342)3730832.49753.371128020367291164749Not measuredNot measuredNot measured
handTool_wrench_adjustable_a01gpt-6.1-solpinone3completed100% (46/46)95.74% (1.91471/2)2.78% (0.0277882/1)66.67% (34/51)94.99% (0.949922/1)66.84% (2.00529/3)76.19% (16/21)27.6% (3958/14342)3930727.54619.311087001284081115409Not measuredNot measuredNot measured
handTruck_convertible_steel_red_a01gpt-6.1-solpinone1completed100% (46/46)11.49% (0.229774/2)1.92% (0.0191566/1)76.47% (39/51)61.9% (0.619044/1)34.39% (3.78339/11)35.64% (36/101)13.52% (2216/16395)3830702.5625.831006459287581035217Not measuredNot measuredNot measured
handTruck_convertible_steel_red_a01gpt-6.1-solpinone2completed100% (46/46)52.4% (1.04797/2)7.47% (0.0746683/1)68.63% (35/51)67.09% (0.670874/1)25.25% (2.77789/11)36.63% (37/101)19.09% (3129/16395)3830694.82639.451008585283961036981Not measuredNot measuredNot measured
handTruck_convertible_steel_red_a01gpt-6.1-solpinone3completed100% (46/46)44.33% (0.886592/2)1.03% (0.0103275/1)76.47% (39/51)59.81% (0.59815/1)24.62% (2.70797/11)31.68% (32/101)35.39% (5803/16395)4330687.1611.921356378278481384226Not measuredNot measuredNot measured
handTruck_convertible_steel_red_a01gpt-6.1-solpinone4completed100% (46/46)11.43% (0.228673/2)2.08% (0.0207818/1)74.51% (38/51)57.37% (0.57371/1)25.4% (2.7936/11)35.64% (36/101)8.06% (1322/16395)4840645.05568.031640122235781663700Not measuredNot measuredNot measured
kitchenware_kettle_a01gpt-6.1-solpinone1completed100% (46/46)57.28% (1.14561/2)0% (0/2)76.47% (39/51)82.68% (0.826772/1)40.14% (1.60573/4)25.81% (8/31)24.6% (5039/20480)3830758.22649.571173908296971203605Not measuredNot measuredNot measured
kitchenware_kettle_a01gpt-6.1-solpinone2completed100% (46/46)52.94% (1.05874/2)0% (0/2)66.67% (34/51)77.69% (0.776879/1)55.92% (2.23685/4)54.84% (17/31)23.71% (4856/20480)3520566.63501.0987521821685896903Not measuredNot measuredNot measured
kitchenware_kettle_a01gpt-6.1-solpinone3completed100% (46/46)64.02% (1.28046/2)0% (0/2)76.47% (39/51)81.25% (0.812455/1)56.45% (2.25805/4)54.84% (17/31)29.14% (5968/20480)3730664.89575.4196744627860995306Not measuredNot measuredNot measured
kitchenware_pan_j01gpt-6.1-solpinone1completed100% (46/46)77.61% (1.55225/2)0% (0/1)76.47% (39/51)99.95% (0.999511/1)50% (0.5/1)N/A34.11% (6985/20480)2830474.61401.2457914220253599395Not measuredNot measuredNot measured
kitchenware_pan_j01gpt-6.1-solpinone3completed100% (46/46)68.59% (1.3718/2)0% (0/1)74.51% (38/51)100% (1/1)50% (0.5/1)N/A48.82% (9998/20480)3130638.58455.7277213623035795171Not measuredNot measuredNot measured
pallet_wood_recycled_a05gpt-6.1-solpinone1completed100% (46/46)0% (0/2)N/A74.51% (38/51)100% (1/1)100% (1/1)N/A42.86% (6144/14336)3530509.48404.9165890417018675922Not measuredNot measuredNot measured
pallet_wood_recycled_a05gpt-6.1-solpinone3completed100% (46/46)0% (0/2)N/A74.51% (38/51)100% (1/1)100% (1/1)N/A42.86% (6144/14336)3640481.52379.6688236416779899143Not measuredNot measuredNot measured
ppe_helmet_hardHat_a01gpt-6.1-solpinone1completed100% (46/46)0% (0/2)N/A74.51% (38/51)70.08% (0.70082/1)70.08% (0.70082/1)N/A28.51% (4482/15722)3930742.31651.141240702284631269165Not measuredNot measuredNot measured
ppe_helmet_hardHat_a01gpt-6.1-solpinone2completed100% (46/46)51.62% (1.03245/2)0% (0/1)74.51% (38/51)61.36% (0.613561/1)50% (0.5/1)N/A42.9% (6745/15722)4340631.73539.341164052247431188795Not measuredNot measuredNot measured
ppe_helmet_hardHat_a01gpt-6.1-solpinone3completed100% (46/46)42.26% (0.8451/2)N/A74.51% (38/51)50.75% (0.507519/1)50.75% (0.507519/1)N/A13.55% (2130/15722)3230510.66438.3264390820213664121Not measuredNot measuredNot measured
ppe_helmet_hardHat_a01gpt-6.1-solpinone4completed100% (46/46)39.15% (0.78302/2)N/A74.51% (38/51)47.74% (0.477441/1)47.74% (0.477441/1)N/A24.53% (3856/15722)3830536.05410.976008918154778243Not measuredNot measuredNot measured
serviceTool_funnel_flexibleSpout_a01gpt-6.1-solpinone1completed100% (46/46)19.39% (0.387886/2)N/A74.51% (38/51)27.12% (0.271244/1)27.12% (0.271244/1)N/A6.53% (1066/16337)3330603.45489.2770858522174730759Not measuredNot measuredNot measured
serviceTool_funnel_flexibleSpout_a01gpt-6.1-solpinone2completed100% (46/46)19.37% (0.387495/2)N/A74.51% (38/51)26.46% (0.26464/1)26.46% (0.26464/1)N/A13.34% (2180/16337)3130596.15515.3268898022564711544Not measuredNot measuredNot measured
serviceTool_funnel_flexibleSpout_a01gpt-6.1-solpinone3completed100% (46/46)12.27% (0.245403/2)N/A72.55% (37/51)18.08% (0.180844/1)18.08% (0.180844/1)N/A8.01% (1308/16337)4830743.68614.791276209265321302741Not measuredNot measuredNot measured
serviceTool_funnel_flexibleSpout_a01gpt-6.1-solpinone4completed100% (46/46)0% (0/2)N/A70.59% (36/51)23.47% (0.234665/1)23.47% (0.234665/1)N/A8.1% (1323/16337)4030673.26612.461116578270751143653Not measuredNot measuredNot measured
sign_wetFloor_a01gpt-6.1-solpinone1completed100% (46/46)0% (0/2)0.29% (0.00291905/1)78.43% (40/51)88.38% (0.883811/1)86.7% (1.73408/2)72.73% (8/11)13.97% (2003/14336)4030588.99542.431053333266631079996Not measuredNot measuredNot measured
sign_wetFloor_a01gpt-6.1-solpinone3completed100% (46/46)94.87% (1.89739/2)0.28% (0.00281919/1)78.43% (40/51)92.77% (0.927655/1)90.28% (1.80552/2)72.73% (8/11)27.72% (3974/14336)3840538.59475.351072585228411095426Not measuredNot measuredNot measured
suspension_coilover_rear_b01gpt-6.1-solpinone1completed100% (46/46)74.05% (1.48097/2)0% (0/2)76.47% (39/51)71.03% (0.710278/1)50% (0.5/1)N/A22.06% (3162/14336)3540594.38483.321125764219181147682Not measuredNot measuredNot measured
suspension_coilover_rear_b01gpt-6.1-solpinone2completed100% (46/46)0% (0/2)0% (0/2)76.47% (39/51)79.53% (0.795253/1)50% (0.5/1)N/A11.75% (1685/14336)2930604.82509.7271205123817735868Not measuredNot measuredNot measured
suspension_coilover_rear_b01gpt-6.1-solpinone3completed100% (46/46)77.37% (1.54744/2)0% (0/2)76.47% (39/51)76.87% (0.768669/1)50% (0.5/1)N/A23.45% (3362/14336)3330551.09474.0978117323042804215Not measuredNot measuredNot measured
suspension_coilover_rear_b01gpt-6.1-solpinone4completed100% (46/46)80.47% (1.6094/2)0% (0/2)76.47% (39/51)77.92% (0.779179/1)50% (0.5/1)N/A23.74% (3404/14336)3130633.41542.788521726670911887Not measuredNot measuredNot measured
tools_fireExtinguisher_CO2_a01gpt-6.1-solpinone1completed100% (46/46)48.93% (0.978648/2)0% (0/2)76.47% (39/51)92% (0.920016/1)39.33% (1.57302/4)0% (0/29)29.56% (6005/20314)3830630.27589.611013307281721041479Not measuredNot measuredNot measured
tools_fireExtinguisher_CO2_a01gpt-6.1-solpinone3completed100% (46/46)43.29% (0.865729/2)0% (0/2)74.51% (38/51)78.55% (0.785542/1)42.75% (1.71006/4)58.62% (17/29)35.13% (7137/20314)3430552.62502.4784337724350867727Not measuredNot measuredNot measured
utensils_scissors_a01gpt-6.1-solpinone1completed100% (46/46)79.02% (1.58048/2)0% (0/1)76.47% (39/51)93.13% (0.931318/1)50% (1.5/3)0% (0/21)54.65% (11192/20480)2830530.21445.1459091920788611707Not measuredNot measuredNot measured
utensils_scissors_a01gpt-6.1-solpinone3completed100% (46/46)84.57% (1.69136/2)0% (0/1)74.51% (38/51)93.92% (0.939195/1)50% (1.5/3)0% (0/21)58.53% (11986/20480)3940496.2437.7382057920047840626Not measuredNot measuredNot measured
wheelAssembly_wheel_rim_a01gpt-6.1-solpinone1completed100% (46/46)55.49% (1.10988/2)N/A68.63% (35/51)57.39% (0.57388/1)57.39% (0.57388/1)N/A30.66% (4396/14336)4330633.11514.88989969223741012343Not measuredNot measuredNot measured
wheelAssembly_wheel_rim_a01gpt-6.1-solpinone3completed100% (46/46)54.6% (1.09203/2)0% (0/1)72.55% (37/51)54.71% (0.54711/1)50% (0.5/1)N/A31.14% (4464/14336)3830596.45500.585030921855872164Not measuredNot measuredNot measured

accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)40.21% (0.804287/2)0% (0/2)72.55% (37/51)52.24% (0.5224/1)19.32% (0.772785/4)0% (0/29)13.91% (2134/15341)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
5030782.55685.581496445302581526703Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape52.240.5224/111100
Rigid parts19.320.772785/444100
Joints00/292929100
Materials13.912134/15341153411534162.42

Appearance materials

Score (%)Earned/eligibleStatus
30.96634/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints00/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_arm_02_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_arm_01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
55.9149.0220483.349.1922.17

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00/Sunglasses/RightTemple0
/RootNode/Geometry/arm_02_obj_00/Sunglasses/LeftTemple0
/RootNode/Geometry/base_01_obj_00Not measured0
/RootNode/Geometry/glass_01_obj_00/Sunglasses/Front77.28

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
320/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled3/44/4
body_kinematic3/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/33/3
joint_enabled0/33/3
body0_enabled0/33/3
body0_kinematic0/33/3
body1_enabled0/33/3
body1_kinematic0/33/3
anchors0/33/3
axes0/22/2
relative_orientation0/33/3
limits0/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1004/204849.02
visual:metallic126/100512.54
visual:opacity1004/204849.02

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

accessory_eyeglasses_a01: Reference: front
Reference: front | pi | none | repetition 1
accessory_eyeglasses_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
accessory_eyeglasses_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
accessory_eyeglasses_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
accessory_eyeglasses_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
accessory_eyeglasses_a01: Reference: side
Reference: side | pi | none | repetition 1
accessory_eyeglasses_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)66.28% (1.32561/2)0% (0/2)64.71% (33/51)79.03% (0.790262/1)37.83% (1.51339/4)62.07% (18/29)56.49% (8666/15341)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4030578.87501.9977861228121000673Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape79.030.790262/111100
Rigid parts37.831.51339/444100
Joints62.0718/292929100
Materials56.498666/15341153411534162.42

Appearance materials

Score (%)Earned/eligibleStatus
55.591138.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints7.960.318493/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_arm_02_joint_00/Sunglasses/RightFoldingHinge7.749.06measured_motion
/RootNode/Joints/joint_arm_01_joint_00/Sunglasses/LeftFoldingHinge8.188.77measured_motion
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
81.5476.6620483.343.457.18

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00/Sunglasses/LeftTemple55.43
/RootNode/Geometry/arm_02_obj_00/Sunglasses/RightTemple52.82
/RootNode/Geometry/base_01_obj_00/Sunglasses/FrontAssembly43.09
/RootNode/Geometry/glass_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3218/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled3/44/4
body_kinematic3/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes2/22/2
relative_orientation2/33/3
limits2/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1570/204876.66
physics:density0/20480
physics:dynamicFriction1259/204861.47
physics:restitution1306/204863.77
physics:staticFriction1259/204861.47
visual:assignment1570/204876.66
visual:metallic132/100513.13
visual:opacity1570/204876.66

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

accessory_eyeglasses_a01: Reference: front
Reference: front | pi | none | repetition 2
accessory_eyeglasses_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
accessory_eyeglasses_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
accessory_eyeglasses_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
accessory_eyeglasses_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
accessory_eyeglasses_a01: Reference: side
Reference: side | pi | none | repetition 2
accessory_eyeglasses_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)85.47% (1.7094/2)0% (0/2)76.47% (39/51)84.81% (0.848127/1)46.21% (1.84845/4)62.07% (18/29)58.59% (8988/15341)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3840691.4595.071047023283671075390Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape84.810.848127/111100
Rigid parts46.211.84845/444100
Joints62.0718/292929100
Materials58.598988/15341153411534162.42

Appearance materials

Score (%)Earned/eligibleStatus
86.131764/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints32.551.30209/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_arm_02_joint_00/Sunglasses/Joints/LeftFoldingHinge27.455.42measured_motion
/RootNode/Joints/joint_arm_01_joint_00/Sunglasses/Joints/RightFoldingHinge37.654.29measured_motion
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
83.3586.3320483.343.397.42

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00/Sunglasses/RightTemple69.21
/RootNode/Geometry/arm_02_obj_00/Sunglasses/LeftTemple61.57
/RootNode/Geometry/base_01_obj_00/Sunglasses/FrontFrame54.07
/RootNode/Geometry/glass_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3218/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled3/44/4
body_kinematic3/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes2/22/2
relative_orientation2/33/3
limits2/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1729/204884.42
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1422/204869.43
physics:staticFriction1304/204863.67
visual:assignment1768/204886.33
visual:metallic997/100599.2
visual:opacity1768/204886.33

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

accessory_eyeglasses_a01: Reference: front
Reference: front | pi | none | repetition 3
accessory_eyeglasses_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
accessory_eyeglasses_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
accessory_eyeglasses_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
accessory_eyeglasses_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
accessory_eyeglasses_a01: Reference: side
Reference: side | pi | none | repetition 3
accessory_eyeglasses_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)63.84% (1.27689/2)0% (0/2)72.55% (37/51)77.15% (0.771528/1)37.55% (1.50198/4)62.07% (18/29)20.42% (3132/15341)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3730631.73558.261069125253751094500Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape77.150.771528/111100
Rigid parts37.551.50198/444100
Joints62.0718/292929100
Materials20.423132/15341153411534162.42

Appearance materials

Score (%)Earned/eligibleStatus
52.831082/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints33.051.32211/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_arm_02_joint_00/Sunglasses/Joints/LeftFoldingHinge28.235.32measured_motion
/RootNode/Joints/joint_arm_01_joint_00/Sunglasses/Joints/RightFoldingHinge37.874.27measured_motion
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
80.9173.7320483.344.039.33

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00/Sunglasses/RightTemple55.08
/RootNode/Geometry/arm_02_obj_00/Sunglasses/LeftTemple51.74
/RootNode/Geometry/base_01_obj_00/Sunglasses/FrontAssembly43.37
/RootNode/Geometry/glass_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3218/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled3/44/4
body_kinematic3/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes2/22/2
relative_orientation2/33/3
limits2/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1510/204873.73
visual:metallic112/100511.14
visual:opacity1510/204873.73

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

accessory_eyeglasses_a01: Reference: front
Reference: front | pi | none | repetition 4
accessory_eyeglasses_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
accessory_eyeglasses_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
accessory_eyeglasses_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
accessory_eyeglasses_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
accessory_eyeglasses_a01: Reference: side
Reference: side | pi | none | repetition 4
accessory_eyeglasses_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

box_cardboard_open_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)80.4% (1.60807/2)N/A70.59% (36/51)82.18% (0.821836/1)82.18% (0.821836/1)N/A44.95% (6444/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2930431.15384.2755840016418574818Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape82.180.821836/111100
Rigid parts82.180.821836/111100
JointsNot applicable0/0000
Materials44.956444/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
78.661611/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
86.0478.6620489.76.3912.84

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/CardboardTray82.18

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1611/204878.66
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction1611/204878.66
visual:assignment1611/204878.66
visual:opacity1611/204878.66

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 1
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 1
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

box_cardboard_open_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)83.63% (0.836295/1)83.63% (0.836295/1)N/A34.05% (4881/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2920407.12352.8557454016108590648Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape83.630.836295/111100
Rigid parts83.630.836295/111100
JointsNot applicable0/0000
Materials34.054881/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
88.2879.4420489.76.1312.98

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/CardboardBox83.63

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1627/204879.44
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction1627/204879.44
visual:assignment1627/204879.44
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 2
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 2
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

box_cardboard_open_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)77.87% (0.778707/1)77.87% (0.778707/1)N/A30.91% (4431/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3230463.45405.8171765617729735385Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape77.870.778707/111100
Rigid parts77.870.778707/111100
JointsNot applicable0/0000
Materials30.914431/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
84.6272.1220489.77.0914.29

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/CardboardTray77.87

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1477/204872.12
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction1477/204872.12
visual:assignment1477/204872.12
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 3
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 3
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

box_cardboard_open_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)76.59% (1.53173/2)N/A74.51% (38/51)77.8% (0.778012/1)77.8% (0.778012/1)N/A43.08% (6176/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4130576.55510.911062333218151084148Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape77.80.778012/111100
Rigid parts77.80.778012/111100
JointsNot applicable0/0000
Materials43.086176/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
75.391544/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
80.3775.3920489.77.0813.23

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/CardboardTray77.8

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1544/204875.39
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction1544/204875.39
visual:assignment1544/204875.39
visual:opacity1544/204875.39

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 4
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 4
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

bucket_utility_red_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)41.49% (0.829812/2)0.01% (0.000121476/1)76.47% (39/51)54.74% (0.547449/1)28.71% (0.574159/2)63.64% (7/11)31.4% (5136/16356)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4340805.12716.051649778315561681334Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape54.740.547449/111100
Rigid parts28.710.574159/222100
Joints63.647/111111100
Materials31.45136/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
31.45644/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints0.010.000364428/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00/Bucket/Joints/Bail_Swing0.02316.54measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
48.5862.720486.388.3114.26

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/Bucket/Body56.03
/RootNode/Geometry/sm_handle_a01_01_obj_00/Bucket/Bail1.39

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
127/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
axes0/11/1
relative_orientation1/11/1
limits0/11/1
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1284/204862.7
physics:density0/20480
physics:dynamicFriction1257/204861.38
physics:restitution27/20481.32
physics:staticFriction0/20480
visual:assignment1284/204862.7
visual:diffuseColor0/20200
visual:opacity1284/204862.7

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

bucket_utility_red_a01: Reference: front
Reference: front | pi | none | repetition 1
bucket_utility_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
bucket_utility_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
bucket_utility_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
bucket_utility_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
bucket_utility_red_a01: Reference: side
Reference: side | pi | none | repetition 1
bucket_utility_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

bucket_utility_red_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)43.33% (0.866571/2)0.34% (0.00336069/1)70.59% (36/51)58.21% (0.58211/1)29.27% (0.585487/2)54.55% (6/11)32.31% (5285/16356)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3520532.75470.8378965220782810434Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape58.210.58211/111100
Rigid parts29.270.585487/222100
Joints54.556/111111100
Materials32.315285/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
32.25660.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints0.340.0100821/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00/Bucket/Joints/BailHinge0.566.31measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
53.2764.1620486.386.8811.39

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/Bucket/Body58.02
/RootNode/Geometry/sm_handle_a01_01_obj_00/Bucket/Bail0.53

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
126/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
axes0/11/1
relative_orientation0/11/1
limits0/11/1
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1314/204864.16
physics:density0/20480
physics:dynamicFriction1314/204864.16
physics:restitution29/20481.42
physics:staticFriction0/20480
visual:assignment1314/204864.16
visual:diffuseColor0/20200
visual:opacity1314/204864.16

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

bucket_utility_red_a01: Reference: front
Reference: front | pi | none | repetition 2
bucket_utility_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
bucket_utility_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
bucket_utility_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
bucket_utility_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
bucket_utility_red_a01: Reference: side
Reference: side | pi | none | repetition 2
bucket_utility_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

bucket_utility_red_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)0.01% (8.61068e-05/1)72.55% (37/51)73.1% (0.730956/1)37.68% (0.753671/2)72.73% (8/11)9.62% (1573/16356)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3630607.49534.7795128224345975627Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape73.10.730956/111100
Rigid parts37.680.753671/222100
Joints72.738/111111100
Materials9.621573/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints0.010.00025832/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00/Bucket/Joints/Bail_hinge0.01256.43measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
69.7376.8120486.387.5711.49

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/Bucket/Pail73.34
/RootNode/Geometry/sm_handle_a01_01_obj_00/Bucket/WireBail2.03

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
128/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
axes1/11/1
relative_orientation1/11/1
limits0/11/1
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1573/204876.81
visual:diffuseColor0/20200
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

bucket_utility_red_a01: Reference: front
Reference: front | pi | none | repetition 3
bucket_utility_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
bucket_utility_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
bucket_utility_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
bucket_utility_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
bucket_utility_red_a01: Reference: side
Reference: side | pi | none | repetition 3
bucket_utility_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

bucket_utility_red_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)35.87% (0.717405/2)0.27% (0.00266133/1)72.55% (37/51)47.74% (0.477375/1)36.57% (0.731475/2)63.64% (7/11)13.35% (2184/16356)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3530573.88507.1976368422833786517Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape47.740.477375/111100
Rigid parts36.570.731475/222100
Joints63.647/111111100
Materials13.352184/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
26.95552/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints0.270.00798398/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00/Bucket/Joints/BailPivot0.455.26measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
43.2153.3220486.387.4912.19

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/Bucket/Pail48.04
/RootNode/Geometry/sm_handle_a01_01_obj_00/Bucket/Bail25.11

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
127/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
axes1/11/1
relative_orientation0/11/1
limits0/11/1
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1092/204853.32
visual:diffuseColor0/20200
visual:opacity1092/204853.32

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

bucket_utility_red_a01: Reference: front
Reference: front | pi | none | repetition 4
bucket_utility_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
bucket_utility_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
bucket_utility_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
bucket_utility_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
bucket_utility_red_a01: Reference: side
Reference: side | pi | none | repetition 4
bucket_utility_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

chair_office_amf_black_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)76.44% (1.52878/2)0% (0/1)68.63% (35/51)74.46% (0.744639/1)21.7% (0.216991/1)N/A31.78% (5207/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3430703.39625.7189808527574925659Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape74.460.744639/111100
Rigid parts21.70.216991/111100
JointsNot applicable0/0000
Materials31.785207/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
78.471607/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/22/2100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
70.8578.47204812.2918.1539.56

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_obj_00/Chair/SteelFrame21.7

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment193/20489.42
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution193/20489.42
physics:staticFriction0/20480
visual:assignment1607/204878.47
visual:diffuseColor1607/204878.47
visual:opacity1607/204878.47

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

chair_office_amf_black_a01: Reference: front
Reference: front | pi | none | repetition 1
chair_office_amf_black_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
chair_office_amf_black_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
chair_office_amf_black_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
chair_office_amf_black_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
chair_office_amf_black_a01: Reference: side
Reference: side | pi | none | repetition 1
chair_office_amf_black_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

chair_office_amf_black_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)43.66% (0.873218/2)N/A68.63% (35/51)59.83% (0.598322/1)59.83% (0.598322/1)N/A23.96% (3925/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4030633.2558.551060920244431085363Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape59.830.598322/111100
Rigid parts59.830.598322/111100
JointsNot applicable0/0000
Materials23.963925/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
31.86652.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
56.263.96204812.2924.1353.74

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_obj_00/Chair59.83

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1310/204863.96
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1310/204863.96
visual:diffuseColor1305/204863.72
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

chair_office_amf_black_a01: Reference: front
Reference: front | pi | none | repetition 2
chair_office_amf_black_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
chair_office_amf_black_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
chair_office_amf_black_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
chair_office_amf_black_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
chair_office_amf_black_a01: Reference: side
Reference: side | pi | none | repetition 2
chair_office_amf_black_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

chair_office_amf_black_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)80.58% (1.61164/2)0% (0/1)76.47% (39/51)79.3% (0.793004/1)26.9% (0.268992/1)N/A30.74% (5036/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3930685.16618.789153328320919853Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape79.30.793004/111100
Rigid parts26.90.268992/111100
JointsNot applicable0/0000
Materials30.745036/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
81.881677/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/22/2100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
76.6682.13204812.2912.5130.05

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_obj_00/Chair/Frame26.9

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1682/204882.13
visual:diffuseColor1672/204881.64
visual:opacity1682/204882.13

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

chair_office_amf_black_a01: Reference: front
Reference: front | pi | none | repetition 3
chair_office_amf_black_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
chair_office_amf_black_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
chair_office_amf_black_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
chair_office_amf_black_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
chair_office_amf_black_a01: Reference: side
Reference: side | pi | none | repetition 3
chair_office_amf_black_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

chair_office_amf_black_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)53.63% (1.07263/2)0% (0/1)76.47% (39/51)74.19% (0.741903/1)16.1% (0.16101/1)N/A29.11% (4770/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3940573.97493.461135730220001157730Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape74.190.741903/111100
Rigid parts16.10.16101/111100
JointsNot applicable0/0000
Materials29.114770/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
38.77794/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/22/2100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
7177.69204812.2919.9252.6

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_obj_00/Chair/Frame16.1

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1591/204877.69
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1591/204877.69
visual:diffuseColor1588/204877.54
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

chair_office_amf_black_a01: Reference: front
Reference: front | pi | none | repetition 4
chair_office_amf_black_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
chair_office_amf_black_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
chair_office_amf_black_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
chair_office_amf_black_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
chair_office_amf_black_a01: Reference: side
Reference: side | pi | none | repetition 4
chair_office_amf_black_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

cleaning_cloth_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)90.94% (0.909413/1)90.94% (0.909413/1)N/A39.07% (5601/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4530927.19656.511454939241121479051Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape90.940.909413/111100
Rigid parts90.940.909413/111100
JointsNot applicable0/0000
Materials39.075601/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
90.6291.2620484.52.454.95

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00/MicrofiberCloth90.94

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1866/204891.11
physics:density0/20480
physics:dynamicFriction1866/204891.11
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1869/204891.26
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

cleaning_cloth_a01: Reference: front
Reference: front | pi | none | repetition 1
cleaning_cloth_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
cleaning_cloth_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
cleaning_cloth_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
cleaning_cloth_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
cleaning_cloth_a01: Reference: side
Reference: side | pi | none | repetition 1
cleaning_cloth_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

cleaning_cloth_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)97.57% (0.975744/1)97.57% (0.975744/1)N/A14.29% (2048/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3720634.25500.9687451721134895651Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape97.570.975744/111100
Rigid parts97.570.975744/111100
JointsNot applicable0/0000
Materials14.292048/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
95.2610020484.523.89

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00/Cloth97.57

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment2048/2048100
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

cleaning_cloth_a01: Reference: front
Reference: front | pi | none | repetition 2
cleaning_cloth_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
cleaning_cloth_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
cleaning_cloth_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
cleaning_cloth_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
cleaning_cloth_a01: Reference: side
Reference: side | pi | none | repetition 2
cleaning_cloth_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

cleaning_cloth_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)99.24% (1.98482/2)N/A74.51% (38/51)98.49% (0.984882/1)98.49% (0.984882/1)N/A28.57% (4096/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3640723.44563.471049555246861074241Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape98.490.984882/111100
Rigid parts98.490.984882/111100
JointsNot applicable0/0000
Materials28.574096/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
1002048/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
97.0210020484.51.83.56

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00/MicrofiberCloth98.49

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment2048/2048100
visual:opacity2048/2048100

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

cleaning_cloth_a01: Reference: front
Reference: front | pi | none | repetition 4
cleaning_cloth_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
cleaning_cloth_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
cleaning_cloth_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
cleaning_cloth_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
cleaning_cloth_a01: Reference: side
Reference: side | pi | none | repetition 4
cleaning_cloth_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

container_bottle_glass_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)80.72% (1.61437/2)N/A74.51% (38/51)81.71% (0.817125/1)81.71% (0.817125/1)N/A29.9% (4899/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3630562.03496.6689682921319918148Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape81.710.817125/111100
Rigid parts81.710.817125/111100
JointsNot applicable0/0000
Materials29.94899/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
79.741633/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
83.7979.7420484.513.587.77

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_01_obj_00/Vessel81.71

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1633/204879.74
visual:metallic1633/204879.74
visual:opacity1633/204879.74

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

container_bottle_glass_a01: Reference: front
Reference: front | pi | none | repetition 1
container_bottle_glass_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
container_bottle_glass_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
container_bottle_glass_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
container_bottle_glass_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
container_bottle_glass_a01: Reference: side
Reference: side | pi | none | repetition 1
container_bottle_glass_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

container_bottle_glass_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)90.98% (1.81958/2)N/A74.51% (38/51)90.94% (0.909423/1)90.94% (0.909423/1)N/A68.26% (11184/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3220366.66320.6752012414220534344Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape90.940.909423/111100
Rigid parts90.940.909423/111100
JointsNot applicable0/0000
Materials68.2611184/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
91.021864/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
90.8791.0220484.512.825.2

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_01_obj_00/Bottle90.94

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1864/204891.02
physics:density0/20480
physics:dynamicFriction1864/204891.02
physics:restitution1864/204891.02
physics:staticFriction0/20480
visual:assignment1864/204891.02
visual:metallic1864/204891.02
visual:opacity1864/204891.02

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

container_bottle_glass_a01: Reference: front
Reference: front | pi | none | repetition 2
container_bottle_glass_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
container_bottle_glass_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
container_bottle_glass_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
container_bottle_glass_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
container_bottle_glass_a01: Reference: side
Reference: side | pi | none | repetition 2
container_bottle_glass_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

container_bottle_glass_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A66.67% (34/51)81.06% (0.810559/1)81.06% (0.810559/1)N/A49.19% (8060/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2920383.45331.6752314214382537524Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape81.060.810559/111100
Rigid parts81.060.810559/111100
JointsNot applicable0/0000
Materials49.198060/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
83.5478.7120484.513.839

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_01_obj_00/Vessel81.06

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1612/204878.71
physics:density0/20480
physics:dynamicFriction1612/204878.71
physics:restitution1612/204878.71
physics:staticFriction1612/204878.71
visual:assignment1612/204878.71
visual:metallic0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

container_bottle_glass_a01: Reference: front
Reference: front | pi | none | repetition 3
container_bottle_glass_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
container_bottle_glass_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
container_bottle_glass_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
container_bottle_glass_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
container_bottle_glass_a01: Reference: side
Reference: side | pi | none | repetition 3
container_bottle_glass_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

container_bottle_glass_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)86.65% (1.73301/2)N/A74.51% (38/51)87.47% (0.874685/1)87.47% (0.874685/1)N/A64.38% (10548/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3130427.21364.4558386517011600876Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape87.470.874685/111100
Rigid parts87.470.874685/111100
JointsNot applicable0/0000
Materials64.3810548/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
85.841758/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
89.1685.8420484.513.237.86

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_01_obj_00/Bottle87.47

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1758/204885.84
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1758/204885.84
physics:staticFriction1758/204885.84
visual:assignment1758/204885.84
visual:metallic1758/204885.84
visual:opacity1758/204885.84

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

container_bottle_glass_a01: Reference: front
Reference: front | pi | none | repetition 4
container_bottle_glass_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
container_bottle_glass_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
container_bottle_glass_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
container_bottle_glass_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
container_bottle_glass_a01: Reference: side
Reference: side | pi | none | repetition 4
container_bottle_glass_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)88.94% (1.77876/2)N/A68.63% (35/51)83.03% (0.83032/1)83.03% (0.83032/1)N/A68.05% (9755/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3520585.38498.6968569820938706636Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape83.030.83032/111100
Rigid parts83.030.83032/111100
JointsNot applicable0/0000
Materials68.059755/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
95.261951/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
73.5895.2620486.885.0811.45

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/camshaft_01_obj_00/Camshaft/Body83.03

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1951/204895.26
physics:density1951/204895.26
physics:dynamicFriction0/20480
physics:restitution1951/204895.26
physics:staticFriction0/20480
visual:assignment1951/204895.26
visual:opacity1951/204895.26

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

engineComponent_camshaft_a01: Reference: front
Reference: front | pi | none | repetition 1
engineComponent_camshaft_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
engineComponent_camshaft_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
engineComponent_camshaft_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
engineComponent_camshaft_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
engineComponent_camshaft_a01: Reference: side
Reference: side | pi | none | repetition 1
engineComponent_camshaft_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)92.25% (0.922452/1)92.25% (0.922452/1)N/A13.35% (1914/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3530476.47420.9479247518052810527Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape92.250.922452/111100
Rigid parts92.250.922452/111100
JointsNot applicable0/0000
Materials13.351914/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
91.0693.4620486.883.778.01

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/camshaft_01_obj_00/Camshaft/Body92.25

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1914/204893.46
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

engineComponent_camshaft_a01: Reference: front
Reference: front | pi | none | repetition 2
engineComponent_camshaft_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
engineComponent_camshaft_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
engineComponent_camshaft_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
engineComponent_camshaft_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
engineComponent_camshaft_a01: Reference: side
Reference: side | pi | none | repetition 2
engineComponent_camshaft_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)94.44% (1.88877/2)0% (0/1)76.47% (39/51)93.91% (0.939092/1)50% (0.5/1)N/A65.85% (9440/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2820476.92398.7663111317682648795Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape93.910.939092/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials65.859440/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
94.971945/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/22/2100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
92.8794.9720486.883.217.52

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/camshaft_01_obj_00/Camshaft/Shaft84.74

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1850/204890.33
physics:density0/20480
physics:dynamicFriction1850/204890.33
physics:restitution1850/204890.33
physics:staticFriction0/20480
visual:assignment1945/204894.97
visual:opacity1945/204894.97

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

engineComponent_camshaft_a01: Reference: front
Reference: front | pi | none | repetition 3
engineComponent_camshaft_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
engineComponent_camshaft_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
engineComponent_camshaft_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
engineComponent_camshaft_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
engineComponent_camshaft_a01: Reference: side
Reference: side | pi | none | repetition 3
engineComponent_camshaft_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A64.71% (33/51)82.91% (0.829092/1)82.91% (0.829092/1)N/A12.8% (1835/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3520495.14421.4586116116684877845Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape82.910.829092/111100
Rigid parts82.910.829092/111100
JointsNot applicable0/0000
Materials12.81835/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
77.1589.620486.885.0610.25

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/camshaft_01_obj_00/Camshaft82.91

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1835/204889.6
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

engineComponent_camshaft_a01: Reference: front
Reference: front | pi | none | repetition 4
engineComponent_camshaft_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
engineComponent_camshaft_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
engineComponent_camshaft_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
engineComponent_camshaft_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
engineComponent_camshaft_a01: Reference: side
Reference: side | pi | none | repetition 4
engineComponent_camshaft_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

food_beverage_coffeeCup_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)72.53% (1.45061/2)100% (1/1)74.51% (38/51)95.87% (0.95874/1)95.2% (1.90396/2)88.89% (8/9)31.53% (6458/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4730595.82538.511221647216701243317Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape95.870.95874/111100
Rigid parts95.21.90396/222100
Joints88.898/999100
Materials31.536458/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
54.871123.75/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints1002/22/2100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_food_beverage_coffeeCup_a01_lid_joint_00/CoffeeCup/LidSnapFit1000measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
95.995.8520482.681.142.12

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_body_obj_00/CoffeeCup/Body94.28
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_lid_obj_00/CoffeeCup/Lid96.12

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
118/9

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
relative_orientation1/11/1
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1963/204895.85
visual:diffuseColor491/204823.97
visual:metallic1963/204895.85
visual:opacity1963/204895.85
visual:roughness78/20483.81

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_beverage_coffeeCup_a01: Reference: front
Reference: front | pi | none | repetition 1
food_beverage_coffeeCup_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
food_beverage_coffeeCup_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
food_beverage_coffeeCup_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
food_beverage_coffeeCup_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
food_beverage_coffeeCup_a01: Reference: side
Reference: side | pi | none | repetition 1
food_beverage_coffeeCup_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

food_beverage_coffeeCup_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)71.92% (1.4383/2)66.67% (0.666667/1)76.47% (39/51)96.09% (0.960929/1)66.67% (1.33333/2)77.78% (7/9)57.68% (11813/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830709.44603.021329399246641354063Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape96.090.960929/111100
Rigid parts66.671.33333/222100
Joints77.787/999100
Materials57.6811813/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
53.821102.25/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints66.672/33/3100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_food_beverage_coffeeCup_a01_lid_joint_00/CoffeeCup/Joints/LidSnapFit1000measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
96.3995.820482.681.271.68

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_body_obj_00/CoffeeCup/PaperCup94.35
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_lid_obj_00/CoffeeCup/Lid98.22

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
127/9

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
relative_orientation1/11/1
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1962/204895.8
physics:density0/20480
physics:dynamicFriction1962/204895.8
physics:restitution0/20480
physics:staticFriction1518/204874.12
visual:assignment1962/204895.8
visual:diffuseColor485/204823.68
visual:metallic1962/204895.8
visual:opacity1962/204895.8
visual:roughness0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_beverage_coffeeCup_a01: Reference: front
Reference: front | pi | none | repetition 2
food_beverage_coffeeCup_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
food_beverage_coffeeCup_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
food_beverage_coffeeCup_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
food_beverage_coffeeCup_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
food_beverage_coffeeCup_a01: Reference: side
Reference: side | pi | none | repetition 2
food_beverage_coffeeCup_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

food_prepared_croissant_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)61.34% (1.22685/2)N/A74.51% (38/51)81.36% (0.813564/1)81.36% (0.813564/1)N/A26.82% (5493/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3130576.94428.0963334719361652708Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape81.360.813564/111100
Rigid parts81.360.813564/111100
JointsNot applicable0/0000
Materials26.825493/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
46.25947.25/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
79.5983.220482.612.074.25

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_prepared_croissant_a01_obj_00/Croissant81.36

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1704/204883.2
visual:diffuseColor79/20483.86
visual:metallic1704/204883.2
visual:opacity1704/204883.2
visual:roughness302/204814.75

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_prepared_croissant_a01: Reference: front
Reference: front | pi | none | repetition 1
food_prepared_croissant_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
food_prepared_croissant_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
food_prepared_croissant_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
food_prepared_croissant_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
food_prepared_croissant_a01: Reference: side
Reference: side | pi | none | repetition 1
food_prepared_croissant_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

food_prepared_croissant_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)45.81% (0.916291/2)N/A74.51% (38/51)81.26% (0.812608/1)81.26% (0.812608/1)N/A18.64% (3817/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4030735.6576.471168721263381195059Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape81.260.812608/111100
Rigid parts81.260.812608/111100
JointsNot applicable0/0000
Materials18.643817/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
25.83529/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
79.5483.0620482.612.084.16

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_prepared_croissant_a01_obj_00/Croissant81.26

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1701/204883.06
visual:diffuseColor118/20485.76
visual:metallic1701/204883.06
visual:opacity0/20480
visual:roughness297/204814.5

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_prepared_croissant_a01: Reference: front
Reference: front | pi | none | repetition 3
food_prepared_croissant_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
food_prepared_croissant_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
food_prepared_croissant_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
food_prepared_croissant_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
food_prepared_croissant_a01: Reference: side
Reference: side | pi | none | repetition 3
food_prepared_croissant_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

food_produce_banana_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)40.94% (0.818773/2)N/A74.51% (38/51)72.57% (0.725665/1)72.57% (0.725665/1)N/A16.19% (3316/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2620575.19395.2861192818503630431Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape72.570.725665/111100
Rigid parts72.570.725665/111100
JointsNot applicable0/0000
Materials16.193316/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
23.1473/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
75.8869.5320483.023.356.48

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_produce_banana_a01_obj_00/Banana72.57

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1424/204869.53
visual:diffuseColor26/20481.27
visual:metallic1424/204869.53
visual:opacity0/20480
visual:roughness442/204821.58

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_produce_banana_a01: Reference: front
Reference: front | pi | none | repetition 1
food_produce_banana_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
food_produce_banana_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
food_produce_banana_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
food_produce_banana_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
food_produce_banana_a01: Reference: side
Reference: side | pi | none | repetition 1
food_produce_banana_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

food_produce_banana_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)41.81% (0.836119/2)N/A74.51% (38/51)73.2% (0.731976/1)73.2% (0.731976/1)N/A30.98% (6345/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2930479.22322.5169990915132715041Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape73.20.731976/111100
Rigid parts73.20.731976/111100
JointsNot applicable0/0000
Materials30.986345/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
23.88489/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
75.0571.4420483.023.497.31

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_produce_banana_a01_obj_00/Banana73.2

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1463/204871.44
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction1463/204871.44
visual:assignment1463/204871.44
visual:diffuseColor1/20480.05
visual:metallic1463/204871.44
visual:opacity0/20480
visual:roughness492/204824.02

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_produce_banana_a01: Reference: front
Reference: front | pi | none | repetition 3
food_produce_banana_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
food_produce_banana_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
food_produce_banana_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
food_produce_banana_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
food_produce_banana_a01: Reference: side
Reference: side | pi | none | repetition 3
food_produce_banana_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

food_produce_broccoli_b01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)19.37% (0.387413/2)N/A70.59% (36/51)32.63% (0.326308/1)32.63% (0.326308/1)N/A19.79% (4052/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4130578.42489.1191931320121939434Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape32.630.326308/111100
Rigid parts32.630.326308/111100
JointsNot applicable0/0000
Materials19.794052/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
11.5235.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
35.2530.3720483.6811.8725.22

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00/Broccoli32.63

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment622/204830.37
physics:density0/20480
physics:dynamicFriction622/204830.37
physics:restitution622/204830.37
physics:staticFriction622/204830.37
visual:assignment622/204830.37
visual:diffuseColor28/20481.37
visual:metallic622/204830.37
visual:opacity0/20480
visual:roughness292/204814.26

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_produce_broccoli_b01: Reference: front
Reference: front | pi | none | repetition 1
food_produce_broccoli_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
food_produce_broccoli_b01: Reference: isometric
Reference: isometric | pi | none | repetition 1
food_produce_broccoli_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
food_produce_broccoli_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
food_produce_broccoli_b01: Reference: side
Reference: side | pi | none | repetition 1
food_produce_broccoli_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

food_produce_broccoli_b01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)14.87% (0.297407/2)N/A74.51% (38/51)28% (0.279981/1)28% (0.279981/1)N/A6% (1228/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3020540.6429.0567400518334692339Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape280.279981/111100
Rigid parts280.279981/111100
JointsNot applicable0/0000
Materials61228/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
7.9161.75/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
27.6428.3720483.6811.523.96

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00/Broccoli28

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment581/204828.37
visual:diffuseColor20/20480.98
visual:metallic581/204828.37
visual:opacity0/20480
visual:roughness46/20482.25

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_produce_broccoli_b01: Reference: front
Reference: front | pi | none | repetition 2
food_produce_broccoli_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
food_produce_broccoli_b01: Reference: isometric
Reference: isometric | pi | none | repetition 2
food_produce_broccoli_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
food_produce_broccoli_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
food_produce_broccoli_b01: Reference: side
Reference: side | pi | none | repetition 2
food_produce_broccoli_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

food_produce_broccoli_b01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)11.69% (0.2338/2)N/A74.51% (38/51)22.17% (0.22168/1)22.17% (0.22168/1)N/A9.12% (1867/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3130878.56747.76Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape22.170.22168/111100
Rigid parts22.170.22168/111100
JointsNot applicable0/0000
Materials9.121867/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
6.16126.25/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
22.1722.1720483.6814.3728.67

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00/Broccoli22.17

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment454/204822.17
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution454/204822.17
physics:staticFriction0/20480
visual:assignment454/204822.17
visual:diffuseColor13/20480.63
visual:metallic454/204822.17
visual:opacity0/20480
visual:roughness38/20481.86

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_produce_broccoli_b01: Reference: front
Reference: front | pi | none | repetition 3
food_produce_broccoli_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
food_produce_broccoli_b01: Reference: isometric
Reference: isometric | pi | none | repetition 3
food_produce_broccoli_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
food_produce_broccoli_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
food_produce_broccoli_b01: Reference: side
Reference: side | pi | none | repetition 3
food_produce_broccoli_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

food_produce_broccoli_b01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)15.27% (0.305363/2)N/A74.51% (38/51)21.29% (0.212897/1)21.29% (0.212897/1)N/A12.43% (2545/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3430628.61455.9276191419385781299Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape21.290.212897/111100
Rigid parts21.290.212897/111100
JointsNot applicable0/0000
Materials12.432545/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
10.95224.25/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
22.6120.1220483.6815.0231.69

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00/Broccoli21.29

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment412/204820.12
physics:density0/20480
physics:dynamicFriction412/204820.12
physics:restitution412/204820.12
physics:staticFriction0/20480
visual:assignment412/204820.12
visual:diffuseColor15/20480.73
visual:metallic412/204820.12
visual:opacity412/204820.12
visual:roughness58/20482.83

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_produce_broccoli_b01: Reference: front
Reference: front | pi | none | repetition 4
food_produce_broccoli_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
food_produce_broccoli_b01: Reference: isometric
Reference: isometric | pi | none | repetition 4
food_produce_broccoli_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
food_produce_broccoli_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
food_produce_broccoli_b01: Reference: side
Reference: side | pi | none | repetition 4
food_produce_broccoli_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)96.62% (1.93244/2)N/A74.51% (38/51)97.72% (0.97724/1)97.72% (0.97724/1)N/A56.41% (8397/14886)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3430647.77573.351080321258721106193Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape97.720.97724/111100
Rigid parts97.720.97724/111100
JointsNot applicable0/0000
Materials56.418397/14886148861488660.57

Appearance materials

Score (%)Earned/eligibleStatus
95.531956.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
99.4696.0420485.182.074.51

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/hammer_01_obj_00/Hammer97.72

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1967/204896.04
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1967/204896.04
physics:staticFriction0/20480
visual:assignment1967/204896.04
visual:diffuseColor529/55096.18
visual:opacity1967/204896.04

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTool_hammer_crossPeen_a01: Reference: front
Reference: front | pi | none | repetition 1
handTool_hammer_crossPeen_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
handTool_hammer_crossPeen_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
handTool_hammer_crossPeen_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
handTool_hammer_crossPeen_a01: Reference: side
Reference: side | pi | none | repetition 1
handTool_hammer_crossPeen_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)30.61% (0.612167/2)N/A72.55% (37/51)89.45% (0.894505/1)89.45% (0.894505/1)N/A40% (5955/14886)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830681.27567.851207554265111234065Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape89.450.894505/111100
Rigid parts89.450.894505/111100
JointsNot applicable0/0000
Materials405955/14886148861488660.57

Appearance materials

Score (%)Earned/eligibleStatus
10.47214.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
88.9689.9420485.183.197.19

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/hammer_01_obj_00/Sledgehammer89.45

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1842/204889.94
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1842/204889.94
physics:staticFriction0/20480
visual:assignment1842/204889.94
visual:diffuseColor429/55078
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTool_hammer_crossPeen_a01: Reference: front
Reference: front | pi | none | repetition 2
handTool_hammer_crossPeen_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
handTool_hammer_crossPeen_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
handTool_hammer_crossPeen_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
handTool_hammer_crossPeen_a01: Reference: side
Reference: side | pi | none | repetition 2
handTool_hammer_crossPeen_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)84.12% (1.68244/2)N/A74.51% (38/51)88.42% (0.884239/1)88.42% (0.884239/1)N/A50.14% (7464/14886)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3430529.57448.0694788722185970072Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape88.420.884239/111100
Rigid parts88.420.884239/111100
JointsNot applicable0/0000
Materials50.147464/14886148861488660.57

Appearance materials

Score (%)Earned/eligibleStatus
80.031639/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
85.8991.1120485.183.37.02

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/hammer_01_obj_00/Sledgehammer88.42

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1866/204891.11
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1866/204891.11
physics:staticFriction0/20480
visual:assignment1866/204891.11
visual:diffuseColor0/5500
visual:opacity1866/204891.11

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTool_hammer_crossPeen_a01: Reference: front
Reference: front | pi | none | repetition 3
handTool_hammer_crossPeen_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
handTool_hammer_crossPeen_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
handTool_hammer_crossPeen_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
handTool_hammer_crossPeen_a01: Reference: side
Reference: side | pi | none | repetition 3
handTool_hammer_crossPeen_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)92.03% (1.84065/2)N/A74.51% (38/51)93.59% (0.935882/1)93.59% (0.935882/1)N/A41.05% (6110/14886)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3730695.31575.081091634252321116866Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape93.590.935882/111100
Rigid parts93.590.935882/111100
JointsNot applicable0/0000
Materials41.056110/14886148861488660.57

Appearance materials

Score (%)Earned/eligibleStatus
90.51853.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
95.5691.720485.182.835.61

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/hammer_01_obj_00/ClubHammer93.59

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1878/204891.7
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1878/204891.7
visual:diffuseColor476/55086.55
visual:opacity1878/204891.7

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTool_hammer_crossPeen_a01: Reference: front
Reference: front | pi | none | repetition 4
handTool_hammer_crossPeen_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
handTool_hammer_crossPeen_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
handTool_hammer_crossPeen_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
handTool_hammer_crossPeen_a01: Reference: side
Reference: side | pi | none | repetition 4
handTool_hammer_crossPeen_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

handTool_wrench_adjustable_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)12.98% (0.129841/1)74.51% (38/51)94.04% (0.940356/1)85.22% (2.55663/3)85.71% (18/21)13.55% (1943/14342)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3730832.49753.371128020367291164749Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape94.040.940356/111100
Rigid parts85.222.55663/333100
Joints85.7118/212121100
Materials13.551943/14342143421434258.36

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints12.980.519363/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_knurl_01_joint_00/Wrench/Joints/WormAxle24.675.55measured_motion
/RootNode/Joints/joint_jaw_01_joint_00/Wrench/Joints/JawSlide1.37.6measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
93.2194.8720483.171.533.58

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Wrench/Body90.55
/RootNode/Geometry/jaw_01_obj_00/Wrench/SlidingJaw77.29
/RootNode/Geometry/knurl_01_obj_00/Wrench/AdjustmentWorm87.82

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
2218/21

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled3/33/3
body_kinematic3/33/3

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/22/2
joint_enabled2/22/2
body0_enabled2/22/2
body0_kinematic2/22/2
body1_enabled2/22/2
body1_kinematic2/22/2
anchors0/22/2
axes2/22/2
relative_orientation2/22/2
limits1/22/2
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1943/204894.87
visual:diffuseColor0/60
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTool_wrench_adjustable_a01: Reference: front
Reference: front | pi | none | repetition 1
handTool_wrench_adjustable_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
handTool_wrench_adjustable_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
handTool_wrench_adjustable_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
handTool_wrench_adjustable_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
handTool_wrench_adjustable_a01: Reference: side
Reference: side | pi | none | repetition 1
handTool_wrench_adjustable_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

handTool_wrench_adjustable_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)95.74% (1.91471/2)2.78% (0.0277882/1)66.67% (34/51)94.99% (0.949922/1)66.84% (2.00529/3)76.19% (16/21)27.6% (3958/14342)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3930727.54619.311087001284081115409Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape94.990.949922/111100
Rigid parts66.842.00529/333100
Joints76.1916/212121100
Materials27.63958/14342143421434258.36

Appearance materials

Score (%)Earned/eligibleStatus
96.481976/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints2.780.111153/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_knurl_01_joint_00/AdjustableWrench/Joints/WormRotation4.1615.24measured_motion
/RootNode/Joints/joint_jaw_01_joint_00/AdjustableWrench/Joints/JawSlide1.46.67measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
93.4196.6320483.171.63.15

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/AdjustableWrench/Body94.68
/RootNode/Geometry/jaw_01_obj_00/AdjustableWrench/MovingJaw63.52
/RootNode/Geometry/knurl_01_obj_00/AdjustableWrench/Worm42.33

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
2216/21

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled3/33/3
body_kinematic3/33/3

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/22/2
joint_enabled2/22/2
body0_enabled2/22/2
body0_kinematic2/22/2
body1_enabled2/22/2
body1_kinematic2/22/2
anchors0/22/2
axes0/22/2
relative_orientation2/22/2
limits1/22/2
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1979/204896.63
visual:diffuseColor0/60
visual:opacity1979/204896.63

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTool_wrench_adjustable_a01: Reference: front
Reference: front | pi | none | repetition 3
handTool_wrench_adjustable_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
handTool_wrench_adjustable_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
handTool_wrench_adjustable_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
handTool_wrench_adjustable_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
handTool_wrench_adjustable_a01: Reference: side
Reference: side | pi | none | repetition 3
handTool_wrench_adjustable_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)11.49% (0.229774/2)1.92% (0.0191566/1)76.47% (39/51)61.9% (0.619044/1)34.39% (3.78339/11)35.64% (36/101)13.52% (2216/16395)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830702.5625.831006459287581035217Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape61.90.619044/111100
Rigid parts34.393.78339/111111100
Joints35.6436/101101101100
Materials13.522216/16395163951639566.71

Appearance materials

Score (%)Earned/eligibleStatus
2.1343.6667/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints1.920.344818/1818/18100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00/HandTruck/Joints/LeftCasterAxle3.8680.62measured_motion
/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_handle_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00/HandTruck/Joints/RightMainWheelAxle4.2676.65measured_motion
/RootNode/Joints/joint_sm_lock1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00/HandTruck/Joints/LeftMainWheelAxle5.4967.09measured_motion
/RootNode/Joints/joint_sm_mount_a01_joint_01Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00/HandTruck/Joints/RightCasterAxle3.6383.26measured_motion
/RootNode/Joints/joint_sm_lock2_a01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
60.0663.87204816.1619.9640.33

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_body_a01_obj_00/HandTruck/Frame50.21
/RootNode/Geometry/sm_front_wheel1_a01_obj_00/HandTruck/RightWheel58.18
/RootNode/Geometry/sm_front_wheel2_a01_obj_00/HandTruck/LeftWheel58.24
/RootNode/Geometry/sm_handle_a01_obj_00/HandTruck/SlidingHandle39.7
/RootNode/Geometry/sm_lock1_a01_obj_00Not measured0
/RootNode/Geometry/sm_lock2_a01_obj_00/HandTruck/ReleaseLatch0
/RootNode/Geometry/sm_mount_a01_obj_01Not measured0
/RootNode/Geometry/sm_rear_frame1_a01_obj_00/HandTruck/RightCasterFork49.02
/RootNode/Geometry/sm_rear_frame2_a01_obj_00/HandTruck/LeftCasterFork43.4
/RootNode/Geometry/sm_rear_wheel1_a01_obj_00/HandTruck/RightCasterWheel38.82
/RootNode/Geometry/sm_rear_wheel2_a01_obj_00/HandTruck/LeftCasterWheel40.76

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
10836/101

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled9/1111/11
body_kinematic9/1111/11

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity4/1010/10
joint_enabled4/1010/10
body0_enabled4/1010/10
body0_kinematic4/1010/10
body1_enabled4/1010/10
body1_kinematic4/1010/10
anchors0/1010/10
axes4/1010/10
relative_orientation4/1010/10
limits4/1010/10
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment777/204837.94
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1308/204863.87
visual:diffuseColor0/14390
visual:metallic131/31042.26
visual:opacity0/20480
visual:roughness0/3100

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTruck_convertible_steel_red_a01: Reference: front
Reference: front | pi | none | repetition 1
handTruck_convertible_steel_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
handTruck_convertible_steel_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
handTruck_convertible_steel_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
handTruck_convertible_steel_red_a01: Reference: side
Reference: side | pi | none | repetition 1
handTruck_convertible_steel_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)52.4% (1.04797/2)7.47% (0.0746683/1)68.63% (35/51)67.09% (0.670874/1)25.25% (2.77789/11)36.63% (37/101)19.09% (3129/16395)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830694.82639.451008585283961036981Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape67.090.670874/111100
Rigid parts25.252.77789/111111100
Joints36.6337/101101101100
Materials19.093129/16395163951639566.71

Appearance materials

Score (%)Earned/eligibleStatus
40.93838.167/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints7.471.34403/1818/18100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00/HandTruck/Joints/Left_Caster_Roll1.19147.14measured_motion
/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_handle_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00/HandTruck/Joints/Right_Axle_Rotation28.3125.72measured_motion
/RootNode/Joints/joint_sm_lock1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00/HandTruck/Joints/Left_Axle_Rotation36.4821.33measured_motion
/RootNode/Joints/joint_sm_mount_a01_joint_01Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00/HandTruck/Joints/Right_Caster_Roll1.21146.01measured_motion
/RootNode/Joints/joint_sm_lock2_a01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
63.0971.63204816.1621.545.65

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_body_a01_obj_00/HandTruck/Frame63.14
/RootNode/Geometry/sm_front_wheel1_a01_obj_00/HandTruck/Right_Main_Wheel70.07
/RootNode/Geometry/sm_front_wheel2_a01_obj_00/HandTruck/Left_Main_Wheel90.48
/RootNode/Geometry/sm_handle_a01_obj_00/HandTruck/Telescopic_Handle49.4
/RootNode/Geometry/sm_lock1_a01_obj_00Not measured0
/RootNode/Geometry/sm_lock2_a01_obj_00/HandTruck/Release_Latch0
/RootNode/Geometry/sm_mount_a01_obj_01Not measured0
/RootNode/Geometry/sm_rear_frame1_a01_obj_00/HandTruck/Right_Caster_Fork4.23
/RootNode/Geometry/sm_rear_frame2_a01_obj_00/HandTruck/Left_Caster_Fork0.47
/RootNode/Geometry/sm_rear_wheel1_a01_obj_00/HandTruck/Right_Caster_Wheel0
/RootNode/Geometry/sm_rear_wheel2_a01_obj_00/HandTruck/Left_Caster_Wheel0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
10837/101

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled9/1111/11
body_kinematic9/1111/11

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity4/1010/10
joint_enabled4/1010/10
body0_enabled4/1010/10
body0_kinematic4/1010/10
body1_enabled4/1010/10
body1_kinematic4/1010/10
anchors1/1010/10
axes4/1010/10
relative_orientation4/1010/10
limits4/1010/10
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1467/204871.63
visual:diffuseColor0/14390
visual:metallic195/31062.9
visual:opacity1467/204871.63
visual:roughness0/3100

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTruck_convertible_steel_red_a01: Reference: front
Reference: front | pi | none | repetition 2
handTruck_convertible_steel_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
handTruck_convertible_steel_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
handTruck_convertible_steel_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
handTruck_convertible_steel_red_a01: Reference: side
Reference: side | pi | none | repetition 2
handTruck_convertible_steel_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)44.33% (0.886592/2)1.03% (0.0103275/1)76.47% (39/51)59.81% (0.59815/1)24.62% (2.70797/11)31.68% (32/101)35.39% (5803/16395)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4330687.1611.921356378278481384226Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape59.810.59815/111100
Rigid parts24.622.70797/111111100
Joints31.6832/101101101100
Materials35.395803/16395163951639566.71

Appearance materials

Score (%)Earned/eligibleStatus
32.85672.833/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints1.030.185895/1818/18100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00/HandTruck/Joints/CasterWheel_L_Rolling1.87117.19measured_motion
/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_handle_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00/HandTruck/Joints/MainWheel_R_Axle2.32104.9measured_motion
/RootNode/Joints/joint_sm_lock1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00/HandTruck/Joints/MainWheel_L_Axle3.1789.39measured_motion
/RootNode/Joints/joint_sm_mount_a01_joint_01Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00/HandTruck/Joints/CasterWheel_R_Rolling1.94114.83measured_motion
/RootNode/Joints/joint_sm_lock2_a01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
61.0458.64204816.1625.9255.05

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_body_a01_obj_00/HandTruck/Frame48.5
/RootNode/Geometry/sm_front_wheel1_a01_obj_00/HandTruck/MainWheel_R61.04
/RootNode/Geometry/sm_front_wheel2_a01_obj_00/HandTruck/MainWheel_L66.13
/RootNode/Geometry/sm_handle_a01_obj_00/HandTruck/SlidingHandle70.4
/RootNode/Geometry/sm_lock1_a01_obj_00Not measured0
/RootNode/Geometry/sm_lock2_a01_obj_00/HandTruck/ReleasePin0
/RootNode/Geometry/sm_mount_a01_obj_01Not measured0
/RootNode/Geometry/sm_rear_frame1_a01_obj_00/HandTruck/CasterFork_R12.48
/RootNode/Geometry/sm_rear_frame2_a01_obj_00/HandTruck/CasterFork_L3.55
/RootNode/Geometry/sm_rear_wheel1_a01_obj_00/HandTruck/CasterWheel_R2.89
/RootNode/Geometry/sm_rear_wheel2_a01_obj_00/HandTruck/CasterWheel_L5.8

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
10832/101

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled9/1111/11
body_kinematic9/1111/11

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity4/1010/10
joint_enabled4/1010/10
body0_enabled4/1010/10
body0_kinematic4/1010/10
body1_enabled4/1010/10
body1_kinematic4/1010/10
anchors0/1010/10
axes0/1010/10
relative_orientation4/1010/10
limits4/1010/10
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1201/204858.64
physics:density0/20480
physics:dynamicFriction976/204847.66
physics:restitution1056/204851.56
physics:staticFriction55/20482.69
visual:assignment1201/204858.64
visual:diffuseColor0/14390
visual:metallic113/31036.45
visual:opacity1201/204858.64
visual:roughness0/3100

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTruck_convertible_steel_red_a01: Reference: front
Reference: front | pi | none | repetition 3
handTruck_convertible_steel_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
handTruck_convertible_steel_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
handTruck_convertible_steel_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
handTruck_convertible_steel_red_a01: Reference: side
Reference: side | pi | none | repetition 3
handTruck_convertible_steel_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)11.43% (0.228673/2)2.08% (0.0207818/1)74.51% (38/51)57.37% (0.57371/1)25.4% (2.7936/11)35.64% (36/101)8.06% (1322/16395)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4840645.05568.031640122235781663700Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape57.370.57371/111100
Rigid parts25.42.7936/111111100
Joints35.6436/101101101100
Materials8.061322/16395163951639566.71

Appearance materials

Score (%)Earned/eligibleStatus
2.2846.6667/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints2.080.353291/1717/17100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00/HandTruck/Joints/CasterRollLeft3.0391.51measured_motion
/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_handle_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00/HandTruck/Joints/AxleRotationRight6.0263.85measured_motion
/RootNode/Joints/joint_sm_lock1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00/HandTruck/Joints/AxleRotationLeft5.6166.27measured_motion
/RootNode/Joints/joint_sm_mount_a01_joint_01Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00/HandTruck/Joints/CasterRollRight391.86measured_motion
/RootNode/Joints/joint_sm_lock2_a01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
57.0357.71204816.1621.0241.61

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_body_a01_obj_00/HandTruck/Frame56.88
/RootNode/Geometry/sm_front_wheel1_a01_obj_00/HandTruck/MainWheelRight61.37
/RootNode/Geometry/sm_front_wheel2_a01_obj_00/HandTruck/MainWheelLeft61.42
/RootNode/Geometry/sm_handle_a01_obj_00/HandTruck/Handle31.19
/RootNode/Geometry/sm_lock1_a01_obj_00Not measured0
/RootNode/Geometry/sm_lock2_a01_obj_00Not measured0
/RootNode/Geometry/sm_mount_a01_obj_01Not measured0
/RootNode/Geometry/sm_rear_frame1_a01_obj_00/HandTruck/CasterForkRight16
/RootNode/Geometry/sm_rear_frame2_a01_obj_00/HandTruck/CasterForkLeft19.33
/RootNode/Geometry/sm_rear_wheel1_a01_obj_00/HandTruck/CasterWheelRight16.76
/RootNode/Geometry/sm_rear_wheel2_a01_obj_00/HandTruck/CasterWheelLeft16.42

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
10736/101

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled8/1111/11
body_kinematic8/1111/11

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity4/1010/10
joint_enabled4/1010/10
body0_enabled4/1010/10
body0_kinematic4/1010/10
body1_enabled4/1010/10
body1_kinematic4/1010/10
anchors0/1010/10
axes4/1010/10
relative_orientation4/1010/10
limits4/1010/10
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1182/204857.71
visual:diffuseColor0/14390
visual:metallic140/31045.16
visual:opacity0/20480
visual:roughness0/3100

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTruck_convertible_steel_red_a01: Reference: front
Reference: front | pi | none | repetition 4
handTruck_convertible_steel_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
handTruck_convertible_steel_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
handTruck_convertible_steel_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
handTruck_convertible_steel_red_a01: Reference: side
Reference: side | pi | none | repetition 4
handTruck_convertible_steel_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

kitchenware_kettle_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)57.28% (1.14561/2)0% (0/2)76.47% (39/51)82.68% (0.826772/1)40.14% (1.60573/4)25.81% (8/31)24.6% (5039/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830758.22649.571173908296971203605Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape82.680.826772/111100
Rigid parts40.141.60573/444100
Joints25.818/313131100
Materials24.65039/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
39.69812.75/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints1.350.0809969/66/6100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_switch_joint_00/Kettle/Joints/PowerRockerPivot4.059.02measured_motion
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_button_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_lid_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
78.5287.320484.74.7910.84

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_kitchenware_kettle_a01_body_obj_01/Kettle/Vessel83.28
/RootNode/Geometry/sm_kitchenware_kettle_a01_button_obj_00/Kettle/LidRelease16.7
/RootNode/Geometry/sm_kitchenware_kettle_a01_lid_obj_01/Kettle/Lid53.71
/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00/Kettle/PowerRocker6.88

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
348/31

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled4/44/4
body_kinematic4/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/33/3
joint_enabled1/33/3
body0_enabled1/33/3
body0_kinematic1/33/3
body1_enabled1/33/3
body1_kinematic1/33/3
anchors0/33/3
axes1/33/3
relative_orientation1/33/3
limits0/33/3
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1788/204887.3
visual:diffuseColor372/204818.16
visual:metallic1523/204874.37
visual:opacity0/20480
visual:roughness1356/204866.21

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

kitchenware_kettle_a01: Reference: front
Reference: front | pi | none | repetition 1
kitchenware_kettle_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
kitchenware_kettle_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
kitchenware_kettle_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
kitchenware_kettle_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
kitchenware_kettle_a01: Reference: side
Reference: side | pi | none | repetition 1
kitchenware_kettle_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

kitchenware_kettle_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)52.94% (1.05874/2)0% (0/2)66.67% (34/51)77.69% (0.776879/1)55.92% (2.23685/4)54.84% (17/31)23.71% (4856/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3520566.63501.0987521821685896903Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape77.690.776879/111100
Rigid parts55.922.23685/444100
Joints54.8417/313131100
Materials23.714856/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
36.07738.75/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints4.460.267646/66/6100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_switch_joint_00/Kettle/Joints/Power_rocker_hinge13.385.9measured_motion
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_button_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_lid_joint_00/Kettle/Joints/Lid_hinge092.95measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
66.892.8220484.74.8611.36

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_kitchenware_kettle_a01_body_obj_01/Kettle/Vessel71.08
/RootNode/Geometry/sm_kitchenware_kettle_a01_button_obj_00/Kettle/LidRelease26.44
/RootNode/Geometry/sm_kitchenware_kettle_a01_lid_obj_01/Kettle/Lid75.83
/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00/Kettle/PowerSwitch50.33

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3417/31

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled4/44/4
body_kinematic4/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes2/33/3
relative_orientation2/33/3
limits1/33/3
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1901/204892.82
visual:diffuseColor448/204821.88
visual:metallic1492/204872.85
visual:opacity0/20480
visual:roughness1015/204849.56

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

kitchenware_kettle_a01: Reference: front
Reference: front | pi | none | repetition 2
kitchenware_kettle_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
kitchenware_kettle_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
kitchenware_kettle_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
kitchenware_kettle_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
kitchenware_kettle_a01: Reference: side
Reference: side | pi | none | repetition 2
kitchenware_kettle_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

kitchenware_kettle_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)64.02% (1.28046/2)0% (0/2)76.47% (39/51)81.25% (0.812455/1)56.45% (2.25805/4)54.84% (17/31)29.14% (5968/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3730664.89575.4196744627860995306Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape81.250.812455/111100
Rigid parts56.452.25805/444100
Joints54.8417/313131100
Materials29.145968/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
50.451033.25/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints2.640.158321/66/6100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_switch_joint_00/Kettle/Joints/Power_toggle7.916.95measured_motion
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_button_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_lid_joint_00/Kettle/Joints/Lid_hinge088.76measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
74.3289.620484.74.8811.66

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_kitchenware_kettle_a01_body_obj_01/Kettle/Vessel82.27
/RootNode/Geometry/sm_kitchenware_kettle_a01_button_obj_00/Kettle/Lid_release16.32
/RootNode/Geometry/sm_kitchenware_kettle_a01_lid_obj_01/Kettle/Lid32.37
/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00/Kettle/Power_rocker94.85

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3417/31

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled4/44/4
body_kinematic4/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes2/33/3
relative_orientation2/33/3
limits1/33/3
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1835/204889.6
visual:diffuseColor399/204819.48
visual:metallic1526/204874.51
visual:opacity1835/204889.6
visual:roughness373/204818.21

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

kitchenware_kettle_a01: Reference: front
Reference: front | pi | none | repetition 3
kitchenware_kettle_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
kitchenware_kettle_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
kitchenware_kettle_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
kitchenware_kettle_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
kitchenware_kettle_a01: Reference: side
Reference: side | pi | none | repetition 3
kitchenware_kettle_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

kitchenware_pan_j01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)77.61% (1.55225/2)0% (0/1)76.47% (39/51)99.95% (0.999511/1)50% (0.5/1)N/A34.11% (6985/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2830474.61401.2457914220253599395Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape99.950.999511/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials34.116985/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
60.271234.25/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/22/2100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
99.910020485.271.182.43

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_kitchenware_pan_j01_obj_00/FryingPan/Pan94.57

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment2048/2048100
visual:diffuseColor959/204846.83
visual:metallic926/204845.21
visual:opacity2048/2048100
visual:roughness1004/204849.02

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

kitchenware_pan_j01: Reference: front
Reference: front | pi | none | repetition 1
kitchenware_pan_j01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
kitchenware_pan_j01: Reference: isometric
Reference: isometric | pi | none | repetition 1
kitchenware_pan_j01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
kitchenware_pan_j01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
kitchenware_pan_j01: Reference: side
Reference: side | pi | none | repetition 1
kitchenware_pan_j01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

kitchenware_pan_j01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)68.59% (1.3718/2)0% (0/1)74.51% (38/51)100% (1/1)50% (0.5/1)N/A48.82% (9998/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3130638.58455.7277213623035795171Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape1001/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials48.829998/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
47.05963.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
10010020485.271.232.4

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_kitchenware_pan_j01_obj_00/FryingPan/Pan94.79

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
010/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment2048/2048100
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution2048/2048100
physics:staticFriction0/20480
visual:assignment2048/2048100
visual:diffuseColor936/204845.7
visual:metallic214/204810.45
visual:opacity2048/2048100
visual:roughness656/204832.03

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

kitchenware_pan_j01: Reference: front
Reference: front | pi | none | repetition 3
kitchenware_pan_j01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
kitchenware_pan_j01: Reference: isometric
Reference: isometric | pi | none | repetition 3
kitchenware_pan_j01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
kitchenware_pan_j01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
kitchenware_pan_j01: Reference: side
Reference: side | pi | none | repetition 3
kitchenware_pan_j01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

pallet_wood_recycled_a05 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)100% (1/1)100% (1/1)N/A42.86% (6144/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3530509.48404.9165890417018675922Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape1001/111100
Rigid parts1001/111100
JointsNot applicable0/0000
Materials42.866144/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
100100204816.033.316.34

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_pallet_wood_recycled_a05_obj_00/Pallet100

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment2048/2048100
physics:density0/20480
physics:dynamicFriction2048/2048100
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment2048/2048100
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

pallet_wood_recycled_a05: Reference: front
Reference: front | pi | none | repetition 1
pallet_wood_recycled_a05: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
pallet_wood_recycled_a05: Reference: isometric
Reference: isometric | pi | none | repetition 1
pallet_wood_recycled_a05: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
pallet_wood_recycled_a05: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
pallet_wood_recycled_a05: Reference: side
Reference: side | pi | none | repetition 1
pallet_wood_recycled_a05: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

pallet_wood_recycled_a05 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)100% (1/1)100% (1/1)N/A42.86% (6144/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3640481.52379.6688236416779899143Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape1001/111100
Rigid parts1001/111100
JointsNot applicable0/0000
Materials42.866144/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
100100204816.034.127.3

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_pallet_wood_recycled_a05_obj_00/Pallet100

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment2048/2048100
physics:density0/20480
physics:dynamicFriction2048/2048100
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment2048/2048100
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

pallet_wood_recycled_a05: Reference: front
Reference: front | pi | none | repetition 3
pallet_wood_recycled_a05: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
pallet_wood_recycled_a05: Reference: isometric
Reference: isometric | pi | none | repetition 3
pallet_wood_recycled_a05: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
pallet_wood_recycled_a05: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
pallet_wood_recycled_a05: Reference: side
Reference: side | pi | none | repetition 3
pallet_wood_recycled_a05: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)70.08% (0.70082/1)70.08% (0.70082/1)N/A28.51% (4482/15722)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3930742.31651.141240702284631269165Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape70.080.70082/111100
Rigid parts70.080.70082/111100
JointsNot applicable0/0000
Materials28.514482/15722157221572263.97

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
67.4372.9520484.965.2211.21

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/HardHat70.08

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1494/204872.95
physics:density0/20480
physics:dynamicFriction1494/204872.95
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1494/204872.95
visual:diffuseColor0/13860
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

ppe_helmet_hardHat_a01: Reference: front
Reference: front | pi | none | repetition 1
ppe_helmet_hardHat_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
ppe_helmet_hardHat_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
ppe_helmet_hardHat_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
ppe_helmet_hardHat_a01: Reference: side
Reference: side | pi | none | repetition 1
ppe_helmet_hardHat_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)51.62% (1.03245/2)0% (0/1)74.51% (38/51)61.36% (0.613561/1)50% (0.5/1)N/A42.9% (6745/15722)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4340631.73539.341164052247431188795Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape61.360.613561/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials42.96745/15722157221572263.97

Appearance materials

Score (%)Earned/eligibleStatus
43.43889.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
57.4265.8720484.968.5620.21

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/HardHat/Shell67.17

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
010/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1349/204865.87
physics:density0/20480
physics:dynamicFriction1349/204865.87
physics:restitution0/20480
physics:staticFriction1349/204865.87
visual:assignment1349/204865.87
visual:diffuseColor0/13860
visual:opacity1349/204865.87

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

ppe_helmet_hardHat_a01: Reference: front
Reference: front | pi | none | repetition 2
ppe_helmet_hardHat_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
ppe_helmet_hardHat_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
ppe_helmet_hardHat_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
ppe_helmet_hardHat_a01: Reference: side
Reference: side | pi | none | repetition 2
ppe_helmet_hardHat_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)42.26% (0.8451/2)N/A74.51% (38/51)50.75% (0.507519/1)50.75% (0.507519/1)N/A13.55% (2130/15722)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3230510.66438.3264390820213664121Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape50.750.507519/111100
Rigid parts50.750.507519/111100
JointsNot applicable0/0000
Materials13.552130/15722157221572263.97

Appearance materials

Score (%)Earned/eligibleStatus
35.18720.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
49.565220484.968.3418.44

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/HardHat/Body50.75

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1065/204852
visual:diffuseColor0/13860
visual:opacity1065/204852

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

ppe_helmet_hardHat_a01: Reference: front
Reference: front | pi | none | repetition 3
ppe_helmet_hardHat_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
ppe_helmet_hardHat_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
ppe_helmet_hardHat_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
ppe_helmet_hardHat_a01: Reference: side
Reference: side | pi | none | repetition 3
ppe_helmet_hardHat_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)39.15% (0.78302/2)N/A74.51% (38/51)47.74% (0.477441/1)47.74% (0.477441/1)N/A24.53% (3856/15722)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830536.05410.976008918154778243Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape47.740.477441/111100
Rigid parts47.740.477441/111100
JointsNot applicable0/0000
Materials24.533856/15722157221572263.97

Appearance materials

Score (%)Earned/eligibleStatus
32.1657.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
48.4447.0720484.968.8620.21

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/HardHat47.74

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment964/204847.07
physics:density0/20480
physics:dynamicFriction964/204847.07
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment964/204847.07
visual:diffuseColor0/13860
visual:opacity964/204847.07

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

ppe_helmet_hardHat_a01: Reference: front
Reference: front | pi | none | repetition 4
ppe_helmet_hardHat_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
ppe_helmet_hardHat_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
ppe_helmet_hardHat_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
ppe_helmet_hardHat_a01: Reference: side
Reference: side | pi | none | repetition 4
ppe_helmet_hardHat_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)19.39% (0.387886/2)N/A74.51% (38/51)27.12% (0.271244/1)27.12% (0.271244/1)N/A6.53% (1066/16337)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3330603.45489.2770858522174730759Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape27.120.271244/111100
Rigid parts27.120.271244/111100
JointsNot applicable0/0000
Materials6.531066/16337163371633766.48

Appearance materials

Score (%)Earned/eligibleStatus
13.87284/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
28.3226.0320484.9918.4535.69

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Funnel27.12

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment533/204826.03
visual:diffuseColor0/20010
visual:opacity533/204826.03

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

serviceTool_funnel_flexibleSpout_a01: Reference: front
Reference: front | pi | none | repetition 1
serviceTool_funnel_flexibleSpout_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
serviceTool_funnel_flexibleSpout_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
serviceTool_funnel_flexibleSpout_a01: Reference: side
Reference: side | pi | none | repetition 1
serviceTool_funnel_flexibleSpout_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)19.37% (0.387495/2)N/A74.51% (38/51)26.46% (0.26464/1)26.46% (0.26464/1)N/A13.34% (2180/16337)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3130596.15515.3268898022564711544Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape26.460.26464/111100
Rigid parts26.460.26464/111100
JointsNot applicable0/0000
Materials13.342180/16337163371633766.48

Appearance materials

Score (%)Earned/eligibleStatus
14.18290.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
26.3226.6120484.9915.2330.53

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Funnel26.46

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment545/204826.61
physics:density0/20480
physics:dynamicFriction545/204826.61
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment545/204826.61
visual:diffuseColor0/20010
visual:opacity545/204826.61

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

serviceTool_funnel_flexibleSpout_a01: Reference: front
Reference: front | pi | none | repetition 2
serviceTool_funnel_flexibleSpout_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
serviceTool_funnel_flexibleSpout_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
serviceTool_funnel_flexibleSpout_a01: Reference: side
Reference: side | pi | none | repetition 2
serviceTool_funnel_flexibleSpout_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)12.27% (0.245403/2)N/A72.55% (37/51)18.08% (0.180844/1)18.08% (0.180844/1)N/A8.01% (1308/16337)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4830743.68614.791276209265321302741Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape18.080.180844/111100
Rigid parts18.080.180844/111100
JointsNot applicable0/0000
Materials8.011308/16337163371633766.48

Appearance materials

Score (%)Earned/eligibleStatus
8.33170.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
20.8515.9720484.9919.4234.42

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Funnel18.08

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment327/204815.97
physics:density0/20480
physics:dynamicFriction327/204815.97
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment327/204815.97
visual:diffuseColor0/20010
visual:opacity327/204815.97

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

serviceTool_funnel_flexibleSpout_a01: Reference: front
Reference: front | pi | none | repetition 3
serviceTool_funnel_flexibleSpout_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
serviceTool_funnel_flexibleSpout_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
serviceTool_funnel_flexibleSpout_a01: Reference: side
Reference: side | pi | none | repetition 3
serviceTool_funnel_flexibleSpout_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A70.59% (36/51)23.47% (0.234665/1)23.47% (0.234665/1)N/A8.1% (1323/16337)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4030673.26612.461116578270751143653Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape23.470.234665/111100
Rigid parts23.470.234665/111100
JointsNot applicable0/0000
Materials8.11323/16337163371633766.48

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
25.7821.5320484.9915.5731.58

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Funnel23.47

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment441/204821.53
physics:density0/20480
physics:dynamicFriction441/204821.53
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment441/204821.53
visual:diffuseColor0/20010
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

serviceTool_funnel_flexibleSpout_a01: Reference: front
Reference: front | pi | none | repetition 4
serviceTool_funnel_flexibleSpout_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
serviceTool_funnel_flexibleSpout_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
serviceTool_funnel_flexibleSpout_a01: Reference: side
Reference: side | pi | none | repetition 4
serviceTool_funnel_flexibleSpout_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

sign_wetFloor_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)0.29% (0.00291905/1)78.43% (40/51)88.38% (0.883811/1)86.7% (1.73408/2)72.73% (8/11)13.97% (2003/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4030588.99542.431053333266631079996Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape88.380.883811/111100
Rigid parts86.71.73408/222100
Joints72.738/111111100
Materials13.972003/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints0.290.0058381/22/2100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_frontpanel_a01_joint_00/CautionSign/Joints/FoldingHinge0.2967.67measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
80.6297.820488.375.6113.35

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_backpanel_a01_obj_00/CautionSign/FrontLeaf86.89
/RootNode/Geometry/sm_frontpanel_a01_obj_00/CautionSign/RearLeaf86.52

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
118/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
axes1/11/1
relative_orientation0/11/1
limits0/11/1
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment2003/204897.8
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

sign_wetFloor_a01: Reference: front
Reference: front | pi | none | repetition 1
sign_wetFloor_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
sign_wetFloor_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
sign_wetFloor_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
sign_wetFloor_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
sign_wetFloor_a01: Reference: side
Reference: side | pi | none | repetition 1
sign_wetFloor_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

sign_wetFloor_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)94.87% (1.89739/2)0.28% (0.00281919/1)78.43% (40/51)92.77% (0.927655/1)90.28% (1.80552/2)72.73% (8/11)27.72% (3974/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3840538.59475.351072585228411095426Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape92.770.927655/111100
Rigid parts90.281.80552/222100
Joints72.738/111111100
Materials27.723974/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
97.021987/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints0.280.00563837/22/2100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_frontpanel_a01_joint_00/CautionSign/FoldingHinge0.2867.95measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
88.8797.0220488.373.788.69

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_backpanel_a01_obj_00/CautionSign/FrontLeaf88.58
/RootNode/Geometry/sm_frontpanel_a01_obj_00/CautionSign/RearLeaf91.97

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
118/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
axes1/11/1
relative_orientation0/11/1
limits0/11/1
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1987/204897.02
visual:opacity1987/204897.02

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

sign_wetFloor_a01: Reference: front
Reference: front | pi | none | repetition 3
sign_wetFloor_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
sign_wetFloor_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
sign_wetFloor_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
sign_wetFloor_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
sign_wetFloor_a01: Reference: side
Reference: side | pi | none | repetition 3
sign_wetFloor_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

suspension_coilover_rear_b01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)74.05% (1.48097/2)0% (0/2)76.47% (39/51)71.03% (0.710278/1)50% (0.5/1)N/A22.06% (3162/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3540594.38483.321125764219181147682Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape71.030.710278/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials22.063162/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
77.21581/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/22/2100
Moving joints00/11/1100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
65.7777.220489.512.3625.14

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Coilover/DamperHousing61.84

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
030/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1581/204877.2
visual:opacity1581/204877.2

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

suspension_coilover_rear_b01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)0% (0/2)76.47% (39/51)79.53% (0.795253/1)50% (0.5/1)N/A11.75% (1685/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2930604.82509.7271205123817735868Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape79.530.795253/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials11.751685/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints00/11/1100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
76.9582.2820489.512.2925.1

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Coilover/Housing66.37

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1685/204882.28
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

suspension_coilover_rear_b01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)77.37% (1.54744/2)0% (0/2)76.47% (39/51)76.87% (0.768669/1)50% (0.5/1)N/A23.45% (3362/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3330551.09474.0978117323042804215Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape76.870.768669/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials23.453362/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
77.881595/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints00/11/1100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
75.8877.8820489.510.9922.6

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Coilover/DamperHousing61.86

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment86/20484.2
physics:density0/20480
physics:dynamicFriction86/20484.2
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1595/204877.88
visual:opacity1595/204877.88

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

suspension_coilover_rear_b01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)80.47% (1.6094/2)0% (0/2)76.47% (39/51)77.92% (0.779179/1)50% (0.5/1)N/A23.74% (3404/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3130633.41542.788521726670911887Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape77.920.779179/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials23.743404/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
83.111702/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints00/11/1100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
73.3483.1120489.51018.13

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Coilover/DamperBody57.84

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1702/204883.11
visual:opacity1702/204883.11

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

suspension_coilover_rear_b01: Reference: front
Reference: front | pi | none | repetition 4
suspension_coilover_rear_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
suspension_coilover_rear_b01: Reference: isometric
Reference: isometric | pi | none | repetition 4
suspension_coilover_rear_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
suspension_coilover_rear_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
suspension_coilover_rear_b01: Reference: side
Reference: side | pi | none | repetition 4
suspension_coilover_rear_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

tools_fireExtinguisher_CO2_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)48.93% (0.978648/2)0% (0/2)76.47% (39/51)92% (0.920016/1)39.33% (1.57302/4)0% (0/29)29.56% (6005/20314)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830630.27589.611013307281721041479Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape920.920016/111100
Rigid parts39.331.57302/444100
Joints00/292929100
Materials29.566005/20314203142031482.66

Appearance materials

Score (%)Earned/eligibleStatus
26.03533/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/33/3100
Moving joints00/55/5100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_handle_01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_pin_01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
90.1493.9520489.46.612.74

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/FireExtinguisher/Tank89.42
/RootNode/Geometry/glass_01_obj_00/FireExtinguisher/PullRing0
/RootNode/Geometry/handle_01_obj_00/FireExtinguisher/SqueezeLever67.89
/RootNode/Geometry/pin_01_obj_00/FireExtinguisher/SafetyPin0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
350/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled4/44/4
body_kinematic4/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/33/3
joint_enabled0/33/3
body0_enabled0/33/3
body0_kinematic0/33/3
body1_enabled0/33/3
body1_kinematic0/33/3
anchors0/33/3
axes0/22/2
relative_orientation0/33/3
limits0/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1924/204893.95
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution93/20484.54
physics:staticFriction0/20480
visual:assignment1924/204893.95
visual:diffuseColor48/20482.34
visual:metallic26/19651.32
visual:opacity1920/204893.75
visual:roughness70/19653.56

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

tools_fireExtinguisher_CO2_a01: Reference: front
Reference: front | pi | none | repetition 1
tools_fireExtinguisher_CO2_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
tools_fireExtinguisher_CO2_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
tools_fireExtinguisher_CO2_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
tools_fireExtinguisher_CO2_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
tools_fireExtinguisher_CO2_a01: Reference: side
Reference: side | pi | none | repetition 1
tools_fireExtinguisher_CO2_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

tools_fireExtinguisher_CO2_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)43.29% (0.865729/2)0% (0/2)74.51% (38/51)78.55% (0.785542/1)42.75% (1.71006/4)58.62% (17/29)35.13% (7137/20314)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3430552.62502.4784337724350867727Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape78.550.785542/111100
Rigid parts42.751.71006/444100
Joints58.6217/292929100
Materials35.137137/20314203142031482.66

Appearance materials

Score (%)Earned/eligibleStatus
23.85488.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints1.580.07876/55/5100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_handle_01_joint_00/Extinguisher/Joints/SqueezeHinge1.1585.74measured_motion
/RootNode/Joints/joint_pin_01_joint_00/Extinguisher/Joints/SafetyPinSlide2.7916.28measured_motion
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
70.9587.9920489.417.8745.28

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Extinguisher/Body80.12
/RootNode/Geometry/glass_01_obj_00/Extinguisher/PullRing0
/RootNode/Geometry/handle_01_obj_00/Extinguisher/SqueezeLever31.18
/RootNode/Geometry/pin_01_obj_00/Extinguisher/SafetyPin59.71

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3317/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled4/44/4
body_kinematic4/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes2/22/2
relative_orientation2/33/3
limits0/22/2
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1696/204882.81
physics:density0/20480
physics:dynamicFriction1649/204880.52
physics:restitution52/20482.54
physics:staticFriction0/20480
visual:assignment1802/204887.99
visual:diffuseColor1/20480.05
visual:metallic40/19652.04
visual:opacity1797/204887.74
visual:roughness100/19655.09

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

tools_fireExtinguisher_CO2_a01: Reference: front
Reference: front | pi | none | repetition 3
tools_fireExtinguisher_CO2_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
tools_fireExtinguisher_CO2_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
tools_fireExtinguisher_CO2_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
tools_fireExtinguisher_CO2_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
tools_fireExtinguisher_CO2_a01: Reference: side
Reference: side | pi | none | repetition 3
tools_fireExtinguisher_CO2_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

utensils_scissors_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)79.02% (1.58048/2)0% (0/1)76.47% (39/51)93.13% (0.931318/1)50% (1.5/3)0% (0/21)54.65% (11192/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2830530.21445.1459091920788611707Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape93.130.931318/111100
Rigid parts501.5/333100
Joints00/212121100
Materials54.6511192/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
67.051373.25/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints00/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_utensils_scissors_a01_right_handel_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_utensils_scissors_a01_left_handel_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
92.2993.9920483.112.225.16

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_utensils_scissors_a01_left_handel_obj_00/Scissors/Lower_Half81.41
/RootNode/Geometry/sm_utensils_scissors_a01_reveat_obj_00Not measured0
/RootNode/Geometry/sm_utensils_scissors_a01_right_handel_obj_00/Scissors/Upper_Half99.44

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
210/21

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/33/3
body_kinematic2/33/3

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/22/2
joint_enabled0/22/2
body0_enabled0/22/2
body0_kinematic0/22/2
body1_enabled0/22/2
body1_kinematic0/22/2
anchors0/22/2
axes0/22/2
relative_orientation0/22/2
limits0/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1887/204892.14
physics:density0/20480
physics:dynamicFriction1887/204892.14
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1925/204893.99
visual:diffuseColor6/20480.29
visual:metallic1915/204893.51
visual:opacity1925/204893.99
visual:roughness1647/204880.42

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

utensils_scissors_a01: Reference: front
Reference: front | pi | none | repetition 1
utensils_scissors_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
utensils_scissors_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
utensils_scissors_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
utensils_scissors_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
utensils_scissors_a01: Reference: side
Reference: side | pi | none | repetition 1
utensils_scissors_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

utensils_scissors_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)84.57% (1.69136/2)0% (0/1)74.51% (38/51)93.92% (0.939195/1)50% (1.5/3)0% (0/21)58.53% (11986/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3940496.2437.7382057920047840626Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape93.920.939195/111100
Rigid parts501.5/333100
Joints00/212121100
Materials58.5311986/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
76.151559.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints00/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_utensils_scissors_a01_right_handel_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_utensils_scissors_a01_left_handel_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
94.2993.5520483.111.653.78

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_utensils_scissors_a01_left_handel_obj_00/Scissors/LowerHalf83.17
/RootNode/Geometry/sm_utensils_scissors_a01_reveat_obj_00Not measured0
/RootNode/Geometry/sm_utensils_scissors_a01_right_handel_obj_00/Scissors/UpperHalf98.66

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
210/21

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/33/3
body_kinematic2/33/3

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/22/2
joint_enabled0/22/2
body0_enabled0/22/2
body0_kinematic0/22/2
body1_enabled0/22/2
body1_kinematic0/22/2
anchors0/22/2
axes0/22/2
relative_orientation0/22/2
limits0/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1916/204893.55
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction1916/204893.55
visual:assignment1916/204893.55
visual:diffuseColor671/204832.76
visual:metallic1906/204893.07
visual:opacity1916/204893.55
visual:roughness1745/204885.21

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

utensils_scissors_a01: Reference: front
Reference: front | pi | none | repetition 3
utensils_scissors_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
utensils_scissors_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
utensils_scissors_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
utensils_scissors_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
utensils_scissors_a01: Reference: side
Reference: side | pi | none | repetition 3
utensils_scissors_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

wheelAssembly_wheel_rim_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)55.49% (1.10988/2)N/A68.63% (35/51)57.39% (0.57388/1)57.39% (0.57388/1)N/A30.66% (4396/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4330633.11514.88989969223741012343Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape57.390.57388/111100
Rigid parts57.390.57388/111100
JointsNot applicable0/0000
Materials30.664396/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
53.661099/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
61.6753.6620488.5910.9321.21

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/wheelRim_01_obj_00/Wheel57.39

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1099/204853.66
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1099/204853.66
physics:staticFriction0/20480
visual:assignment1099/204853.66
visual:opacity1099/204853.66

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

wheelAssembly_wheel_rim_a01: Reference: front
Reference: front | pi | none | repetition 1
wheelAssembly_wheel_rim_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
wheelAssembly_wheel_rim_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
wheelAssembly_wheel_rim_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
wheelAssembly_wheel_rim_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
wheelAssembly_wheel_rim_a01: Reference: side
Reference: side | pi | none | repetition 1
wheelAssembly_wheel_rim_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

wheelAssembly_wheel_rim_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)54.6% (1.09203/2)0% (0/1)72.55% (37/51)54.71% (0.54711/1)50% (0.5/1)N/A31.14% (4464/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830596.45500.585030921855872164Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape54.710.54711/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials31.144464/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
54.491116/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/22/2100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
54.9354.4920488.5910.620.18

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/wheelRim_01_obj_00/Wheel/Casting54.61

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1116/204854.49
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1116/204854.49
physics:staticFriction0/20480
visual:assignment1116/204854.49
visual:opacity1116/204854.49

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

wheelAssembly_wheel_rim_a01: Reference: front
Reference: front | pi | none | repetition 3
wheelAssembly_wheel_rim_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
wheelAssembly_wheel_rim_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
wheelAssembly_wheel_rim_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
wheelAssembly_wheel_rim_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
wheelAssembly_wheel_rim_a01: Reference: side
Reference: side | pi | none | repetition 3
wheelAssembly_wheel_rim_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3
\ No newline at end of file +SimReadyBench results

SimReadyBench results

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.

76 of 100 reconstruction attempts completed.

Scores CSV | Detailed results JSON

Results by asset

AssetModelHarnessSkillsRepetitionStatusFormal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
accessory_eyeglasses_a01gpt-6.1-solpinone1completed100% (46/46)40.21% (0.804287/2)0% (0/2)72.55% (37/51)52.24% (0.5224/1)19.32% (0.772785/4)0% (0/29)13.91% (2134/15341)5030782.55685.581496445302581526703Not measuredNot measuredNot measured
accessory_eyeglasses_a01gpt-6.1-solpinone2completed100% (46/46)66.28% (1.32561/2)0% (0/2)64.71% (33/51)79.03% (0.790262/1)37.83% (1.51339/4)62.07% (18/29)56.49% (8666/15341)4030578.87501.9977861228121000673Not measuredNot measuredNot measured
accessory_eyeglasses_a01gpt-6.1-solpinone3completed100% (46/46)85.47% (1.7094/2)0% (0/2)76.47% (39/51)84.81% (0.848127/1)46.21% (1.84845/4)62.07% (18/29)58.59% (8988/15341)3840691.4595.071047023283671075390Not measuredNot measuredNot measured
accessory_eyeglasses_a01gpt-6.1-solpinone4completed100% (46/46)63.84% (1.27689/2)0% (0/2)72.55% (37/51)77.15% (0.771528/1)37.55% (1.50198/4)62.07% (18/29)20.42% (3132/15341)3730631.73558.261069125253751094500Not measuredNot measuredNot measured
box_cardboard_open_a01gpt-6.1-solpinone1completed100% (46/46)80.4% (1.60807/2)N/A70.59% (36/51)82.18% (0.821836/1)82.18% (0.821836/1)N/A44.95% (6444/14336)2930431.15384.2755840016418574818Not measuredNot measuredNot measured
box_cardboard_open_a01gpt-6.1-solpinone2completed100% (46/46)0% (0/2)N/A74.51% (38/51)83.63% (0.836295/1)83.63% (0.836295/1)N/A34.05% (4881/14336)2920407.12352.8557454016108590648Not measuredNot measuredNot measured
box_cardboard_open_a01gpt-6.1-solpinone3completed100% (46/46)0% (0/2)N/A74.51% (38/51)77.87% (0.778707/1)77.87% (0.778707/1)N/A30.91% (4431/14336)3230463.45405.8171765617729735385Not measuredNot measuredNot measured
box_cardboard_open_a01gpt-6.1-solpinone4completed100% (46/46)76.59% (1.53173/2)N/A74.51% (38/51)77.8% (0.778012/1)77.8% (0.778012/1)N/A43.08% (6176/14336)4130576.55510.911062333218151084148Not measuredNot measuredNot measured
bucket_utility_red_a01gpt-6.1-solpinone1completed100% (46/46)41.49% (0.829812/2)0.01% (0.000121476/1)76.47% (39/51)54.74% (0.547449/1)28.71% (0.574159/2)63.64% (7/11)31.4% (5136/16356)4340805.12716.051649778315561681334Not measuredNot measuredNot measured
bucket_utility_red_a01gpt-6.1-solpinone2completed100% (46/46)43.33% (0.866571/2)0.34% (0.00336069/1)70.59% (36/51)58.21% (0.58211/1)29.27% (0.585487/2)54.55% (6/11)32.31% (5285/16356)3520532.75470.8378965220782810434Not measuredNot measuredNot measured
bucket_utility_red_a01gpt-6.1-solpinone3completed100% (46/46)0% (0/2)0.01% (8.61068e-05/1)72.55% (37/51)73.1% (0.730956/1)37.68% (0.753671/2)72.73% (8/11)9.62% (1573/16356)3630607.49534.7795128224345975627Not measuredNot measuredNot measured
bucket_utility_red_a01gpt-6.1-solpinone4completed100% (46/46)35.87% (0.717405/2)0.27% (0.00266133/1)72.55% (37/51)47.74% (0.477375/1)36.57% (0.731475/2)63.64% (7/11)13.35% (2184/16356)3530573.88507.1976368422833786517Not measuredNot measuredNot measured
chair_office_amf_black_a01gpt-6.1-solpinone1completed100% (46/46)76.44% (1.52878/2)0% (0/1)68.63% (35/51)74.46% (0.744639/1)21.7% (0.216991/1)N/A31.78% (5207/16384)3430703.39625.7189808527574925659Not measuredNot measuredNot measured
chair_office_amf_black_a01gpt-6.1-solpinone2completed100% (46/46)43.66% (0.873218/2)N/A68.63% (35/51)59.83% (0.598322/1)59.83% (0.598322/1)N/A23.96% (3925/16384)4030633.2558.551060920244431085363Not measuredNot measuredNot measured
chair_office_amf_black_a01gpt-6.1-solpinone3completed100% (46/46)80.58% (1.61164/2)0% (0/1)76.47% (39/51)79.3% (0.793004/1)26.9% (0.268992/1)N/A30.74% (5036/16384)3930685.16618.789153328320919853Not measuredNot measuredNot measured
chair_office_amf_black_a01gpt-6.1-solpinone4completed100% (46/46)53.63% (1.07263/2)0% (0/1)76.47% (39/51)74.19% (0.741903/1)16.1% (0.16101/1)N/A29.11% (4770/16384)3940573.97493.461135730220001157730Not measuredNot measuredNot measured
cleaning_cloth_a01gpt-6.1-solpinone1completed100% (46/46)0% (0/2)N/A74.51% (38/51)90.94% (0.909413/1)90.94% (0.909413/1)N/A39.07% (5601/14336)4530927.19656.511454939241121479051Not measuredNot measuredNot measured
cleaning_cloth_a01gpt-6.1-solpinone2completed100% (46/46)0% (0/2)N/A74.51% (38/51)97.57% (0.975744/1)97.57% (0.975744/1)N/A14.29% (2048/14336)3720634.25500.9687451721134895651Not measuredNot measuredNot measured
cleaning_cloth_a01gpt-6.1-solpinone4completed100% (46/46)99.24% (1.98482/2)N/A74.51% (38/51)98.49% (0.984882/1)98.49% (0.984882/1)N/A28.57% (4096/14336)3640723.44563.471049555246861074241Not measuredNot measuredNot measured
container_bottle_glass_a01gpt-6.1-solpinone1completed100% (46/46)80.72% (1.61437/2)N/A74.51% (38/51)81.71% (0.817125/1)81.71% (0.817125/1)N/A29.9% (4899/16384)3630562.03496.6689682921319918148Not measuredNot measuredNot measured
container_bottle_glass_a01gpt-6.1-solpinone2completed100% (46/46)90.98% (1.81958/2)N/A74.51% (38/51)90.94% (0.909423/1)90.94% (0.909423/1)N/A68.26% (11184/16384)3220366.66320.6752012414220534344Not measuredNot measuredNot measured
container_bottle_glass_a01gpt-6.1-solpinone3completed100% (46/46)0% (0/2)N/A66.67% (34/51)81.06% (0.810559/1)81.06% (0.810559/1)N/A49.19% (8060/16384)2920383.45331.6752314214382537524Not measuredNot measuredNot measured
container_bottle_glass_a01gpt-6.1-solpinone4completed100% (46/46)86.65% (1.73301/2)N/A74.51% (38/51)87.47% (0.874685/1)87.47% (0.874685/1)N/A64.38% (10548/16384)3130427.21364.4558386517011600876Not measuredNot measuredNot measured
engineComponent_camshaft_a01gpt-6.1-solpinone1completed100% (46/46)88.94% (1.77876/2)N/A68.63% (35/51)83.03% (0.83032/1)83.03% (0.83032/1)N/A68.05% (9755/14336)3520585.38498.6968569820938706636Not measuredNot measuredNot measured
engineComponent_camshaft_a01gpt-6.1-solpinone2completed100% (46/46)0% (0/2)N/A74.51% (38/51)92.25% (0.922452/1)92.25% (0.922452/1)N/A13.35% (1914/14336)3530476.47420.9479247518052810527Not measuredNot measuredNot measured
engineComponent_camshaft_a01gpt-6.1-solpinone3completed100% (46/46)94.44% (1.88877/2)0% (0/1)76.47% (39/51)93.91% (0.939092/1)50% (0.5/1)N/A65.85% (9440/14336)2820476.92398.7663111317682648795Not measuredNot measuredNot measured
engineComponent_camshaft_a01gpt-6.1-solpinone4completed100% (46/46)0% (0/2)N/A64.71% (33/51)82.91% (0.829092/1)82.91% (0.829092/1)N/A12.8% (1835/14336)3520495.14421.4586116116684877845Not measuredNot measuredNot measured
food_beverage_coffeeCup_a01gpt-6.1-solpinone1completed100% (46/46)72.53% (1.45061/2)100% (1/1)74.51% (38/51)95.87% (0.95874/1)95.2% (1.90396/2)88.89% (8/9)31.53% (6458/20480)4730595.82538.511221647216701243317Not measuredNot measuredNot measured
food_beverage_coffeeCup_a01gpt-6.1-solpinone2completed100% (46/46)71.92% (1.4383/2)66.67% (0.666667/1)76.47% (39/51)96.09% (0.960929/1)66.67% (1.33333/2)77.78% (7/9)57.68% (11813/20480)3830709.44603.021329399246641354063Not measuredNot measuredNot measured
food_prepared_croissant_a01gpt-6.1-solpinone1completed100% (46/46)61.34% (1.22685/2)N/A74.51% (38/51)81.36% (0.813564/1)81.36% (0.813564/1)N/A26.82% (5493/20480)3130576.94428.0963334719361652708Not measuredNot measuredNot measured
food_prepared_croissant_a01gpt-6.1-solpinone3completed100% (46/46)45.81% (0.916291/2)N/A74.51% (38/51)81.26% (0.812608/1)81.26% (0.812608/1)N/A18.64% (3817/20480)4030735.6576.471168721263381195059Not measuredNot measuredNot measured
food_produce_banana_a01gpt-6.1-solpinone1completed100% (46/46)40.94% (0.818773/2)N/A74.51% (38/51)72.57% (0.725665/1)72.57% (0.725665/1)N/A16.19% (3316/20480)2620575.19395.2861192818503630431Not measuredNot measuredNot measured
food_produce_banana_a01gpt-6.1-solpinone3completed100% (46/46)41.81% (0.836119/2)N/A74.51% (38/51)73.2% (0.731976/1)73.2% (0.731976/1)N/A30.98% (6345/20480)2930479.22322.5169990915132715041Not measuredNot measuredNot measured
food_produce_banana_a01gpt-6.1-solpinone4completed100% (46/46)42.14% (0.842893/2)N/A74.51% (38/51)75.04% (0.750407/1)75.04% (0.750407/1)N/A17.05% (3492/20480)3430445.8350.7288906216134905196Not measuredNot measuredNot measured
food_produce_broccoli_b01gpt-6.1-solpinone1completed100% (46/46)19.37% (0.387413/2)N/A70.59% (36/51)32.63% (0.326308/1)32.63% (0.326308/1)N/A19.79% (4052/20480)4130578.42489.1191931320121939434Not measuredNot measuredNot measured
food_produce_broccoli_b01gpt-6.1-solpinone2completed100% (46/46)14.87% (0.297407/2)N/A74.51% (38/51)28% (0.279981/1)28% (0.279981/1)N/A6% (1228/20480)3020540.6429.0567400518334692339Not measuredNot measuredNot measured
food_produce_broccoli_b01gpt-6.1-solpinone3completed100% (46/46)11.69% (0.2338/2)N/A74.51% (38/51)22.17% (0.22168/1)22.17% (0.22168/1)N/A9.12% (1867/20480)3130878.56747.76Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
food_produce_broccoli_b01gpt-6.1-solpinone4completed100% (46/46)15.27% (0.305363/2)N/A74.51% (38/51)21.29% (0.212897/1)21.29% (0.212897/1)N/A12.43% (2545/20480)3430628.61455.9276191419385781299Not measuredNot measuredNot measured
handTool_hammer_crossPeen_a01gpt-6.1-solpinone1completed100% (46/46)96.62% (1.93244/2)N/A74.51% (38/51)97.72% (0.97724/1)97.72% (0.97724/1)N/A56.41% (8397/14886)3430647.77573.351080321258721106193Not measuredNot measuredNot measured
handTool_hammer_crossPeen_a01gpt-6.1-solpinone2completed100% (46/46)30.61% (0.612167/2)N/A72.55% (37/51)89.45% (0.894505/1)89.45% (0.894505/1)N/A40% (5955/14886)3830681.27567.851207554265111234065Not measuredNot measuredNot measured
handTool_hammer_crossPeen_a01gpt-6.1-solpinone3completed100% (46/46)84.12% (1.68244/2)N/A74.51% (38/51)88.42% (0.884239/1)88.42% (0.884239/1)N/A50.14% (7464/14886)3430529.57448.0694788722185970072Not measuredNot measuredNot measured
handTool_hammer_crossPeen_a01gpt-6.1-solpinone4completed100% (46/46)92.03% (1.84065/2)N/A74.51% (38/51)93.59% (0.935882/1)93.59% (0.935882/1)N/A41.05% (6110/14886)3730695.31575.081091634252321116866Not measuredNot measuredNot measured
handTool_wrench_adjustable_a01gpt-6.1-solpinone1completed100% (46/46)0% (0/2)12.98% (0.129841/1)74.51% (38/51)94.04% (0.940356/1)85.22% (2.55663/3)85.71% (18/21)13.55% (1943/14342)3730832.49753.371128020367291164749Not measuredNot measuredNot measured
handTool_wrench_adjustable_a01gpt-6.1-solpinone3completed100% (46/46)95.74% (1.91471/2)2.78% (0.0277882/1)66.67% (34/51)94.99% (0.949922/1)66.84% (2.00529/3)76.19% (16/21)27.6% (3958/14342)3930727.54619.311087001284081115409Not measuredNot measuredNot measured
handTruck_convertible_steel_red_a01gpt-6.1-solpinone1completed100% (46/46)11.49% (0.229774/2)1.92% (0.0191566/1)76.47% (39/51)61.9% (0.619044/1)34.39% (3.78339/11)35.64% (36/101)13.52% (2216/16395)3830702.5625.831006459287581035217Not measuredNot measuredNot measured
handTruck_convertible_steel_red_a01gpt-6.1-solpinone2completed100% (46/46)52.4% (1.04797/2)7.47% (0.0746683/1)68.63% (35/51)67.09% (0.670874/1)25.25% (2.77789/11)36.63% (37/101)19.09% (3129/16395)3830694.82639.451008585283961036981Not measuredNot measuredNot measured
handTruck_convertible_steel_red_a01gpt-6.1-solpinone3completed100% (46/46)44.33% (0.886592/2)1.03% (0.0103275/1)76.47% (39/51)59.81% (0.59815/1)24.62% (2.70797/11)31.68% (32/101)35.39% (5803/16395)4330687.1611.921356378278481384226Not measuredNot measuredNot measured
handTruck_convertible_steel_red_a01gpt-6.1-solpinone4completed100% (46/46)11.43% (0.228673/2)2.08% (0.0207818/1)74.51% (38/51)57.37% (0.57371/1)25.4% (2.7936/11)35.64% (36/101)8.06% (1322/16395)4840645.05568.031640122235781663700Not measuredNot measuredNot measured
kitchenware_kettle_a01gpt-6.1-solpinone1completed100% (46/46)57.28% (1.14561/2)0% (0/2)76.47% (39/51)82.68% (0.826772/1)40.14% (1.60573/4)25.81% (8/31)24.6% (5039/20480)3830758.22649.571173908296971203605Not measuredNot measuredNot measured
kitchenware_kettle_a01gpt-6.1-solpinone2completed100% (46/46)52.94% (1.05874/2)0% (0/2)66.67% (34/51)77.69% (0.776879/1)55.92% (2.23685/4)54.84% (17/31)23.71% (4856/20480)3520566.63501.0987521821685896903Not measuredNot measuredNot measured
kitchenware_kettle_a01gpt-6.1-solpinone3completed100% (46/46)64.02% (1.28046/2)0% (0/2)76.47% (39/51)81.25% (0.812455/1)56.45% (2.25805/4)54.84% (17/31)29.14% (5968/20480)3730664.89575.4196744627860995306Not measuredNot measuredNot measured
kitchenware_pan_j01gpt-6.1-solpinone1completed100% (46/46)77.61% (1.55225/2)0% (0/1)76.47% (39/51)99.95% (0.999511/1)50% (0.5/1)N/A34.11% (6985/20480)2830474.61401.2457914220253599395Not measuredNot measuredNot measured
kitchenware_pan_j01gpt-6.1-solpinone3completed100% (46/46)68.59% (1.3718/2)0% (0/1)74.51% (38/51)100% (1/1)50% (0.5/1)N/A48.82% (9998/20480)3130638.58455.7277213623035795171Not measuredNot measuredNot measured
pallet_wood_recycled_a05gpt-6.1-solpinone1completed100% (46/46)0% (0/2)N/A74.51% (38/51)100% (1/1)100% (1/1)N/A42.86% (6144/14336)3530509.48404.9165890417018675922Not measuredNot measuredNot measured
pallet_wood_recycled_a05gpt-6.1-solpinone3completed100% (46/46)0% (0/2)N/A74.51% (38/51)100% (1/1)100% (1/1)N/A42.86% (6144/14336)3640481.52379.6688236416779899143Not measuredNot measuredNot measured
powerTool_drill_b01gpt-6.1-solpinone3completed100% (46/46)72.42% (1.4484/2)0% (0/2)76.47% (39/51)70.2% (0.702029/1)53.44% (3.74082/7)64.41% (38/59)27.3% (3914/14336)4340908.22813.131679495423711721866Not measuredNot measuredNot measured
ppe_helmet_hardHat_a01gpt-6.1-solpinone1completed100% (46/46)0% (0/2)N/A74.51% (38/51)70.08% (0.70082/1)70.08% (0.70082/1)N/A28.51% (4482/15722)3930742.31651.141240702284631269165Not measuredNot measuredNot measured
ppe_helmet_hardHat_a01gpt-6.1-solpinone2completed100% (46/46)51.62% (1.03245/2)0% (0/1)74.51% (38/51)61.36% (0.613561/1)50% (0.5/1)N/A42.9% (6745/15722)4340631.73539.341164052247431188795Not measuredNot measuredNot measured
ppe_helmet_hardHat_a01gpt-6.1-solpinone3completed100% (46/46)42.26% (0.8451/2)N/A74.51% (38/51)50.75% (0.507519/1)50.75% (0.507519/1)N/A13.55% (2130/15722)3230510.66438.3264390820213664121Not measuredNot measuredNot measured
ppe_helmet_hardHat_a01gpt-6.1-solpinone4completed100% (46/46)39.15% (0.78302/2)N/A74.51% (38/51)47.74% (0.477441/1)47.74% (0.477441/1)N/A24.53% (3856/15722)3830536.05410.976008918154778243Not measuredNot measuredNot measured
serviceTool_funnel_flexibleSpout_a01gpt-6.1-solpinone1completed100% (46/46)19.39% (0.387886/2)N/A74.51% (38/51)27.12% (0.271244/1)27.12% (0.271244/1)N/A6.53% (1066/16337)3330603.45489.2770858522174730759Not measuredNot measuredNot measured
serviceTool_funnel_flexibleSpout_a01gpt-6.1-solpinone2completed100% (46/46)19.37% (0.387495/2)N/A74.51% (38/51)26.46% (0.26464/1)26.46% (0.26464/1)N/A13.34% (2180/16337)3130596.15515.3268898022564711544Not measuredNot measuredNot measured
serviceTool_funnel_flexibleSpout_a01gpt-6.1-solpinone3completed100% (46/46)12.27% (0.245403/2)N/A72.55% (37/51)18.08% (0.180844/1)18.08% (0.180844/1)N/A8.01% (1308/16337)4830743.68614.791276209265321302741Not measuredNot measuredNot measured
serviceTool_funnel_flexibleSpout_a01gpt-6.1-solpinone4completed100% (46/46)0% (0/2)N/A70.59% (36/51)23.47% (0.234665/1)23.47% (0.234665/1)N/A8.1% (1323/16337)4030673.26612.461116578270751143653Not measuredNot measuredNot measured
sign_wetFloor_a01gpt-6.1-solpinone1completed100% (46/46)0% (0/2)0.29% (0.00291905/1)78.43% (40/51)88.38% (0.883811/1)86.7% (1.73408/2)72.73% (8/11)13.97% (2003/14336)4030588.99542.431053333266631079996Not measuredNot measuredNot measured
sign_wetFloor_a01gpt-6.1-solpinone3completed100% (46/46)94.87% (1.89739/2)0.28% (0.00281919/1)78.43% (40/51)92.77% (0.927655/1)90.28% (1.80552/2)72.73% (8/11)27.72% (3974/14336)3840538.59475.351072585228411095426Not measuredNot measuredNot measured
suspension_coilover_rear_b01gpt-6.1-solpinone1completed100% (46/46)74.05% (1.48097/2)0% (0/2)76.47% (39/51)71.03% (0.710278/1)50% (0.5/1)N/A22.06% (3162/14336)3540594.38483.321125764219181147682Not measuredNot measuredNot measured
suspension_coilover_rear_b01gpt-6.1-solpinone2completed100% (46/46)0% (0/2)0% (0/2)76.47% (39/51)79.53% (0.795253/1)50% (0.5/1)N/A11.75% (1685/14336)2930604.82509.7271205123817735868Not measuredNot measuredNot measured
suspension_coilover_rear_b01gpt-6.1-solpinone3completed100% (46/46)77.37% (1.54744/2)0% (0/2)76.47% (39/51)76.87% (0.768669/1)50% (0.5/1)N/A23.45% (3362/14336)3330551.09474.0978117323042804215Not measuredNot measuredNot measured
suspension_coilover_rear_b01gpt-6.1-solpinone4completed100% (46/46)80.47% (1.6094/2)0% (0/2)76.47% (39/51)77.92% (0.779179/1)50% (0.5/1)N/A23.74% (3404/14336)3130633.41542.788521726670911887Not measuredNot measuredNot measured
tools_fireExtinguisher_CO2_a01gpt-6.1-solpinone1completed100% (46/46)48.93% (0.978648/2)0% (0/2)76.47% (39/51)92% (0.920016/1)39.33% (1.57302/4)0% (0/29)29.56% (6005/20314)3830630.27589.611013307281721041479Not measuredNot measuredNot measured
tools_fireExtinguisher_CO2_a01gpt-6.1-solpinone3completed100% (46/46)43.29% (0.865729/2)0% (0/2)74.51% (38/51)78.55% (0.785542/1)42.75% (1.71006/4)58.62% (17/29)35.13% (7137/20314)3430552.62502.4784337724350867727Not measuredNot measuredNot measured
utensils_scissors_a01gpt-6.1-solpinone1completed100% (46/46)79.02% (1.58048/2)0% (0/1)76.47% (39/51)93.13% (0.931318/1)50% (1.5/3)0% (0/21)54.65% (11192/20480)2830530.21445.1459091920788611707Not measuredNot measuredNot measured
utensils_scissors_a01gpt-6.1-solpinone3completed100% (46/46)84.57% (1.69136/2)0% (0/1)74.51% (38/51)93.92% (0.939195/1)50% (1.5/3)0% (0/21)58.53% (11986/20480)3940496.2437.7382057920047840626Not measuredNot measuredNot measured
wheelAssembly_wheel_rim_a01gpt-6.1-solpinone1completed100% (46/46)55.49% (1.10988/2)N/A68.63% (35/51)57.39% (0.57388/1)57.39% (0.57388/1)N/A30.66% (4396/14336)4330633.11514.88989969223741012343Not measuredNot measuredNot measured
wheelAssembly_wheel_rim_a01gpt-6.1-solpinone3completed100% (46/46)54.6% (1.09203/2)0% (0/1)72.55% (37/51)54.71% (0.54711/1)50% (0.5/1)N/A31.14% (4464/14336)3830596.45500.585030921855872164Not measuredNot measuredNot measured

accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)40.21% (0.804287/2)0% (0/2)72.55% (37/51)52.24% (0.5224/1)19.32% (0.772785/4)0% (0/29)13.91% (2134/15341)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
5030782.55685.581496445302581526703Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape52.240.5224/111100
Rigid parts19.320.772785/444100
Joints00/292929100
Materials13.912134/15341153411534162.42

Appearance materials

Score (%)Earned/eligibleStatus
30.96634/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints00/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_arm_02_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_arm_01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
55.9149.0220483.349.1922.17

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00/Sunglasses/RightTemple0
/RootNode/Geometry/arm_02_obj_00/Sunglasses/LeftTemple0
/RootNode/Geometry/base_01_obj_00Not measured0
/RootNode/Geometry/glass_01_obj_00/Sunglasses/Front77.28

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
320/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled3/44/4
body_kinematic3/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/33/3
joint_enabled0/33/3
body0_enabled0/33/3
body0_kinematic0/33/3
body1_enabled0/33/3
body1_kinematic0/33/3
anchors0/33/3
axes0/22/2
relative_orientation0/33/3
limits0/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1004/204849.02
visual:metallic126/100512.54
visual:opacity1004/204849.02

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

accessory_eyeglasses_a01: Reference: front
Reference: front | pi | none | repetition 1
accessory_eyeglasses_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
accessory_eyeglasses_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
accessory_eyeglasses_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
accessory_eyeglasses_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
accessory_eyeglasses_a01: Reference: side
Reference: side | pi | none | repetition 1
accessory_eyeglasses_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)66.28% (1.32561/2)0% (0/2)64.71% (33/51)79.03% (0.790262/1)37.83% (1.51339/4)62.07% (18/29)56.49% (8666/15341)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4030578.87501.9977861228121000673Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape79.030.790262/111100
Rigid parts37.831.51339/444100
Joints62.0718/292929100
Materials56.498666/15341153411534162.42

Appearance materials

Score (%)Earned/eligibleStatus
55.591138.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints7.960.318493/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_arm_02_joint_00/Sunglasses/RightFoldingHinge7.749.06measured_motion
/RootNode/Joints/joint_arm_01_joint_00/Sunglasses/LeftFoldingHinge8.188.77measured_motion
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
81.5476.6620483.343.457.18

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00/Sunglasses/LeftTemple55.43
/RootNode/Geometry/arm_02_obj_00/Sunglasses/RightTemple52.82
/RootNode/Geometry/base_01_obj_00/Sunglasses/FrontAssembly43.09
/RootNode/Geometry/glass_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3218/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled3/44/4
body_kinematic3/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes2/22/2
relative_orientation2/33/3
limits2/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1570/204876.66
physics:density0/20480
physics:dynamicFriction1259/204861.47
physics:restitution1306/204863.77
physics:staticFriction1259/204861.47
visual:assignment1570/204876.66
visual:metallic132/100513.13
visual:opacity1570/204876.66

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

accessory_eyeglasses_a01: Reference: front
Reference: front | pi | none | repetition 2
accessory_eyeglasses_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
accessory_eyeglasses_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
accessory_eyeglasses_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
accessory_eyeglasses_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
accessory_eyeglasses_a01: Reference: side
Reference: side | pi | none | repetition 2
accessory_eyeglasses_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)85.47% (1.7094/2)0% (0/2)76.47% (39/51)84.81% (0.848127/1)46.21% (1.84845/4)62.07% (18/29)58.59% (8988/15341)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3840691.4595.071047023283671075390Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape84.810.848127/111100
Rigid parts46.211.84845/444100
Joints62.0718/292929100
Materials58.598988/15341153411534162.42

Appearance materials

Score (%)Earned/eligibleStatus
86.131764/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints32.551.30209/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_arm_02_joint_00/Sunglasses/Joints/LeftFoldingHinge27.455.42measured_motion
/RootNode/Joints/joint_arm_01_joint_00/Sunglasses/Joints/RightFoldingHinge37.654.29measured_motion
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
83.3586.3320483.343.397.42

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00/Sunglasses/RightTemple69.21
/RootNode/Geometry/arm_02_obj_00/Sunglasses/LeftTemple61.57
/RootNode/Geometry/base_01_obj_00/Sunglasses/FrontFrame54.07
/RootNode/Geometry/glass_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3218/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled3/44/4
body_kinematic3/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes2/22/2
relative_orientation2/33/3
limits2/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1729/204884.42
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1422/204869.43
physics:staticFriction1304/204863.67
visual:assignment1768/204886.33
visual:metallic997/100599.2
visual:opacity1768/204886.33

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

accessory_eyeglasses_a01: Reference: front
Reference: front | pi | none | repetition 3
accessory_eyeglasses_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
accessory_eyeglasses_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
accessory_eyeglasses_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
accessory_eyeglasses_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
accessory_eyeglasses_a01: Reference: side
Reference: side | pi | none | repetition 3
accessory_eyeglasses_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

accessory_eyeglasses_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)63.84% (1.27689/2)0% (0/2)72.55% (37/51)77.15% (0.771528/1)37.55% (1.50198/4)62.07% (18/29)20.42% (3132/15341)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3730631.73558.261069125253751094500Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape77.150.771528/111100
Rigid parts37.551.50198/444100
Joints62.0718/292929100
Materials20.423132/15341153411534162.42

Appearance materials

Score (%)Earned/eligibleStatus
52.831082/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints33.051.32211/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_arm_02_joint_00/Sunglasses/Joints/LeftFoldingHinge28.235.32measured_motion
/RootNode/Joints/joint_arm_01_joint_00/Sunglasses/Joints/RightFoldingHinge37.874.27measured_motion
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
80.9173.7320483.344.039.33

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00/Sunglasses/RightTemple55.08
/RootNode/Geometry/arm_02_obj_00/Sunglasses/LeftTemple51.74
/RootNode/Geometry/base_01_obj_00/Sunglasses/FrontAssembly43.37
/RootNode/Geometry/glass_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3218/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled3/44/4
body_kinematic3/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes2/22/2
relative_orientation2/33/3
limits2/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1510/204873.73
visual:metallic112/100511.14
visual:opacity1510/204873.73

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

accessory_eyeglasses_a01: Reference: front
Reference: front | pi | none | repetition 4
accessory_eyeglasses_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
accessory_eyeglasses_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
accessory_eyeglasses_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
accessory_eyeglasses_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
accessory_eyeglasses_a01: Reference: side
Reference: side | pi | none | repetition 4
accessory_eyeglasses_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

box_cardboard_open_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)80.4% (1.60807/2)N/A70.59% (36/51)82.18% (0.821836/1)82.18% (0.821836/1)N/A44.95% (6444/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2930431.15384.2755840016418574818Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape82.180.821836/111100
Rigid parts82.180.821836/111100
JointsNot applicable0/0000
Materials44.956444/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
78.661611/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
86.0478.6620489.76.3912.84

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/CardboardTray82.18

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1611/204878.66
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction1611/204878.66
visual:assignment1611/204878.66
visual:opacity1611/204878.66

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 1
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 1
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

box_cardboard_open_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)83.63% (0.836295/1)83.63% (0.836295/1)N/A34.05% (4881/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2920407.12352.8557454016108590648Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape83.630.836295/111100
Rigid parts83.630.836295/111100
JointsNot applicable0/0000
Materials34.054881/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
88.2879.4420489.76.1312.98

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/CardboardBox83.63

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1627/204879.44
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction1627/204879.44
visual:assignment1627/204879.44
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 2
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 2
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

box_cardboard_open_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)77.87% (0.778707/1)77.87% (0.778707/1)N/A30.91% (4431/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3230463.45405.8171765617729735385Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape77.870.778707/111100
Rigid parts77.870.778707/111100
JointsNot applicable0/0000
Materials30.914431/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
84.6272.1220489.77.0914.29

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/CardboardTray77.87

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1477/204872.12
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction1477/204872.12
visual:assignment1477/204872.12
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 3
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 3
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

box_cardboard_open_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)76.59% (1.53173/2)N/A74.51% (38/51)77.8% (0.778012/1)77.8% (0.778012/1)N/A43.08% (6176/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4130576.55510.911062333218151084148Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape77.80.778012/111100
Rigid parts77.80.778012/111100
JointsNot applicable0/0000
Materials43.086176/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
75.391544/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
80.3775.3920489.77.0813.23

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/CardboardTray77.8

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1544/204875.39
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction1544/204875.39
visual:assignment1544/204875.39
visual:opacity1544/204875.39

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 4
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 4
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

bucket_utility_red_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)41.49% (0.829812/2)0.01% (0.000121476/1)76.47% (39/51)54.74% (0.547449/1)28.71% (0.574159/2)63.64% (7/11)31.4% (5136/16356)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4340805.12716.051649778315561681334Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape54.740.547449/111100
Rigid parts28.710.574159/222100
Joints63.647/111111100
Materials31.45136/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
31.45644/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints0.010.000364428/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00/Bucket/Joints/Bail_Swing0.02316.54measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
48.5862.720486.388.3114.26

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/Bucket/Body56.03
/RootNode/Geometry/sm_handle_a01_01_obj_00/Bucket/Bail1.39

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
127/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
axes0/11/1
relative_orientation1/11/1
limits0/11/1
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1284/204862.7
physics:density0/20480
physics:dynamicFriction1257/204861.38
physics:restitution27/20481.32
physics:staticFriction0/20480
visual:assignment1284/204862.7
visual:diffuseColor0/20200
visual:opacity1284/204862.7

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

bucket_utility_red_a01: Reference: front
Reference: front | pi | none | repetition 1
bucket_utility_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
bucket_utility_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
bucket_utility_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
bucket_utility_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
bucket_utility_red_a01: Reference: side
Reference: side | pi | none | repetition 1
bucket_utility_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

bucket_utility_red_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)43.33% (0.866571/2)0.34% (0.00336069/1)70.59% (36/51)58.21% (0.58211/1)29.27% (0.585487/2)54.55% (6/11)32.31% (5285/16356)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3520532.75470.8378965220782810434Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape58.210.58211/111100
Rigid parts29.270.585487/222100
Joints54.556/111111100
Materials32.315285/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
32.25660.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints0.340.0100821/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00/Bucket/Joints/BailHinge0.566.31measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
53.2764.1620486.386.8811.39

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/Bucket/Body58.02
/RootNode/Geometry/sm_handle_a01_01_obj_00/Bucket/Bail0.53

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
126/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
axes0/11/1
relative_orientation0/11/1
limits0/11/1
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1314/204864.16
physics:density0/20480
physics:dynamicFriction1314/204864.16
physics:restitution29/20481.42
physics:staticFriction0/20480
visual:assignment1314/204864.16
visual:diffuseColor0/20200
visual:opacity1314/204864.16

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

bucket_utility_red_a01: Reference: front
Reference: front | pi | none | repetition 2
bucket_utility_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
bucket_utility_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
bucket_utility_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
bucket_utility_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
bucket_utility_red_a01: Reference: side
Reference: side | pi | none | repetition 2
bucket_utility_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

bucket_utility_red_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)0.01% (8.61068e-05/1)72.55% (37/51)73.1% (0.730956/1)37.68% (0.753671/2)72.73% (8/11)9.62% (1573/16356)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3630607.49534.7795128224345975627Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape73.10.730956/111100
Rigid parts37.680.753671/222100
Joints72.738/111111100
Materials9.621573/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints0.010.00025832/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00/Bucket/Joints/Bail_hinge0.01256.43measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
69.7376.8120486.387.5711.49

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/Bucket/Pail73.34
/RootNode/Geometry/sm_handle_a01_01_obj_00/Bucket/WireBail2.03

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
128/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
axes1/11/1
relative_orientation1/11/1
limits0/11/1
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1573/204876.81
visual:diffuseColor0/20200
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

bucket_utility_red_a01: Reference: front
Reference: front | pi | none | repetition 3
bucket_utility_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
bucket_utility_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
bucket_utility_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
bucket_utility_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
bucket_utility_red_a01: Reference: side
Reference: side | pi | none | repetition 3
bucket_utility_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

bucket_utility_red_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)35.87% (0.717405/2)0.27% (0.00266133/1)72.55% (37/51)47.74% (0.477375/1)36.57% (0.731475/2)63.64% (7/11)13.35% (2184/16356)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3530573.88507.1976368422833786517Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape47.740.477375/111100
Rigid parts36.570.731475/222100
Joints63.647/111111100
Materials13.352184/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
26.95552/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints0.270.00798398/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00/Bucket/Joints/BailPivot0.455.26measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
43.2153.3220486.387.4912.19

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/Bucket/Pail48.04
/RootNode/Geometry/sm_handle_a01_01_obj_00/Bucket/Bail25.11

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
127/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
axes1/11/1
relative_orientation0/11/1
limits0/11/1
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1092/204853.32
visual:diffuseColor0/20200
visual:opacity1092/204853.32

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

bucket_utility_red_a01: Reference: front
Reference: front | pi | none | repetition 4
bucket_utility_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
bucket_utility_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
bucket_utility_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
bucket_utility_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
bucket_utility_red_a01: Reference: side
Reference: side | pi | none | repetition 4
bucket_utility_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

chair_office_amf_black_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)76.44% (1.52878/2)0% (0/1)68.63% (35/51)74.46% (0.744639/1)21.7% (0.216991/1)N/A31.78% (5207/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3430703.39625.7189808527574925659Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape74.460.744639/111100
Rigid parts21.70.216991/111100
JointsNot applicable0/0000
Materials31.785207/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
78.471607/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/22/2100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
70.8578.47204812.2918.1539.56

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_obj_00/Chair/SteelFrame21.7

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment193/20489.42
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution193/20489.42
physics:staticFriction0/20480
visual:assignment1607/204878.47
visual:diffuseColor1607/204878.47
visual:opacity1607/204878.47

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

chair_office_amf_black_a01: Reference: front
Reference: front | pi | none | repetition 1
chair_office_amf_black_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
chair_office_amf_black_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
chair_office_amf_black_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
chair_office_amf_black_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
chair_office_amf_black_a01: Reference: side
Reference: side | pi | none | repetition 1
chair_office_amf_black_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

chair_office_amf_black_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)43.66% (0.873218/2)N/A68.63% (35/51)59.83% (0.598322/1)59.83% (0.598322/1)N/A23.96% (3925/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4030633.2558.551060920244431085363Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape59.830.598322/111100
Rigid parts59.830.598322/111100
JointsNot applicable0/0000
Materials23.963925/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
31.86652.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
56.263.96204812.2924.1353.74

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_obj_00/Chair59.83

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1310/204863.96
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1310/204863.96
visual:diffuseColor1305/204863.72
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

chair_office_amf_black_a01: Reference: front
Reference: front | pi | none | repetition 2
chair_office_amf_black_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
chair_office_amf_black_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
chair_office_amf_black_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
chair_office_amf_black_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
chair_office_amf_black_a01: Reference: side
Reference: side | pi | none | repetition 2
chair_office_amf_black_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

chair_office_amf_black_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)80.58% (1.61164/2)0% (0/1)76.47% (39/51)79.3% (0.793004/1)26.9% (0.268992/1)N/A30.74% (5036/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3930685.16618.789153328320919853Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape79.30.793004/111100
Rigid parts26.90.268992/111100
JointsNot applicable0/0000
Materials30.745036/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
81.881677/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/22/2100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
76.6682.13204812.2912.5130.05

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_obj_00/Chair/Frame26.9

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1682/204882.13
visual:diffuseColor1672/204881.64
visual:opacity1682/204882.13

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

chair_office_amf_black_a01: Reference: front
Reference: front | pi | none | repetition 3
chair_office_amf_black_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
chair_office_amf_black_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
chair_office_amf_black_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
chair_office_amf_black_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
chair_office_amf_black_a01: Reference: side
Reference: side | pi | none | repetition 3
chair_office_amf_black_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

chair_office_amf_black_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)53.63% (1.07263/2)0% (0/1)76.47% (39/51)74.19% (0.741903/1)16.1% (0.16101/1)N/A29.11% (4770/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3940573.97493.461135730220001157730Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape74.190.741903/111100
Rigid parts16.10.16101/111100
JointsNot applicable0/0000
Materials29.114770/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
38.77794/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/22/2100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
7177.69204812.2919.9252.6

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_obj_00/Chair/Frame16.1

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1591/204877.69
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1591/204877.69
visual:diffuseColor1588/204877.54
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

chair_office_amf_black_a01: Reference: front
Reference: front | pi | none | repetition 4
chair_office_amf_black_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
chair_office_amf_black_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
chair_office_amf_black_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
chair_office_amf_black_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
chair_office_amf_black_a01: Reference: side
Reference: side | pi | none | repetition 4
chair_office_amf_black_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

cleaning_cloth_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)90.94% (0.909413/1)90.94% (0.909413/1)N/A39.07% (5601/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4530927.19656.511454939241121479051Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape90.940.909413/111100
Rigid parts90.940.909413/111100
JointsNot applicable0/0000
Materials39.075601/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
90.6291.2620484.52.454.95

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00/MicrofiberCloth90.94

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1866/204891.11
physics:density0/20480
physics:dynamicFriction1866/204891.11
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1869/204891.26
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

cleaning_cloth_a01: Reference: front
Reference: front | pi | none | repetition 1
cleaning_cloth_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
cleaning_cloth_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
cleaning_cloth_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
cleaning_cloth_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
cleaning_cloth_a01: Reference: side
Reference: side | pi | none | repetition 1
cleaning_cloth_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

cleaning_cloth_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)97.57% (0.975744/1)97.57% (0.975744/1)N/A14.29% (2048/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3720634.25500.9687451721134895651Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape97.570.975744/111100
Rigid parts97.570.975744/111100
JointsNot applicable0/0000
Materials14.292048/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
95.2610020484.523.89

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00/Cloth97.57

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment2048/2048100
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

cleaning_cloth_a01: Reference: front
Reference: front | pi | none | repetition 2
cleaning_cloth_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
cleaning_cloth_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
cleaning_cloth_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
cleaning_cloth_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
cleaning_cloth_a01: Reference: side
Reference: side | pi | none | repetition 2
cleaning_cloth_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

cleaning_cloth_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)99.24% (1.98482/2)N/A74.51% (38/51)98.49% (0.984882/1)98.49% (0.984882/1)N/A28.57% (4096/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3640723.44563.471049555246861074241Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape98.490.984882/111100
Rigid parts98.490.984882/111100
JointsNot applicable0/0000
Materials28.574096/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
1002048/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
97.0210020484.51.83.56

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00/MicrofiberCloth98.49

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment2048/2048100
visual:opacity2048/2048100

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

cleaning_cloth_a01: Reference: front
Reference: front | pi | none | repetition 4
cleaning_cloth_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
cleaning_cloth_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
cleaning_cloth_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
cleaning_cloth_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
cleaning_cloth_a01: Reference: side
Reference: side | pi | none | repetition 4
cleaning_cloth_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

container_bottle_glass_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)80.72% (1.61437/2)N/A74.51% (38/51)81.71% (0.817125/1)81.71% (0.817125/1)N/A29.9% (4899/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3630562.03496.6689682921319918148Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape81.710.817125/111100
Rigid parts81.710.817125/111100
JointsNot applicable0/0000
Materials29.94899/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
79.741633/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
83.7979.7420484.513.587.77

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_01_obj_00/Vessel81.71

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1633/204879.74
visual:metallic1633/204879.74
visual:opacity1633/204879.74

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

container_bottle_glass_a01: Reference: front
Reference: front | pi | none | repetition 1
container_bottle_glass_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
container_bottle_glass_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
container_bottle_glass_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
container_bottle_glass_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
container_bottle_glass_a01: Reference: side
Reference: side | pi | none | repetition 1
container_bottle_glass_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

container_bottle_glass_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)90.98% (1.81958/2)N/A74.51% (38/51)90.94% (0.909423/1)90.94% (0.909423/1)N/A68.26% (11184/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3220366.66320.6752012414220534344Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape90.940.909423/111100
Rigid parts90.940.909423/111100
JointsNot applicable0/0000
Materials68.2611184/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
91.021864/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
90.8791.0220484.512.825.2

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_01_obj_00/Bottle90.94

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1864/204891.02
physics:density0/20480
physics:dynamicFriction1864/204891.02
physics:restitution1864/204891.02
physics:staticFriction0/20480
visual:assignment1864/204891.02
visual:metallic1864/204891.02
visual:opacity1864/204891.02

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

container_bottle_glass_a01: Reference: front
Reference: front | pi | none | repetition 2
container_bottle_glass_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
container_bottle_glass_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
container_bottle_glass_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
container_bottle_glass_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
container_bottle_glass_a01: Reference: side
Reference: side | pi | none | repetition 2
container_bottle_glass_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

container_bottle_glass_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A66.67% (34/51)81.06% (0.810559/1)81.06% (0.810559/1)N/A49.19% (8060/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2920383.45331.6752314214382537524Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape81.060.810559/111100
Rigid parts81.060.810559/111100
JointsNot applicable0/0000
Materials49.198060/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
83.5478.7120484.513.839

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_01_obj_00/Vessel81.06

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1612/204878.71
physics:density0/20480
physics:dynamicFriction1612/204878.71
physics:restitution1612/204878.71
physics:staticFriction1612/204878.71
visual:assignment1612/204878.71
visual:metallic0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

container_bottle_glass_a01: Reference: front
Reference: front | pi | none | repetition 3
container_bottle_glass_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
container_bottle_glass_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
container_bottle_glass_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
container_bottle_glass_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
container_bottle_glass_a01: Reference: side
Reference: side | pi | none | repetition 3
container_bottle_glass_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

container_bottle_glass_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)86.65% (1.73301/2)N/A74.51% (38/51)87.47% (0.874685/1)87.47% (0.874685/1)N/A64.38% (10548/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3130427.21364.4558386517011600876Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape87.470.874685/111100
Rigid parts87.470.874685/111100
JointsNot applicable0/0000
Materials64.3810548/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
85.841758/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
89.1685.8420484.513.237.86

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_01_obj_00/Bottle87.47

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1758/204885.84
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1758/204885.84
physics:staticFriction1758/204885.84
visual:assignment1758/204885.84
visual:metallic1758/204885.84
visual:opacity1758/204885.84

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

container_bottle_glass_a01: Reference: front
Reference: front | pi | none | repetition 4
container_bottle_glass_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
container_bottle_glass_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
container_bottle_glass_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
container_bottle_glass_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
container_bottle_glass_a01: Reference: side
Reference: side | pi | none | repetition 4
container_bottle_glass_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)88.94% (1.77876/2)N/A68.63% (35/51)83.03% (0.83032/1)83.03% (0.83032/1)N/A68.05% (9755/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3520585.38498.6968569820938706636Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape83.030.83032/111100
Rigid parts83.030.83032/111100
JointsNot applicable0/0000
Materials68.059755/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
95.261951/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
73.5895.2620486.885.0811.45

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/camshaft_01_obj_00/Camshaft/Body83.03

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1951/204895.26
physics:density1951/204895.26
physics:dynamicFriction0/20480
physics:restitution1951/204895.26
physics:staticFriction0/20480
visual:assignment1951/204895.26
visual:opacity1951/204895.26

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

engineComponent_camshaft_a01: Reference: front
Reference: front | pi | none | repetition 1
engineComponent_camshaft_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
engineComponent_camshaft_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
engineComponent_camshaft_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
engineComponent_camshaft_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
engineComponent_camshaft_a01: Reference: side
Reference: side | pi | none | repetition 1
engineComponent_camshaft_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)92.25% (0.922452/1)92.25% (0.922452/1)N/A13.35% (1914/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3530476.47420.9479247518052810527Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape92.250.922452/111100
Rigid parts92.250.922452/111100
JointsNot applicable0/0000
Materials13.351914/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
91.0693.4620486.883.778.01

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/camshaft_01_obj_00/Camshaft/Body92.25

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1914/204893.46
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

engineComponent_camshaft_a01: Reference: front
Reference: front | pi | none | repetition 2
engineComponent_camshaft_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
engineComponent_camshaft_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
engineComponent_camshaft_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
engineComponent_camshaft_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
engineComponent_camshaft_a01: Reference: side
Reference: side | pi | none | repetition 2
engineComponent_camshaft_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)94.44% (1.88877/2)0% (0/1)76.47% (39/51)93.91% (0.939092/1)50% (0.5/1)N/A65.85% (9440/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2820476.92398.7663111317682648795Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape93.910.939092/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials65.859440/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
94.971945/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/22/2100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
92.8794.9720486.883.217.52

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/camshaft_01_obj_00/Camshaft/Shaft84.74

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1850/204890.33
physics:density0/20480
physics:dynamicFriction1850/204890.33
physics:restitution1850/204890.33
physics:staticFriction0/20480
visual:assignment1945/204894.97
visual:opacity1945/204894.97

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

engineComponent_camshaft_a01: Reference: front
Reference: front | pi | none | repetition 3
engineComponent_camshaft_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
engineComponent_camshaft_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
engineComponent_camshaft_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
engineComponent_camshaft_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
engineComponent_camshaft_a01: Reference: side
Reference: side | pi | none | repetition 3
engineComponent_camshaft_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

engineComponent_camshaft_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A64.71% (33/51)82.91% (0.829092/1)82.91% (0.829092/1)N/A12.8% (1835/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3520495.14421.4586116116684877845Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape82.910.829092/111100
Rigid parts82.910.829092/111100
JointsNot applicable0/0000
Materials12.81835/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
77.1589.620486.885.0610.25

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/camshaft_01_obj_00/Camshaft82.91

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1835/204889.6
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

engineComponent_camshaft_a01: Reference: front
Reference: front | pi | none | repetition 4
engineComponent_camshaft_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
engineComponent_camshaft_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
engineComponent_camshaft_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
engineComponent_camshaft_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
engineComponent_camshaft_a01: Reference: side
Reference: side | pi | none | repetition 4
engineComponent_camshaft_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

food_beverage_coffeeCup_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)72.53% (1.45061/2)100% (1/1)74.51% (38/51)95.87% (0.95874/1)95.2% (1.90396/2)88.89% (8/9)31.53% (6458/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4730595.82538.511221647216701243317Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape95.870.95874/111100
Rigid parts95.21.90396/222100
Joints88.898/999100
Materials31.536458/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
54.871123.75/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints1002/22/2100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_food_beverage_coffeeCup_a01_lid_joint_00/CoffeeCup/LidSnapFit1000measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
95.995.8520482.681.142.12

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_body_obj_00/CoffeeCup/Body94.28
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_lid_obj_00/CoffeeCup/Lid96.12

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
118/9

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
relative_orientation1/11/1
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1963/204895.85
visual:diffuseColor491/204823.97
visual:metallic1963/204895.85
visual:opacity1963/204895.85
visual:roughness78/20483.81

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_beverage_coffeeCup_a01: Reference: front
Reference: front | pi | none | repetition 1
food_beverage_coffeeCup_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
food_beverage_coffeeCup_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
food_beverage_coffeeCup_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
food_beverage_coffeeCup_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
food_beverage_coffeeCup_a01: Reference: side
Reference: side | pi | none | repetition 1
food_beverage_coffeeCup_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

food_beverage_coffeeCup_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)71.92% (1.4383/2)66.67% (0.666667/1)76.47% (39/51)96.09% (0.960929/1)66.67% (1.33333/2)77.78% (7/9)57.68% (11813/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830709.44603.021329399246641354063Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape96.090.960929/111100
Rigid parts66.671.33333/222100
Joints77.787/999100
Materials57.6811813/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
53.821102.25/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints66.672/33/3100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_food_beverage_coffeeCup_a01_lid_joint_00/CoffeeCup/Joints/LidSnapFit1000measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
96.3995.820482.681.271.68

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_body_obj_00/CoffeeCup/PaperCup94.35
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_lid_obj_00/CoffeeCup/Lid98.22

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
127/9

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
relative_orientation1/11/1
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1962/204895.8
physics:density0/20480
physics:dynamicFriction1962/204895.8
physics:restitution0/20480
physics:staticFriction1518/204874.12
visual:assignment1962/204895.8
visual:diffuseColor485/204823.68
visual:metallic1962/204895.8
visual:opacity1962/204895.8
visual:roughness0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_beverage_coffeeCup_a01: Reference: front
Reference: front | pi | none | repetition 2
food_beverage_coffeeCup_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
food_beverage_coffeeCup_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
food_beverage_coffeeCup_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
food_beverage_coffeeCup_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
food_beverage_coffeeCup_a01: Reference: side
Reference: side | pi | none | repetition 2
food_beverage_coffeeCup_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

food_prepared_croissant_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)61.34% (1.22685/2)N/A74.51% (38/51)81.36% (0.813564/1)81.36% (0.813564/1)N/A26.82% (5493/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3130576.94428.0963334719361652708Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape81.360.813564/111100
Rigid parts81.360.813564/111100
JointsNot applicable0/0000
Materials26.825493/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
46.25947.25/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
79.5983.220482.612.074.25

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_prepared_croissant_a01_obj_00/Croissant81.36

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1704/204883.2
visual:diffuseColor79/20483.86
visual:metallic1704/204883.2
visual:opacity1704/204883.2
visual:roughness302/204814.75

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_prepared_croissant_a01: Reference: front
Reference: front | pi | none | repetition 1
food_prepared_croissant_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
food_prepared_croissant_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
food_prepared_croissant_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
food_prepared_croissant_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
food_prepared_croissant_a01: Reference: side
Reference: side | pi | none | repetition 1
food_prepared_croissant_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

food_prepared_croissant_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)45.81% (0.916291/2)N/A74.51% (38/51)81.26% (0.812608/1)81.26% (0.812608/1)N/A18.64% (3817/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4030735.6576.471168721263381195059Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape81.260.812608/111100
Rigid parts81.260.812608/111100
JointsNot applicable0/0000
Materials18.643817/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
25.83529/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
79.5483.0620482.612.084.16

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_prepared_croissant_a01_obj_00/Croissant81.26

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1701/204883.06
visual:diffuseColor118/20485.76
visual:metallic1701/204883.06
visual:opacity0/20480
visual:roughness297/204814.5

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_prepared_croissant_a01: Reference: front
Reference: front | pi | none | repetition 3
food_prepared_croissant_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
food_prepared_croissant_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
food_prepared_croissant_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
food_prepared_croissant_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
food_prepared_croissant_a01: Reference: side
Reference: side | pi | none | repetition 3
food_prepared_croissant_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

food_produce_banana_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)40.94% (0.818773/2)N/A74.51% (38/51)72.57% (0.725665/1)72.57% (0.725665/1)N/A16.19% (3316/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2620575.19395.2861192818503630431Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape72.570.725665/111100
Rigid parts72.570.725665/111100
JointsNot applicable0/0000
Materials16.193316/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
23.1473/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
75.8869.5320483.023.356.48

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_produce_banana_a01_obj_00/Banana72.57

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1424/204869.53
visual:diffuseColor26/20481.27
visual:metallic1424/204869.53
visual:opacity0/20480
visual:roughness442/204821.58

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_produce_banana_a01: Reference: front
Reference: front | pi | none | repetition 1
food_produce_banana_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
food_produce_banana_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
food_produce_banana_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
food_produce_banana_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
food_produce_banana_a01: Reference: side
Reference: side | pi | none | repetition 1
food_produce_banana_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

food_produce_banana_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)41.81% (0.836119/2)N/A74.51% (38/51)73.2% (0.731976/1)73.2% (0.731976/1)N/A30.98% (6345/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2930479.22322.5169990915132715041Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape73.20.731976/111100
Rigid parts73.20.731976/111100
JointsNot applicable0/0000
Materials30.986345/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
23.88489/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
75.0571.4420483.023.497.31

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_produce_banana_a01_obj_00/Banana73.2

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1463/204871.44
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction1463/204871.44
visual:assignment1463/204871.44
visual:diffuseColor1/20480.05
visual:metallic1463/204871.44
visual:opacity0/20480
visual:roughness492/204824.02

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_produce_banana_a01: Reference: front
Reference: front | pi | none | repetition 3
food_produce_banana_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
food_produce_banana_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
food_produce_banana_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
food_produce_banana_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
food_produce_banana_a01: Reference: side
Reference: side | pi | none | repetition 3
food_produce_banana_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

food_produce_banana_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)42.14% (0.842893/2)N/A74.51% (38/51)75.04% (0.750407/1)75.04% (0.750407/1)N/A17.05% (3492/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3430445.8350.7288906216134905196Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape75.040.750407/111100
Rigid parts75.040.750407/111100
JointsNot applicable0/0000
Materials17.053492/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
23.67484.75/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
74.2775.8320483.023.657.72

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_produce_banana_a01_obj_00/Banana75.04

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1553/204875.83
visual:diffuseColor1/20480.05
visual:metallic1553/204875.83
visual:opacity0/20480
visual:roughness385/204818.8

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_produce_banana_a01: Reference: front
Reference: front | pi | none | repetition 4
food_produce_banana_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
food_produce_banana_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
food_produce_banana_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
food_produce_banana_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
food_produce_banana_a01: Reference: side
Reference: side | pi | none | repetition 4
food_produce_banana_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

food_produce_broccoli_b01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)19.37% (0.387413/2)N/A70.59% (36/51)32.63% (0.326308/1)32.63% (0.326308/1)N/A19.79% (4052/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4130578.42489.1191931320121939434Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape32.630.326308/111100
Rigid parts32.630.326308/111100
JointsNot applicable0/0000
Materials19.794052/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
11.5235.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
35.2530.3720483.6811.8725.22

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00/Broccoli32.63

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment622/204830.37
physics:density0/20480
physics:dynamicFriction622/204830.37
physics:restitution622/204830.37
physics:staticFriction622/204830.37
visual:assignment622/204830.37
visual:diffuseColor28/20481.37
visual:metallic622/204830.37
visual:opacity0/20480
visual:roughness292/204814.26

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_produce_broccoli_b01: Reference: front
Reference: front | pi | none | repetition 1
food_produce_broccoli_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
food_produce_broccoli_b01: Reference: isometric
Reference: isometric | pi | none | repetition 1
food_produce_broccoli_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
food_produce_broccoli_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
food_produce_broccoli_b01: Reference: side
Reference: side | pi | none | repetition 1
food_produce_broccoli_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

food_produce_broccoli_b01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)14.87% (0.297407/2)N/A74.51% (38/51)28% (0.279981/1)28% (0.279981/1)N/A6% (1228/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3020540.6429.0567400518334692339Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape280.279981/111100
Rigid parts280.279981/111100
JointsNot applicable0/0000
Materials61228/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
7.9161.75/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
27.6428.3720483.6811.523.96

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00/Broccoli28

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment581/204828.37
visual:diffuseColor20/20480.98
visual:metallic581/204828.37
visual:opacity0/20480
visual:roughness46/20482.25

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_produce_broccoli_b01: Reference: front
Reference: front | pi | none | repetition 2
food_produce_broccoli_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
food_produce_broccoli_b01: Reference: isometric
Reference: isometric | pi | none | repetition 2
food_produce_broccoli_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
food_produce_broccoli_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
food_produce_broccoli_b01: Reference: side
Reference: side | pi | none | repetition 2
food_produce_broccoli_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

food_produce_broccoli_b01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)11.69% (0.2338/2)N/A74.51% (38/51)22.17% (0.22168/1)22.17% (0.22168/1)N/A9.12% (1867/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3130878.56747.76Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape22.170.22168/111100
Rigid parts22.170.22168/111100
JointsNot applicable0/0000
Materials9.121867/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
6.16126.25/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
22.1722.1720483.6814.3728.67

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00/Broccoli22.17

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment454/204822.17
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution454/204822.17
physics:staticFriction0/20480
visual:assignment454/204822.17
visual:diffuseColor13/20480.63
visual:metallic454/204822.17
visual:opacity0/20480
visual:roughness38/20481.86

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_produce_broccoli_b01: Reference: front
Reference: front | pi | none | repetition 3
food_produce_broccoli_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
food_produce_broccoli_b01: Reference: isometric
Reference: isometric | pi | none | repetition 3
food_produce_broccoli_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
food_produce_broccoli_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
food_produce_broccoli_b01: Reference: side
Reference: side | pi | none | repetition 3
food_produce_broccoli_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

food_produce_broccoli_b01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)15.27% (0.305363/2)N/A74.51% (38/51)21.29% (0.212897/1)21.29% (0.212897/1)N/A12.43% (2545/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3430628.61455.9276191419385781299Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape21.290.212897/111100
Rigid parts21.290.212897/111100
JointsNot applicable0/0000
Materials12.432545/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
10.95224.25/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
22.6120.1220483.6815.0231.69

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_produce_broccoli_b01_obj_00/Broccoli21.29

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment412/204820.12
physics:density0/20480
physics:dynamicFriction412/204820.12
physics:restitution412/204820.12
physics:staticFriction0/20480
visual:assignment412/204820.12
visual:diffuseColor15/20480.73
visual:metallic412/204820.12
visual:opacity412/204820.12
visual:roughness58/20482.83

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

food_produce_broccoli_b01: Reference: front
Reference: front | pi | none | repetition 4
food_produce_broccoli_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
food_produce_broccoli_b01: Reference: isometric
Reference: isometric | pi | none | repetition 4
food_produce_broccoli_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
food_produce_broccoli_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
food_produce_broccoli_b01: Reference: side
Reference: side | pi | none | repetition 4
food_produce_broccoli_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)96.62% (1.93244/2)N/A74.51% (38/51)97.72% (0.97724/1)97.72% (0.97724/1)N/A56.41% (8397/14886)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3430647.77573.351080321258721106193Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape97.720.97724/111100
Rigid parts97.720.97724/111100
JointsNot applicable0/0000
Materials56.418397/14886148861488660.57

Appearance materials

Score (%)Earned/eligibleStatus
95.531956.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
99.4696.0420485.182.074.51

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/hammer_01_obj_00/Hammer97.72

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1967/204896.04
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1967/204896.04
physics:staticFriction0/20480
visual:assignment1967/204896.04
visual:diffuseColor529/55096.18
visual:opacity1967/204896.04

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTool_hammer_crossPeen_a01: Reference: front
Reference: front | pi | none | repetition 1
handTool_hammer_crossPeen_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
handTool_hammer_crossPeen_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
handTool_hammer_crossPeen_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
handTool_hammer_crossPeen_a01: Reference: side
Reference: side | pi | none | repetition 1
handTool_hammer_crossPeen_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)30.61% (0.612167/2)N/A72.55% (37/51)89.45% (0.894505/1)89.45% (0.894505/1)N/A40% (5955/14886)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830681.27567.851207554265111234065Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape89.450.894505/111100
Rigid parts89.450.894505/111100
JointsNot applicable0/0000
Materials405955/14886148861488660.57

Appearance materials

Score (%)Earned/eligibleStatus
10.47214.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
88.9689.9420485.183.197.19

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/hammer_01_obj_00/Sledgehammer89.45

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1842/204889.94
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1842/204889.94
physics:staticFriction0/20480
visual:assignment1842/204889.94
visual:diffuseColor429/55078
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTool_hammer_crossPeen_a01: Reference: front
Reference: front | pi | none | repetition 2
handTool_hammer_crossPeen_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
handTool_hammer_crossPeen_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
handTool_hammer_crossPeen_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
handTool_hammer_crossPeen_a01: Reference: side
Reference: side | pi | none | repetition 2
handTool_hammer_crossPeen_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)84.12% (1.68244/2)N/A74.51% (38/51)88.42% (0.884239/1)88.42% (0.884239/1)N/A50.14% (7464/14886)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3430529.57448.0694788722185970072Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape88.420.884239/111100
Rigid parts88.420.884239/111100
JointsNot applicable0/0000
Materials50.147464/14886148861488660.57

Appearance materials

Score (%)Earned/eligibleStatus
80.031639/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
85.8991.1120485.183.37.02

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/hammer_01_obj_00/Sledgehammer88.42

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1866/204891.11
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1866/204891.11
physics:staticFriction0/20480
visual:assignment1866/204891.11
visual:diffuseColor0/5500
visual:opacity1866/204891.11

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTool_hammer_crossPeen_a01: Reference: front
Reference: front | pi | none | repetition 3
handTool_hammer_crossPeen_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
handTool_hammer_crossPeen_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
handTool_hammer_crossPeen_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
handTool_hammer_crossPeen_a01: Reference: side
Reference: side | pi | none | repetition 3
handTool_hammer_crossPeen_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

handTool_hammer_crossPeen_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)92.03% (1.84065/2)N/A74.51% (38/51)93.59% (0.935882/1)93.59% (0.935882/1)N/A41.05% (6110/14886)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3730695.31575.081091634252321116866Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape93.590.935882/111100
Rigid parts93.590.935882/111100
JointsNot applicable0/0000
Materials41.056110/14886148861488660.57

Appearance materials

Score (%)Earned/eligibleStatus
90.51853.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
95.5691.720485.182.835.61

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/hammer_01_obj_00/ClubHammer93.59

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1878/204891.7
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1878/204891.7
visual:diffuseColor476/55086.55
visual:opacity1878/204891.7

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTool_hammer_crossPeen_a01: Reference: front
Reference: front | pi | none | repetition 4
handTool_hammer_crossPeen_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
handTool_hammer_crossPeen_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
handTool_hammer_crossPeen_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
handTool_hammer_crossPeen_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
handTool_hammer_crossPeen_a01: Reference: side
Reference: side | pi | none | repetition 4
handTool_hammer_crossPeen_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

handTool_wrench_adjustable_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)12.98% (0.129841/1)74.51% (38/51)94.04% (0.940356/1)85.22% (2.55663/3)85.71% (18/21)13.55% (1943/14342)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3730832.49753.371128020367291164749Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape94.040.940356/111100
Rigid parts85.222.55663/333100
Joints85.7118/212121100
Materials13.551943/14342143421434258.36

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints12.980.519363/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_knurl_01_joint_00/Wrench/Joints/WormAxle24.675.55measured_motion
/RootNode/Joints/joint_jaw_01_joint_00/Wrench/Joints/JawSlide1.37.6measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
93.2194.8720483.171.533.58

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Wrench/Body90.55
/RootNode/Geometry/jaw_01_obj_00/Wrench/SlidingJaw77.29
/RootNode/Geometry/knurl_01_obj_00/Wrench/AdjustmentWorm87.82

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
2218/21

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled3/33/3
body_kinematic3/33/3

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/22/2
joint_enabled2/22/2
body0_enabled2/22/2
body0_kinematic2/22/2
body1_enabled2/22/2
body1_kinematic2/22/2
anchors0/22/2
axes2/22/2
relative_orientation2/22/2
limits1/22/2
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1943/204894.87
visual:diffuseColor0/60
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTool_wrench_adjustable_a01: Reference: front
Reference: front | pi | none | repetition 1
handTool_wrench_adjustable_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
handTool_wrench_adjustable_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
handTool_wrench_adjustable_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
handTool_wrench_adjustable_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
handTool_wrench_adjustable_a01: Reference: side
Reference: side | pi | none | repetition 1
handTool_wrench_adjustable_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

handTool_wrench_adjustable_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)95.74% (1.91471/2)2.78% (0.0277882/1)66.67% (34/51)94.99% (0.949922/1)66.84% (2.00529/3)76.19% (16/21)27.6% (3958/14342)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3930727.54619.311087001284081115409Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape94.990.949922/111100
Rigid parts66.842.00529/333100
Joints76.1916/212121100
Materials27.63958/14342143421434258.36

Appearance materials

Score (%)Earned/eligibleStatus
96.481976/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints2.780.111153/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_knurl_01_joint_00/AdjustableWrench/Joints/WormRotation4.1615.24measured_motion
/RootNode/Joints/joint_jaw_01_joint_00/AdjustableWrench/Joints/JawSlide1.46.67measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
93.4196.6320483.171.63.15

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/AdjustableWrench/Body94.68
/RootNode/Geometry/jaw_01_obj_00/AdjustableWrench/MovingJaw63.52
/RootNode/Geometry/knurl_01_obj_00/AdjustableWrench/Worm42.33

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
2216/21

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled3/33/3
body_kinematic3/33/3

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/22/2
joint_enabled2/22/2
body0_enabled2/22/2
body0_kinematic2/22/2
body1_enabled2/22/2
body1_kinematic2/22/2
anchors0/22/2
axes0/22/2
relative_orientation2/22/2
limits1/22/2
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1979/204896.63
visual:diffuseColor0/60
visual:opacity1979/204896.63

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTool_wrench_adjustable_a01: Reference: front
Reference: front | pi | none | repetition 3
handTool_wrench_adjustable_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
handTool_wrench_adjustable_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
handTool_wrench_adjustable_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
handTool_wrench_adjustable_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
handTool_wrench_adjustable_a01: Reference: side
Reference: side | pi | none | repetition 3
handTool_wrench_adjustable_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)11.49% (0.229774/2)1.92% (0.0191566/1)76.47% (39/51)61.9% (0.619044/1)34.39% (3.78339/11)35.64% (36/101)13.52% (2216/16395)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830702.5625.831006459287581035217Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape61.90.619044/111100
Rigid parts34.393.78339/111111100
Joints35.6436/101101101100
Materials13.522216/16395163951639566.71

Appearance materials

Score (%)Earned/eligibleStatus
2.1343.6667/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints1.920.344818/1818/18100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00/HandTruck/Joints/LeftCasterAxle3.8680.62measured_motion
/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_handle_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00/HandTruck/Joints/RightMainWheelAxle4.2676.65measured_motion
/RootNode/Joints/joint_sm_lock1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00/HandTruck/Joints/LeftMainWheelAxle5.4967.09measured_motion
/RootNode/Joints/joint_sm_mount_a01_joint_01Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00/HandTruck/Joints/RightCasterAxle3.6383.26measured_motion
/RootNode/Joints/joint_sm_lock2_a01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
60.0663.87204816.1619.9640.33

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_body_a01_obj_00/HandTruck/Frame50.21
/RootNode/Geometry/sm_front_wheel1_a01_obj_00/HandTruck/RightWheel58.18
/RootNode/Geometry/sm_front_wheel2_a01_obj_00/HandTruck/LeftWheel58.24
/RootNode/Geometry/sm_handle_a01_obj_00/HandTruck/SlidingHandle39.7
/RootNode/Geometry/sm_lock1_a01_obj_00Not measured0
/RootNode/Geometry/sm_lock2_a01_obj_00/HandTruck/ReleaseLatch0
/RootNode/Geometry/sm_mount_a01_obj_01Not measured0
/RootNode/Geometry/sm_rear_frame1_a01_obj_00/HandTruck/RightCasterFork49.02
/RootNode/Geometry/sm_rear_frame2_a01_obj_00/HandTruck/LeftCasterFork43.4
/RootNode/Geometry/sm_rear_wheel1_a01_obj_00/HandTruck/RightCasterWheel38.82
/RootNode/Geometry/sm_rear_wheel2_a01_obj_00/HandTruck/LeftCasterWheel40.76

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
10836/101

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled9/1111/11
body_kinematic9/1111/11

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity4/1010/10
joint_enabled4/1010/10
body0_enabled4/1010/10
body0_kinematic4/1010/10
body1_enabled4/1010/10
body1_kinematic4/1010/10
anchors0/1010/10
axes4/1010/10
relative_orientation4/1010/10
limits4/1010/10
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment777/204837.94
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1308/204863.87
visual:diffuseColor0/14390
visual:metallic131/31042.26
visual:opacity0/20480
visual:roughness0/3100

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTruck_convertible_steel_red_a01: Reference: front
Reference: front | pi | none | repetition 1
handTruck_convertible_steel_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
handTruck_convertible_steel_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
handTruck_convertible_steel_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
handTruck_convertible_steel_red_a01: Reference: side
Reference: side | pi | none | repetition 1
handTruck_convertible_steel_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)52.4% (1.04797/2)7.47% (0.0746683/1)68.63% (35/51)67.09% (0.670874/1)25.25% (2.77789/11)36.63% (37/101)19.09% (3129/16395)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830694.82639.451008585283961036981Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape67.090.670874/111100
Rigid parts25.252.77789/111111100
Joints36.6337/101101101100
Materials19.093129/16395163951639566.71

Appearance materials

Score (%)Earned/eligibleStatus
40.93838.167/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints7.471.34403/1818/18100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00/HandTruck/Joints/Left_Caster_Roll1.19147.14measured_motion
/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_handle_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00/HandTruck/Joints/Right_Axle_Rotation28.3125.72measured_motion
/RootNode/Joints/joint_sm_lock1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00/HandTruck/Joints/Left_Axle_Rotation36.4821.33measured_motion
/RootNode/Joints/joint_sm_mount_a01_joint_01Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00/HandTruck/Joints/Right_Caster_Roll1.21146.01measured_motion
/RootNode/Joints/joint_sm_lock2_a01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
63.0971.63204816.1621.545.65

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_body_a01_obj_00/HandTruck/Frame63.14
/RootNode/Geometry/sm_front_wheel1_a01_obj_00/HandTruck/Right_Main_Wheel70.07
/RootNode/Geometry/sm_front_wheel2_a01_obj_00/HandTruck/Left_Main_Wheel90.48
/RootNode/Geometry/sm_handle_a01_obj_00/HandTruck/Telescopic_Handle49.4
/RootNode/Geometry/sm_lock1_a01_obj_00Not measured0
/RootNode/Geometry/sm_lock2_a01_obj_00/HandTruck/Release_Latch0
/RootNode/Geometry/sm_mount_a01_obj_01Not measured0
/RootNode/Geometry/sm_rear_frame1_a01_obj_00/HandTruck/Right_Caster_Fork4.23
/RootNode/Geometry/sm_rear_frame2_a01_obj_00/HandTruck/Left_Caster_Fork0.47
/RootNode/Geometry/sm_rear_wheel1_a01_obj_00/HandTruck/Right_Caster_Wheel0
/RootNode/Geometry/sm_rear_wheel2_a01_obj_00/HandTruck/Left_Caster_Wheel0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
10837/101

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled9/1111/11
body_kinematic9/1111/11

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity4/1010/10
joint_enabled4/1010/10
body0_enabled4/1010/10
body0_kinematic4/1010/10
body1_enabled4/1010/10
body1_kinematic4/1010/10
anchors1/1010/10
axes4/1010/10
relative_orientation4/1010/10
limits4/1010/10
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1467/204871.63
visual:diffuseColor0/14390
visual:metallic195/31062.9
visual:opacity1467/204871.63
visual:roughness0/3100

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTruck_convertible_steel_red_a01: Reference: front
Reference: front | pi | none | repetition 2
handTruck_convertible_steel_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
handTruck_convertible_steel_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
handTruck_convertible_steel_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
handTruck_convertible_steel_red_a01: Reference: side
Reference: side | pi | none | repetition 2
handTruck_convertible_steel_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)44.33% (0.886592/2)1.03% (0.0103275/1)76.47% (39/51)59.81% (0.59815/1)24.62% (2.70797/11)31.68% (32/101)35.39% (5803/16395)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4330687.1611.921356378278481384226Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape59.810.59815/111100
Rigid parts24.622.70797/111111100
Joints31.6832/101101101100
Materials35.395803/16395163951639566.71

Appearance materials

Score (%)Earned/eligibleStatus
32.85672.833/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints1.030.185895/1818/18100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00/HandTruck/Joints/CasterWheel_L_Rolling1.87117.19measured_motion
/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_handle_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00/HandTruck/Joints/MainWheel_R_Axle2.32104.9measured_motion
/RootNode/Joints/joint_sm_lock1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00/HandTruck/Joints/MainWheel_L_Axle3.1789.39measured_motion
/RootNode/Joints/joint_sm_mount_a01_joint_01Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00/HandTruck/Joints/CasterWheel_R_Rolling1.94114.83measured_motion
/RootNode/Joints/joint_sm_lock2_a01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
61.0458.64204816.1625.9255.05

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_body_a01_obj_00/HandTruck/Frame48.5
/RootNode/Geometry/sm_front_wheel1_a01_obj_00/HandTruck/MainWheel_R61.04
/RootNode/Geometry/sm_front_wheel2_a01_obj_00/HandTruck/MainWheel_L66.13
/RootNode/Geometry/sm_handle_a01_obj_00/HandTruck/SlidingHandle70.4
/RootNode/Geometry/sm_lock1_a01_obj_00Not measured0
/RootNode/Geometry/sm_lock2_a01_obj_00/HandTruck/ReleasePin0
/RootNode/Geometry/sm_mount_a01_obj_01Not measured0
/RootNode/Geometry/sm_rear_frame1_a01_obj_00/HandTruck/CasterFork_R12.48
/RootNode/Geometry/sm_rear_frame2_a01_obj_00/HandTruck/CasterFork_L3.55
/RootNode/Geometry/sm_rear_wheel1_a01_obj_00/HandTruck/CasterWheel_R2.89
/RootNode/Geometry/sm_rear_wheel2_a01_obj_00/HandTruck/CasterWheel_L5.8

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
10832/101

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled9/1111/11
body_kinematic9/1111/11

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity4/1010/10
joint_enabled4/1010/10
body0_enabled4/1010/10
body0_kinematic4/1010/10
body1_enabled4/1010/10
body1_kinematic4/1010/10
anchors0/1010/10
axes0/1010/10
relative_orientation4/1010/10
limits4/1010/10
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1201/204858.64
physics:density0/20480
physics:dynamicFriction976/204847.66
physics:restitution1056/204851.56
physics:staticFriction55/20482.69
visual:assignment1201/204858.64
visual:diffuseColor0/14390
visual:metallic113/31036.45
visual:opacity1201/204858.64
visual:roughness0/3100

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTruck_convertible_steel_red_a01: Reference: front
Reference: front | pi | none | repetition 3
handTruck_convertible_steel_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
handTruck_convertible_steel_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
handTruck_convertible_steel_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
handTruck_convertible_steel_red_a01: Reference: side
Reference: side | pi | none | repetition 3
handTruck_convertible_steel_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

handTruck_convertible_steel_red_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)11.43% (0.228673/2)2.08% (0.0207818/1)74.51% (38/51)57.37% (0.57371/1)25.4% (2.7936/11)35.64% (36/101)8.06% (1322/16395)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4840645.05568.031640122235781663700Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape57.370.57371/111100
Rigid parts25.42.7936/111111100
Joints35.6436/101101101100
Materials8.061322/16395163951639566.71

Appearance materials

Score (%)Earned/eligibleStatus
2.2846.6667/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints2.080.353291/1717/17100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00/HandTruck/Joints/CasterRollLeft3.0391.51measured_motion
/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_handle_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00/HandTruck/Joints/AxleRotationRight6.0263.85measured_motion
/RootNode/Joints/joint_sm_lock1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00/HandTruck/Joints/AxleRotationLeft5.6166.27measured_motion
/RootNode/Joints/joint_sm_mount_a01_joint_01Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00/HandTruck/Joints/CasterRollRight391.86measured_motion
/RootNode/Joints/joint_sm_lock2_a01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
57.0357.71204816.1621.0241.61

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_body_a01_obj_00/HandTruck/Frame56.88
/RootNode/Geometry/sm_front_wheel1_a01_obj_00/HandTruck/MainWheelRight61.37
/RootNode/Geometry/sm_front_wheel2_a01_obj_00/HandTruck/MainWheelLeft61.42
/RootNode/Geometry/sm_handle_a01_obj_00/HandTruck/Handle31.19
/RootNode/Geometry/sm_lock1_a01_obj_00Not measured0
/RootNode/Geometry/sm_lock2_a01_obj_00Not measured0
/RootNode/Geometry/sm_mount_a01_obj_01Not measured0
/RootNode/Geometry/sm_rear_frame1_a01_obj_00/HandTruck/CasterForkRight16
/RootNode/Geometry/sm_rear_frame2_a01_obj_00/HandTruck/CasterForkLeft19.33
/RootNode/Geometry/sm_rear_wheel1_a01_obj_00/HandTruck/CasterWheelRight16.76
/RootNode/Geometry/sm_rear_wheel2_a01_obj_00/HandTruck/CasterWheelLeft16.42

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
10736/101

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled8/1111/11
body_kinematic8/1111/11

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity4/1010/10
joint_enabled4/1010/10
body0_enabled4/1010/10
body0_kinematic4/1010/10
body1_enabled4/1010/10
body1_kinematic4/1010/10
anchors0/1010/10
axes4/1010/10
relative_orientation4/1010/10
limits4/1010/10
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1182/204857.71
visual:diffuseColor0/14390
visual:metallic140/31045.16
visual:opacity0/20480
visual:roughness0/3100

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

handTruck_convertible_steel_red_a01: Reference: front
Reference: front | pi | none | repetition 4
handTruck_convertible_steel_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
handTruck_convertible_steel_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
handTruck_convertible_steel_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
handTruck_convertible_steel_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
handTruck_convertible_steel_red_a01: Reference: side
Reference: side | pi | none | repetition 4
handTruck_convertible_steel_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

kitchenware_kettle_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)57.28% (1.14561/2)0% (0/2)76.47% (39/51)82.68% (0.826772/1)40.14% (1.60573/4)25.81% (8/31)24.6% (5039/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830758.22649.571173908296971203605Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape82.680.826772/111100
Rigid parts40.141.60573/444100
Joints25.818/313131100
Materials24.65039/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
39.69812.75/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints1.350.0809969/66/6100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_switch_joint_00/Kettle/Joints/PowerRockerPivot4.059.02measured_motion
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_button_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_lid_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
78.5287.320484.74.7910.84

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_kitchenware_kettle_a01_body_obj_01/Kettle/Vessel83.28
/RootNode/Geometry/sm_kitchenware_kettle_a01_button_obj_00/Kettle/LidRelease16.7
/RootNode/Geometry/sm_kitchenware_kettle_a01_lid_obj_01/Kettle/Lid53.71
/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00/Kettle/PowerRocker6.88

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
348/31

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled4/44/4
body_kinematic4/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/33/3
joint_enabled1/33/3
body0_enabled1/33/3
body0_kinematic1/33/3
body1_enabled1/33/3
body1_kinematic1/33/3
anchors0/33/3
axes1/33/3
relative_orientation1/33/3
limits0/33/3
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1788/204887.3
visual:diffuseColor372/204818.16
visual:metallic1523/204874.37
visual:opacity0/20480
visual:roughness1356/204866.21

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

kitchenware_kettle_a01: Reference: front
Reference: front | pi | none | repetition 1
kitchenware_kettle_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
kitchenware_kettle_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
kitchenware_kettle_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
kitchenware_kettle_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
kitchenware_kettle_a01: Reference: side
Reference: side | pi | none | repetition 1
kitchenware_kettle_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

kitchenware_kettle_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)52.94% (1.05874/2)0% (0/2)66.67% (34/51)77.69% (0.776879/1)55.92% (2.23685/4)54.84% (17/31)23.71% (4856/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3520566.63501.0987521821685896903Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape77.690.776879/111100
Rigid parts55.922.23685/444100
Joints54.8417/313131100
Materials23.714856/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
36.07738.75/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints4.460.267646/66/6100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_switch_joint_00/Kettle/Joints/Power_rocker_hinge13.385.9measured_motion
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_button_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_lid_joint_00/Kettle/Joints/Lid_hinge092.95measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
66.892.8220484.74.8611.36

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_kitchenware_kettle_a01_body_obj_01/Kettle/Vessel71.08
/RootNode/Geometry/sm_kitchenware_kettle_a01_button_obj_00/Kettle/LidRelease26.44
/RootNode/Geometry/sm_kitchenware_kettle_a01_lid_obj_01/Kettle/Lid75.83
/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00/Kettle/PowerSwitch50.33

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3417/31

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled4/44/4
body_kinematic4/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes2/33/3
relative_orientation2/33/3
limits1/33/3
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1901/204892.82
visual:diffuseColor448/204821.88
visual:metallic1492/204872.85
visual:opacity0/20480
visual:roughness1015/204849.56

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

kitchenware_kettle_a01: Reference: front
Reference: front | pi | none | repetition 2
kitchenware_kettle_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
kitchenware_kettle_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
kitchenware_kettle_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
kitchenware_kettle_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
kitchenware_kettle_a01: Reference: side
Reference: side | pi | none | repetition 2
kitchenware_kettle_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

kitchenware_kettle_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)64.02% (1.28046/2)0% (0/2)76.47% (39/51)81.25% (0.812455/1)56.45% (2.25805/4)54.84% (17/31)29.14% (5968/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3730664.89575.4196744627860995306Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape81.250.812455/111100
Rigid parts56.452.25805/444100
Joints54.8417/313131100
Materials29.145968/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
50.451033.25/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints2.640.158321/66/6100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_switch_joint_00/Kettle/Joints/Power_toggle7.916.95measured_motion
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_button_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_lid_joint_00/Kettle/Joints/Lid_hinge088.76measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
74.3289.620484.74.8811.66

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_kitchenware_kettle_a01_body_obj_01/Kettle/Vessel82.27
/RootNode/Geometry/sm_kitchenware_kettle_a01_button_obj_00/Kettle/Lid_release16.32
/RootNode/Geometry/sm_kitchenware_kettle_a01_lid_obj_01/Kettle/Lid32.37
/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00/Kettle/Power_rocker94.85

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3417/31

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled4/44/4
body_kinematic4/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes2/33/3
relative_orientation2/33/3
limits1/33/3
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1835/204889.6
visual:diffuseColor399/204819.48
visual:metallic1526/204874.51
visual:opacity1835/204889.6
visual:roughness373/204818.21

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

kitchenware_kettle_a01: Reference: front
Reference: front | pi | none | repetition 3
kitchenware_kettle_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
kitchenware_kettle_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
kitchenware_kettle_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
kitchenware_kettle_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
kitchenware_kettle_a01: Reference: side
Reference: side | pi | none | repetition 3
kitchenware_kettle_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

kitchenware_pan_j01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)77.61% (1.55225/2)0% (0/1)76.47% (39/51)99.95% (0.999511/1)50% (0.5/1)N/A34.11% (6985/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2830474.61401.2457914220253599395Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape99.950.999511/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials34.116985/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
60.271234.25/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/22/2100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
99.910020485.271.182.43

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_kitchenware_pan_j01_obj_00/FryingPan/Pan94.57

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment2048/2048100
visual:diffuseColor959/204846.83
visual:metallic926/204845.21
visual:opacity2048/2048100
visual:roughness1004/204849.02

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

kitchenware_pan_j01: Reference: front
Reference: front | pi | none | repetition 1
kitchenware_pan_j01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
kitchenware_pan_j01: Reference: isometric
Reference: isometric | pi | none | repetition 1
kitchenware_pan_j01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
kitchenware_pan_j01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
kitchenware_pan_j01: Reference: side
Reference: side | pi | none | repetition 1
kitchenware_pan_j01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

kitchenware_pan_j01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)68.59% (1.3718/2)0% (0/1)74.51% (38/51)100% (1/1)50% (0.5/1)N/A48.82% (9998/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3130638.58455.7277213623035795171Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape1001/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials48.829998/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
47.05963.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
10010020485.271.232.4

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_kitchenware_pan_j01_obj_00/FryingPan/Pan94.79

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
010/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment2048/2048100
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution2048/2048100
physics:staticFriction0/20480
visual:assignment2048/2048100
visual:diffuseColor936/204845.7
visual:metallic214/204810.45
visual:opacity2048/2048100
visual:roughness656/204832.03

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

kitchenware_pan_j01: Reference: front
Reference: front | pi | none | repetition 3
kitchenware_pan_j01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
kitchenware_pan_j01: Reference: isometric
Reference: isometric | pi | none | repetition 3
kitchenware_pan_j01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
kitchenware_pan_j01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
kitchenware_pan_j01: Reference: side
Reference: side | pi | none | repetition 3
kitchenware_pan_j01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

pallet_wood_recycled_a05 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)100% (1/1)100% (1/1)N/A42.86% (6144/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3530509.48404.9165890417018675922Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape1001/111100
Rigid parts1001/111100
JointsNot applicable0/0000
Materials42.866144/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
100100204816.033.316.34

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_pallet_wood_recycled_a05_obj_00/Pallet100

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment2048/2048100
physics:density0/20480
physics:dynamicFriction2048/2048100
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment2048/2048100
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

pallet_wood_recycled_a05: Reference: front
Reference: front | pi | none | repetition 1
pallet_wood_recycled_a05: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
pallet_wood_recycled_a05: Reference: isometric
Reference: isometric | pi | none | repetition 1
pallet_wood_recycled_a05: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
pallet_wood_recycled_a05: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
pallet_wood_recycled_a05: Reference: side
Reference: side | pi | none | repetition 1
pallet_wood_recycled_a05: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

pallet_wood_recycled_a05 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)100% (1/1)100% (1/1)N/A42.86% (6144/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3640481.52379.6688236416779899143Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape1001/111100
Rigid parts1001/111100
JointsNot applicable0/0000
Materials42.866144/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
100100204816.034.127.3

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_pallet_wood_recycled_a05_obj_00/Pallet100

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment2048/2048100
physics:density0/20480
physics:dynamicFriction2048/2048100
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment2048/2048100
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

pallet_wood_recycled_a05: Reference: front
Reference: front | pi | none | repetition 3
pallet_wood_recycled_a05: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
pallet_wood_recycled_a05: Reference: isometric
Reference: isometric | pi | none | repetition 3
pallet_wood_recycled_a05: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
pallet_wood_recycled_a05: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
pallet_wood_recycled_a05: Reference: side
Reference: side | pi | none | repetition 3
pallet_wood_recycled_a05: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

powerTool_drill_b01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)72.42% (1.4484/2)0% (0/2)76.47% (39/51)70.2% (0.702029/1)53.44% (3.74082/7)64.41% (38/59)27.3% (3914/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4340908.22813.131679495423711721866Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape70.20.702029/111100
Rigid parts53.443.74082/777100
Joints64.4138/595959100
Materials27.33914/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
74.711530/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints19.613.13701/1616/16100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_chuck_01_joint_00/Drill/Joints/ClutchTorqueSelection0.02175.91measured_motion
/RootNode/Joints/joint_jaws_01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_button_02_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_selector_01_joint_00/Drill/Joints/TwoSpeedLongitudinalSlide57.421.34measured_motion
/RootNode/Joints/joint_button_01_joint_00/Drill/Joints/TriggerSpringTravel99.410.2measured_motion
/RootNode/Joints/joint_battery_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
66.2174.7120484.384.488.82

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/battery_01_obj_00/Drill/Battery67.36
/RootNode/Geometry/body_01_obj_00/Drill/Housing67.43
/RootNode/Geometry/button_01_obj_00/Drill/Trigger80.95
/RootNode/Geometry/button_02_obj_00/Drill/BatteryLatch76.79
/RootNode/Geometry/chuck_01_obj_00/Drill/TorqueCollar37.82
/RootNode/Geometry/jaws_01_obj_00/Drill/ChuckSleeve23.57
/RootNode/Geometry/selector_01_obj_00/Drill/SpeedSelector20.16

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
61138/59

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled7/77/7
body_kinematic7/77/7

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity3/66/6
joint_enabled5/66/6
body0_enabled5/66/6
body0_kinematic5/66/6
body1_enabled5/66/6
body1_kinematic5/66/6
anchors0/66/6
axes3/55/5
relative_orientation5/66/6
limits2/55/5
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment854/204841.7
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1530/204874.71
visual:opacity1530/204874.71

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

powerTool_drill_b01: Reference: front
Reference: front | pi | none | repetition 3
powerTool_drill_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
powerTool_drill_b01: Reference: isometric
Reference: isometric | pi | none | repetition 3
powerTool_drill_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
powerTool_drill_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
powerTool_drill_b01: Reference: side
Reference: side | pi | none | repetition 3
powerTool_drill_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A74.51% (38/51)70.08% (0.70082/1)70.08% (0.70082/1)N/A28.51% (4482/15722)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3930742.31651.141240702284631269165Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape70.080.70082/111100
Rigid parts70.080.70082/111100
JointsNot applicable0/0000
Materials28.514482/15722157221572263.97

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
67.4372.9520484.965.2211.21

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/HardHat70.08

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1494/204872.95
physics:density0/20480
physics:dynamicFriction1494/204872.95
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1494/204872.95
visual:diffuseColor0/13860
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

ppe_helmet_hardHat_a01: Reference: front
Reference: front | pi | none | repetition 1
ppe_helmet_hardHat_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
ppe_helmet_hardHat_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
ppe_helmet_hardHat_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
ppe_helmet_hardHat_a01: Reference: side
Reference: side | pi | none | repetition 1
ppe_helmet_hardHat_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)51.62% (1.03245/2)0% (0/1)74.51% (38/51)61.36% (0.613561/1)50% (0.5/1)N/A42.9% (6745/15722)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4340631.73539.341164052247431188795Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape61.360.613561/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials42.96745/15722157221572263.97

Appearance materials

Score (%)Earned/eligibleStatus
43.43889.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
57.4265.8720484.968.5620.21

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/HardHat/Shell67.17

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
010/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1349/204865.87
physics:density0/20480
physics:dynamicFriction1349/204865.87
physics:restitution0/20480
physics:staticFriction1349/204865.87
visual:assignment1349/204865.87
visual:diffuseColor0/13860
visual:opacity1349/204865.87

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

ppe_helmet_hardHat_a01: Reference: front
Reference: front | pi | none | repetition 2
ppe_helmet_hardHat_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
ppe_helmet_hardHat_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
ppe_helmet_hardHat_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
ppe_helmet_hardHat_a01: Reference: side
Reference: side | pi | none | repetition 2
ppe_helmet_hardHat_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)42.26% (0.8451/2)N/A74.51% (38/51)50.75% (0.507519/1)50.75% (0.507519/1)N/A13.55% (2130/15722)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3230510.66438.3264390820213664121Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape50.750.507519/111100
Rigid parts50.750.507519/111100
JointsNot applicable0/0000
Materials13.552130/15722157221572263.97

Appearance materials

Score (%)Earned/eligibleStatus
35.18720.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
49.565220484.968.3418.44

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/HardHat/Body50.75

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1065/204852
visual:diffuseColor0/13860
visual:opacity1065/204852

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

ppe_helmet_hardHat_a01: Reference: front
Reference: front | pi | none | repetition 3
ppe_helmet_hardHat_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
ppe_helmet_hardHat_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
ppe_helmet_hardHat_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
ppe_helmet_hardHat_a01: Reference: side
Reference: side | pi | none | repetition 3
ppe_helmet_hardHat_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

ppe_helmet_hardHat_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)39.15% (0.78302/2)N/A74.51% (38/51)47.74% (0.477441/1)47.74% (0.477441/1)N/A24.53% (3856/15722)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830536.05410.976008918154778243Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape47.740.477441/111100
Rigid parts47.740.477441/111100
JointsNot applicable0/0000
Materials24.533856/15722157221572263.97

Appearance materials

Score (%)Earned/eligibleStatus
32.1657.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
48.4447.0720484.968.8620.21

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/HardHat47.74

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment964/204847.07
physics:density0/20480
physics:dynamicFriction964/204847.07
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment964/204847.07
visual:diffuseColor0/13860
visual:opacity964/204847.07

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

ppe_helmet_hardHat_a01: Reference: front
Reference: front | pi | none | repetition 4
ppe_helmet_hardHat_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
ppe_helmet_hardHat_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
ppe_helmet_hardHat_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
ppe_helmet_hardHat_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
ppe_helmet_hardHat_a01: Reference: side
Reference: side | pi | none | repetition 4
ppe_helmet_hardHat_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)19.39% (0.387886/2)N/A74.51% (38/51)27.12% (0.271244/1)27.12% (0.271244/1)N/A6.53% (1066/16337)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3330603.45489.2770858522174730759Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape27.120.271244/111100
Rigid parts27.120.271244/111100
JointsNot applicable0/0000
Materials6.531066/16337163371633766.48

Appearance materials

Score (%)Earned/eligibleStatus
13.87284/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
28.3226.0320484.9918.4535.69

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Funnel27.12

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment533/204826.03
visual:diffuseColor0/20010
visual:opacity533/204826.03

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

serviceTool_funnel_flexibleSpout_a01: Reference: front
Reference: front | pi | none | repetition 1
serviceTool_funnel_flexibleSpout_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
serviceTool_funnel_flexibleSpout_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
serviceTool_funnel_flexibleSpout_a01: Reference: side
Reference: side | pi | none | repetition 1
serviceTool_funnel_flexibleSpout_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)19.37% (0.387495/2)N/A74.51% (38/51)26.46% (0.26464/1)26.46% (0.26464/1)N/A13.34% (2180/16337)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3130596.15515.3268898022564711544Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape26.460.26464/111100
Rigid parts26.460.26464/111100
JointsNot applicable0/0000
Materials13.342180/16337163371633766.48

Appearance materials

Score (%)Earned/eligibleStatus
14.18290.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
26.3226.6120484.9915.2330.53

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Funnel26.46

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment545/204826.61
physics:density0/20480
physics:dynamicFriction545/204826.61
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment545/204826.61
visual:diffuseColor0/20010
visual:opacity545/204826.61

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

serviceTool_funnel_flexibleSpout_a01: Reference: front
Reference: front | pi | none | repetition 2
serviceTool_funnel_flexibleSpout_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
serviceTool_funnel_flexibleSpout_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
serviceTool_funnel_flexibleSpout_a01: Reference: side
Reference: side | pi | none | repetition 2
serviceTool_funnel_flexibleSpout_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)12.27% (0.245403/2)N/A72.55% (37/51)18.08% (0.180844/1)18.08% (0.180844/1)N/A8.01% (1308/16337)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4830743.68614.791276209265321302741Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape18.080.180844/111100
Rigid parts18.080.180844/111100
JointsNot applicable0/0000
Materials8.011308/16337163371633766.48

Appearance materials

Score (%)Earned/eligibleStatus
8.33170.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
20.8515.9720484.9919.4234.42

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Funnel18.08

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment327/204815.97
physics:density0/20480
physics:dynamicFriction327/204815.97
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment327/204815.97
visual:diffuseColor0/20010
visual:opacity327/204815.97

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

serviceTool_funnel_flexibleSpout_a01: Reference: front
Reference: front | pi | none | repetition 3
serviceTool_funnel_flexibleSpout_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
serviceTool_funnel_flexibleSpout_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
serviceTool_funnel_flexibleSpout_a01: Reference: side
Reference: side | pi | none | repetition 3
serviceTool_funnel_flexibleSpout_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

serviceTool_funnel_flexibleSpout_a01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A70.59% (36/51)23.47% (0.234665/1)23.47% (0.234665/1)N/A8.1% (1323/16337)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4030673.26612.461116578270751143653Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape23.470.234665/111100
Rigid parts23.470.234665/111100
JointsNot applicable0/0000
Materials8.11323/16337163371633766.48

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
25.7821.5320484.9915.5731.58

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Funnel23.47

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment441/204821.53
physics:density0/20480
physics:dynamicFriction441/204821.53
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment441/204821.53
visual:diffuseColor0/20010
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

serviceTool_funnel_flexibleSpout_a01: Reference: front
Reference: front | pi | none | repetition 4
serviceTool_funnel_flexibleSpout_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
serviceTool_funnel_flexibleSpout_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
serviceTool_funnel_flexibleSpout_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
serviceTool_funnel_flexibleSpout_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
serviceTool_funnel_flexibleSpout_a01: Reference: side
Reference: side | pi | none | repetition 4
serviceTool_funnel_flexibleSpout_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

sign_wetFloor_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)0.29% (0.00291905/1)78.43% (40/51)88.38% (0.883811/1)86.7% (1.73408/2)72.73% (8/11)13.97% (2003/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4030588.99542.431053333266631079996Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape88.380.883811/111100
Rigid parts86.71.73408/222100
Joints72.738/111111100
Materials13.972003/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints0.290.0058381/22/2100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_frontpanel_a01_joint_00/CautionSign/Joints/FoldingHinge0.2967.67measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
80.6297.820488.375.6113.35

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_backpanel_a01_obj_00/CautionSign/FrontLeaf86.89
/RootNode/Geometry/sm_frontpanel_a01_obj_00/CautionSign/RearLeaf86.52

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
118/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
axes1/11/1
relative_orientation0/11/1
limits0/11/1
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment2003/204897.8
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

sign_wetFloor_a01: Reference: front
Reference: front | pi | none | repetition 1
sign_wetFloor_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
sign_wetFloor_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
sign_wetFloor_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
sign_wetFloor_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
sign_wetFloor_a01: Reference: side
Reference: side | pi | none | repetition 1
sign_wetFloor_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

sign_wetFloor_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)94.87% (1.89739/2)0.28% (0.00281919/1)78.43% (40/51)92.77% (0.927655/1)90.28% (1.80552/2)72.73% (8/11)27.72% (3974/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3840538.59475.351072585228411095426Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape92.770.927655/111100
Rigid parts90.281.80552/222100
Joints72.738/111111100
Materials27.723974/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
97.021987/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints0.280.00563837/22/2100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_frontpanel_a01_joint_00/CautionSign/FoldingHinge0.2867.95measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
88.8797.0220488.373.788.69

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_backpanel_a01_obj_00/CautionSign/FrontLeaf88.58
/RootNode/Geometry/sm_frontpanel_a01_obj_00/CautionSign/RearLeaf91.97

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
118/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
axes1/11/1
relative_orientation0/11/1
limits0/11/1
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1987/204897.02
visual:opacity1987/204897.02

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

sign_wetFloor_a01: Reference: front
Reference: front | pi | none | repetition 3
sign_wetFloor_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
sign_wetFloor_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
sign_wetFloor_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
sign_wetFloor_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
sign_wetFloor_a01: Reference: side
Reference: side | pi | none | repetition 3
sign_wetFloor_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

suspension_coilover_rear_b01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)74.05% (1.48097/2)0% (0/2)76.47% (39/51)71.03% (0.710278/1)50% (0.5/1)N/A22.06% (3162/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3540594.38483.321125764219181147682Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape71.030.710278/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials22.063162/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
77.21581/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/22/2100
Moving joints00/11/1100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
65.7777.220489.512.3625.14

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Coilover/DamperHousing61.84

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
030/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1581/204877.2
visual:opacity1581/204877.2

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

suspension_coilover_rear_b01 / gpt-6.1-sol / repetition 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)0% (0/2)76.47% (39/51)79.53% (0.795253/1)50% (0.5/1)N/A11.75% (1685/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2930604.82509.7271205123817735868Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape79.530.795253/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials11.751685/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints00/11/1100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
76.9582.2820489.512.2925.1

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Coilover/Housing66.37

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1685/204882.28
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

suspension_coilover_rear_b01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)77.37% (1.54744/2)0% (0/2)76.47% (39/51)76.87% (0.768669/1)50% (0.5/1)N/A23.45% (3362/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3330551.09474.0978117323042804215Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape76.870.768669/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials23.453362/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
77.881595/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints00/11/1100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
75.8877.8820489.510.9922.6

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Coilover/DamperHousing61.86

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment86/20484.2
physics:density0/20480
physics:dynamicFriction86/20484.2
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1595/204877.88
visual:opacity1595/204877.88

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

suspension_coilover_rear_b01 / gpt-6.1-sol / repetition 4

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)80.47% (1.6094/2)0% (0/2)76.47% (39/51)77.92% (0.779179/1)50% (0.5/1)N/A23.74% (3404/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3130633.41542.788521726670911887Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape77.920.779179/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials23.743404/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
83.111702/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints00/11/1100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
73.3483.1120489.51018.13

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Coilover/DamperBody57.84

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1702/204883.11
visual:opacity1702/204883.11

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

suspension_coilover_rear_b01: Reference: front
Reference: front | pi | none | repetition 4
suspension_coilover_rear_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
suspension_coilover_rear_b01: Reference: isometric
Reference: isometric | pi | none | repetition 4
suspension_coilover_rear_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
suspension_coilover_rear_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
suspension_coilover_rear_b01: Reference: side
Reference: side | pi | none | repetition 4
suspension_coilover_rear_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

tools_fireExtinguisher_CO2_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)48.93% (0.978648/2)0% (0/2)76.47% (39/51)92% (0.920016/1)39.33% (1.57302/4)0% (0/29)29.56% (6005/20314)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830630.27589.611013307281721041479Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape920.920016/111100
Rigid parts39.331.57302/444100
Joints00/292929100
Materials29.566005/20314203142031482.66

Appearance materials

Score (%)Earned/eligibleStatus
26.03533/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/33/3100
Moving joints00/55/5100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_handle_01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_pin_01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
90.1493.9520489.46.612.74

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/FireExtinguisher/Tank89.42
/RootNode/Geometry/glass_01_obj_00/FireExtinguisher/PullRing0
/RootNode/Geometry/handle_01_obj_00/FireExtinguisher/SqueezeLever67.89
/RootNode/Geometry/pin_01_obj_00/FireExtinguisher/SafetyPin0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
350/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled4/44/4
body_kinematic4/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/33/3
joint_enabled0/33/3
body0_enabled0/33/3
body0_kinematic0/33/3
body1_enabled0/33/3
body1_kinematic0/33/3
anchors0/33/3
axes0/22/2
relative_orientation0/33/3
limits0/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1924/204893.95
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution93/20484.54
physics:staticFriction0/20480
visual:assignment1924/204893.95
visual:diffuseColor48/20482.34
visual:metallic26/19651.32
visual:opacity1920/204893.75
visual:roughness70/19653.56

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

tools_fireExtinguisher_CO2_a01: Reference: front
Reference: front | pi | none | repetition 1
tools_fireExtinguisher_CO2_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
tools_fireExtinguisher_CO2_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
tools_fireExtinguisher_CO2_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
tools_fireExtinguisher_CO2_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
tools_fireExtinguisher_CO2_a01: Reference: side
Reference: side | pi | none | repetition 1
tools_fireExtinguisher_CO2_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

tools_fireExtinguisher_CO2_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)43.29% (0.865729/2)0% (0/2)74.51% (38/51)78.55% (0.785542/1)42.75% (1.71006/4)58.62% (17/29)35.13% (7137/20314)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3430552.62502.4784337724350867727Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape78.550.785542/111100
Rigid parts42.751.71006/444100
Joints58.6217/292929100
Materials35.137137/20314203142031482.66

Appearance materials

Score (%)Earned/eligibleStatus
23.85488.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints1.580.07876/55/5100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_handle_01_joint_00/Extinguisher/Joints/SqueezeHinge1.1585.74measured_motion
/RootNode/Joints/joint_pin_01_joint_00/Extinguisher/Joints/SafetyPinSlide2.7916.28measured_motion
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
70.9587.9920489.417.8745.28

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Extinguisher/Body80.12
/RootNode/Geometry/glass_01_obj_00/Extinguisher/PullRing0
/RootNode/Geometry/handle_01_obj_00/Extinguisher/SqueezeLever31.18
/RootNode/Geometry/pin_01_obj_00/Extinguisher/SafetyPin59.71

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3317/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled4/44/4
body_kinematic4/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes2/22/2
relative_orientation2/33/3
limits0/22/2
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1696/204882.81
physics:density0/20480
physics:dynamicFriction1649/204880.52
physics:restitution52/20482.54
physics:staticFriction0/20480
visual:assignment1802/204887.99
visual:diffuseColor1/20480.05
visual:metallic40/19652.04
visual:opacity1797/204887.74
visual:roughness100/19655.09

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

tools_fireExtinguisher_CO2_a01: Reference: front
Reference: front | pi | none | repetition 3
tools_fireExtinguisher_CO2_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
tools_fireExtinguisher_CO2_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
tools_fireExtinguisher_CO2_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
tools_fireExtinguisher_CO2_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
tools_fireExtinguisher_CO2_a01: Reference: side
Reference: side | pi | none | repetition 3
tools_fireExtinguisher_CO2_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

utensils_scissors_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)79.02% (1.58048/2)0% (0/1)76.47% (39/51)93.13% (0.931318/1)50% (1.5/3)0% (0/21)54.65% (11192/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
2830530.21445.1459091920788611707Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape93.130.931318/111100
Rigid parts501.5/333100
Joints00/212121100
Materials54.6511192/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
67.051373.25/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints00/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_utensils_scissors_a01_right_handel_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_utensils_scissors_a01_left_handel_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
92.2993.9920483.112.225.16

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_utensils_scissors_a01_left_handel_obj_00/Scissors/Lower_Half81.41
/RootNode/Geometry/sm_utensils_scissors_a01_reveat_obj_00Not measured0
/RootNode/Geometry/sm_utensils_scissors_a01_right_handel_obj_00/Scissors/Upper_Half99.44

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
210/21

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/33/3
body_kinematic2/33/3

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/22/2
joint_enabled0/22/2
body0_enabled0/22/2
body0_kinematic0/22/2
body1_enabled0/22/2
body1_kinematic0/22/2
anchors0/22/2
axes0/22/2
relative_orientation0/22/2
limits0/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1887/204892.14
physics:density0/20480
physics:dynamicFriction1887/204892.14
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1925/204893.99
visual:diffuseColor6/20480.29
visual:metallic1915/204893.51
visual:opacity1925/204893.99
visual:roughness1647/204880.42

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

utensils_scissors_a01: Reference: front
Reference: front | pi | none | repetition 1
utensils_scissors_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
utensils_scissors_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
utensils_scissors_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
utensils_scissors_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
utensils_scissors_a01: Reference: side
Reference: side | pi | none | repetition 1
utensils_scissors_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

utensils_scissors_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)84.57% (1.69136/2)0% (0/1)74.51% (38/51)93.92% (0.939195/1)50% (1.5/3)0% (0/21)58.53% (11986/20480)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3940496.2437.7382057920047840626Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape93.920.939195/111100
Rigid parts501.5/333100
Joints00/212121100
Materials58.5311986/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
76.151559.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints00/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_utensils_scissors_a01_right_handel_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_sm_utensils_scissors_a01_left_handel_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
94.2993.5520483.111.653.78

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_utensils_scissors_a01_left_handel_obj_00/Scissors/LowerHalf83.17
/RootNode/Geometry/sm_utensils_scissors_a01_reveat_obj_00Not measured0
/RootNode/Geometry/sm_utensils_scissors_a01_right_handel_obj_00/Scissors/UpperHalf98.66

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
210/21

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/33/3
body_kinematic2/33/3

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/22/2
joint_enabled0/22/2
body0_enabled0/22/2
body0_kinematic0/22/2
body1_enabled0/22/2
body1_kinematic0/22/2
anchors0/22/2
axes0/22/2
relative_orientation0/22/2
limits0/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1916/204893.55
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction1916/204893.55
visual:assignment1916/204893.55
visual:diffuseColor671/204832.76
visual:metallic1906/204893.07
visual:opacity1916/204893.55
visual:roughness1745/204885.21

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

utensils_scissors_a01: Reference: front
Reference: front | pi | none | repetition 3
utensils_scissors_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
utensils_scissors_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
utensils_scissors_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
utensils_scissors_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
utensils_scissors_a01: Reference: side
Reference: side | pi | none | repetition 3
utensils_scissors_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

wheelAssembly_wheel_rim_a01 / gpt-6.1-sol / repetition 1

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)55.49% (1.10988/2)N/A68.63% (35/51)57.39% (0.57388/1)57.39% (0.57388/1)N/A30.66% (4396/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
4330633.11514.88989969223741012343Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape57.390.57388/111100
Rigid parts57.390.57388/111100
JointsNot applicable0/0000
Materials30.664396/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
53.661099/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
61.6753.6620488.5910.9321.21

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/wheelRim_01_obj_00/Wheel57.39

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1099/204853.66
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1099/204853.66
physics:staticFriction0/20480
visual:assignment1099/204853.66
visual:opacity1099/204853.66

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

wheelAssembly_wheel_rim_a01: Reference: front
Reference: front | pi | none | repetition 1
wheelAssembly_wheel_rim_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
wheelAssembly_wheel_rim_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
wheelAssembly_wheel_rim_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
wheelAssembly_wheel_rim_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
wheelAssembly_wheel_rim_a01: Reference: side
Reference: side | pi | none | repetition 1
wheelAssembly_wheel_rim_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

wheelAssembly_wheel_rim_a01 / gpt-6.1-sol / repetition 3

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)54.6% (1.09203/2)0% (0/1)72.55% (37/51)54.71% (0.54711/1)50% (0.5/1)N/A31.14% (4464/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
3830596.45500.585030921855872164Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape54.710.54711/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials31.144464/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
54.491116/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/22/2100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
54.9354.4920488.5910.620.18

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/wheelRim_01_obj_00/Wheel/Casting54.61

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
020/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1116/204854.49
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1116/204854.49
physics:staticFriction0/20480
visual:assignment1116/204854.49
visual:opacity1116/204854.49

Generated USD | Asset package manifest | NVIDIA validation findings | Harbor trajectory 1

Matched captures

wheelAssembly_wheel_rim_a01: Reference: front
Reference: front | pi | none | repetition 3
wheelAssembly_wheel_rim_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
wheelAssembly_wheel_rim_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
wheelAssembly_wheel_rim_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
wheelAssembly_wheel_rim_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
wheelAssembly_wheel_rim_a01: Reference: side
Reference: side | pi | none | repetition 3
wheelAssembly_wheel_rim_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3
\ 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 130c4e40465cedd4e6bbcd25f9ae121dc531ce89..4dcacd19ce2a833a38114dc0fbfc6a8a689b1157 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": 74, + "completed_conditions": 76, "partial": true, "settings": { "reference_assets": [ @@ -72854,15 +72854,15 @@ "reasoning_effort": "high" }, { - "condition_id": "condition-b34e667c614e3f0fd8853140006c3d53d6d02f365408f53367972c42e9eef9f1", - "asset_id": "food_produce_broccoli_b01", + "condition_id": "condition-71f51480845cf71cac484d65ded0f0ffd5c39f08b2d3eeac213b76d88140ab0c", + "asset_id": "food_produce_banana_a01", "requested_model": "gpt-6.1-sol", "harness_id": "pi", "skill_set_id": "none", - "repetition": 0, + "repetition": 3, "status": "completed", "formal_fidelity_percent": 100.0, - "visual_fidelity_percent": 19.370670691903992, + "visual_fidelity_percent": 42.14464089980275, "kinematic_fidelity_percent": null, "simready_reward": 100.0, "mandatory_passed": 46, @@ -72872,19 +72872,19 @@ "mandatory_lower_bound_percent": 100.0, "mandatory_upper_bound_percent": 100.0, "completion_bonus": 5, - "optional_score_percent": 70.58823529411765, - "optional_passed": 36, - "optional_failed": 15, + "optional_score_percent": 74.50980392156863, + "optional_passed": 38, + "optional_failed": 13, "optional_unknown": 0, "optional_total": 51, "optional_measured": 51, "optional_coverage": 1.0, - "optional_lower_bound_percent": 70.58823529411765, - "optional_upper_bound_percent": 70.58823529411765, - "fidelity_shape_percent": 32.630847749255956, - "fidelity_rigid_parts_percent": 32.630847749255956, + "optional_lower_bound_percent": 74.50980392156863, + "optional_upper_bound_percent": 74.50980392156863, + "fidelity_shape_percent": 75.04069539891022, + "fidelity_rigid_parts_percent": 75.04069539891022, "fidelity_joints_percent": null, - "fidelity_materials_percent": 19.78515625, + "fidelity_materials_percent": 17.05078125, "fidelity_shape_coverage": 1.0, "fidelity_rigid_parts_coverage": 1.0, "fidelity_joints_coverage": 0, @@ -72898,12 +72898,12 @@ "formal_fidelity_lower_bound_percent": 100.0, "formal_fidelity_upper_bound_percent": 100.0, "visual_fidelity_status": "measured", - "visual_fidelity_earned": 0.38741341383807987, + "visual_fidelity_earned": 0.8428928179960551, "visual_fidelity_eligible": 2, "visual_fidelity_measured": 2, "visual_fidelity_coverage": 1.0, - "visual_fidelity_lower_bound_percent": 19.370670691903992, - "visual_fidelity_upper_bound_percent": 19.370670691903992, + "visual_fidelity_lower_bound_percent": 42.14464089980275, + "visual_fidelity_upper_bound_percent": 42.14464089980275, "kinematic_fidelity_status": "not_applicable", "kinematic_fidelity_earned": 0, "kinematic_fidelity_eligible": 0, @@ -72911,14 +72911,14 @@ "kinematic_fidelity_coverage": 0, "kinematic_fidelity_lower_bound_percent": null, "kinematic_fidelity_upper_bound_percent": null, - "visual_appearance_percent": 11.4990234375, + "visual_appearance_percent": 23.66943359375, "visual_appearance_status": "measured", - "visual_appearance_earned": 235.5, + "visual_appearance_earned": 484.75, "visual_appearance_eligible": 2048, "visual_appearance_measured": 2048, "visual_appearance_coverage": 1.0, - "visual_appearance_lower_bound_percent": 11.4990234375, - "visual_appearance_upper_bound_percent": 11.4990234375, + "visual_appearance_lower_bound_percent": 23.66943359375, + "visual_appearance_upper_bound_percent": 23.66943359375, "kinematic_reference_joint_count": 0, "kinematic_candidate_joint_count": 0, "kinematic_matched_joint_count": 0, @@ -72940,11 +72940,11 @@ "kinematic_fixed_constraints_coverage": 0, "kinematic_fixed_constraints_lower_bound_percent": null, "kinematic_fixed_constraints_upper_bound_percent": null, - "fidelity_shape_earned": 0.32630847749255953, + "fidelity_shape_earned": 0.7504069539891022, "fidelity_shape_eligible": 1, "fidelity_shape_measured": 1, "fidelity_shape_status": "measured", - "fidelity_rigid_parts_earned": 0.32630847749255953, + "fidelity_rigid_parts_earned": 0.7504069539891022, "fidelity_rigid_parts_eligible": 1, "fidelity_rigid_parts_measured": 1, "fidelity_rigid_parts_status": "measured", @@ -72952,31 +72952,31 @@ "fidelity_joints_eligible": 0, "fidelity_joints_measured": 0, "fidelity_joints_status": "not_applicable", - "fidelity_materials_earned": 4052, + "fidelity_materials_earned": 3492, "fidelity_materials_eligible": 20480, "fidelity_materials_measured": 20480, "fidelity_materials_status": "measured", - "fidelity_shape_precision": 0.3525390625, - "fidelity_shape_recall": 0.3037109375, + "fidelity_shape_precision": 0.74267578125, + "fidelity_shape_recall": 0.75830078125, "fidelity_shape_samples_each_direction": 2048, - "fidelity_rigid_parts_geometry_percent": 32.630847749255956, + "fidelity_rigid_parts_geometry_percent": 75.04069539891022, "fidelity_rigid_parts_structure_percent": 100.0, "fidelity_rigid_parts_structure_earned": 4, "fidelity_rigid_parts_structure_eligible": 4, "fidelity_joints_reference_count": 0, "fidelity_joints_candidate_count": 0, - "inference_calls_used": 41, + "inference_calls_used": 34, "validation_calls_used": 3, "model_request_errors": 0, - "elapsed_seconds": 578.419898815453, - "model_request_seconds": 489.1102957203984, - "input_tokens": 919313, - "output_tokens": 20121, - "total_tokens": 939434, + "elapsed_seconds": 445.8019581474364, + "model_request_seconds": 350.72471111267805, + "input_tokens": 889062, + "output_tokens": 16134, + "total_tokens": 905196, "inference_cost_usd": null, "compute_cost_usd": null, "total_cost_usd": null, - "seed": 1064278322, + "seed": 642035865, "scoring_policy_id": "NVIDIA-Robotics-Prop-4.0.0-mandatory-95-plus-5-v1", "official_conformance_passed": true, "simready": { @@ -73660,7 +73660,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.NP.006", "requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "nonvisual_materials", @@ -73828,7 +73828,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.SR.001", "requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "materials_textures", @@ -73923,10 +73923,10 @@ } ], "coverage_fraction": 1.0, - "failed_count": 15, - "lower_bound_percent": 70.58823529411765, + "failed_count": 13, + "lower_bound_percent": 74.50980392156863, "measured_count": 51, - "passed_count": 36, + "passed_count": 38, "profile": { "id": "Robotics-Prop", "version": "4.0.0" @@ -73935,11 +73935,11 @@ "profile_optional_count": 51, "schema": "simready-validator-optional-score-v1", "scope": "all_optional_profile", - "score_percent": 70.58823529411765, + "score_percent": 74.50980392156863, "status": "scored", "unknown_count": 0, "unknown_reason": null, - "upper_bound_percent": 70.58823529411765 + "upper_bound_percent": 74.50980392156863 } }, "optional_score": { @@ -74041,7 +74041,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.NP.006", "requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "nonvisual_materials", @@ -74209,7 +74209,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.SR.001", "requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "materials_textures", @@ -74304,10 +74304,10 @@ } ], "coverage_fraction": 1.0, - "failed_count": 15, - "lower_bound_percent": 70.58823529411765, + "failed_count": 13, + "lower_bound_percent": 74.50980392156863, "measured_count": 51, - "passed_count": 36, + "passed_count": 38, "profile": { "id": "Robotics-Prop", "version": "4.0.0" @@ -74316,18 +74316,18 @@ "profile_optional_count": 51, "schema": "simready-validator-optional-score-v1", "scope": "all_optional_profile", - "score_percent": 70.58823529411765, + "score_percent": 74.50980392156863, "status": "scored", "unknown_count": 0, "unknown_reason": null, - "upper_bound_percent": 70.58823529411765 + "upper_bound_percent": 74.50980392156863 }, "fidelity": { "schema": "source-usd-fidelity-v4", "status": "measured", "complete_geometry_comparison": true, "alignment": { - "aligned_rms_m": 0.011127030593080579, + "aligned_rms_m": 0.0035425281125704834, "converged": false, "iterations": 16, "maximum_iterations_per_start": 8, @@ -74336,13 +74336,13 @@ "refined_starts": 2, "rotation": [ [ - -0.9896903278192811, - 0.1432237934875486, + -0.8217991373073352, + 0.5697773055509666, 0.0 ], [ - -0.1432237934875486, - -0.9896903278192811, + -0.5697773055509666, + -0.8217991373073352, 0.0 ], [ @@ -74354,12 +74354,12 @@ "samples_each_direction": 128, "scale": 1.0, "translation_m": [ - -0.0160466936558743, - 0.0009283494338451779, - -0.014049505127834941 + 0.010736980571639482, + 0.007823098201248314, + -0.00016361673745859256 ], - "unaligned_rms_m": 0.013879727787936417, - "yaw_degrees": -171.76556349614847, + "unaligned_rms_m": 0.03153093487376579, + "yaw_degrees": -145.2653019470451, "yaw_starts": 32 }, "components": { @@ -74424,11 +74424,11 @@ "schema": "source-usd-kinematics-v1", "score_percent": null, "settings": { - "distance_band_m": 0.003683308072289281, + "distance_band_m": 0.003019432089772175, "range_absolute_degrees": 5, "range_absolute_m": 0.005, "range_relative": 0.05, - "reference_diagonal_m": 0.2683308072289281, + "reference_diagonal_m": 0.20194320897721751, "sweep_fractions": [ 0.0, 0.03444185374863373, @@ -74463,22 +74463,22 @@ "aggregation": "mean per-sample appearance-property match fraction", "coverage_basis": "reference surface samples with assigned visual materials", "coverage_fraction": 1.0, - "earned": 235.5, + "earned": 484.75, "eligible": 2048, - "lower_bound_percent": 11.4990234375, + "lower_bound_percent": 23.66943359375, "measured": 2048, - "score_percent": 11.4990234375, + "score_percent": 23.66943359375, "status": "measured", "unknown": 0, - "upper_bound_percent": 11.4990234375 + "upper_bound_percent": 23.66943359375 }, "coverage_basis": "reference area samples with supported effective material properties", "coverage_fraction": 0.8333333333333334, - "earned": 4052, + "earned": 3492, "eligible": 20480, "features": { "physics:assignment": { - "earned": 622, + "earned": 0, "eligible": 2048 }, "physics:density": { @@ -74486,27 +74486,27 @@ "eligible": 2048 }, "physics:dynamicFriction": { - "earned": 622, + "earned": 0, "eligible": 2048 }, "physics:restitution": { - "earned": 622, + "earned": 0, "eligible": 2048 }, "physics:staticFriction": { - "earned": 622, + "earned": 0, "eligible": 2048 }, "visual:assignment": { - "earned": 622, + "earned": 1553, "eligible": 2048 }, "visual:diffuseColor": { - "earned": 28, + "earned": 1, "eligible": 2048 }, "visual:metallic": { - 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+ "model_request_seconds": 619.313696173951, + "input_tokens": 1087001, + "output_tokens": 28408, + "total_tokens": 1115409, "inference_cost_usd": null, "compute_cost_usd": null, "total_cost_usd": null, - "seed": 278187590, + "seed": 2135026542, "scoring_policy_id": "NVIDIA-Robotics-Prop-4.0.0-mandatory-95-plus-5-v1", "official_conformance_passed": true, "simready": { @@ -95687,7 +95414,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.DISP.001", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "display_colour", @@ -95841,7 +95568,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.PMT.001", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "rigid_body_collision", @@ -95946,14 +95673,14 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.SR.001", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "materials_textures", "mandatory": false, "requirement_id": "com.nvidia.simready.VM.BIND.002", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "materials_textures", @@ -95988,7 +95715,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.VM.PBR.003", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "materials_textures", @@ -96041,10 +95768,10 @@ } ], "coverage_fraction": 1.0, - "failed_count": 12, - "lower_bound_percent": 76.47058823529412, + "failed_count": 17, + "lower_bound_percent": 66.66666666666667, "measured_count": 51, - "passed_count": 39, + "passed_count": 34, "profile": { "id": "Robotics-Prop", "version": "4.0.0" @@ -96053,11 +95780,11 @@ "profile_optional_count": 51, "schema": "simready-validator-optional-score-v1", "scope": "all_optional_profile", - "score_percent": 76.47058823529412, + "score_percent": 66.66666666666667, "status": "scored", "unknown_count": 0, "unknown_reason": null, - "upper_bound_percent": 76.47058823529412 + "upper_bound_percent": 66.66666666666667 } }, "optional_score": { @@ -96068,7 +95795,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.DISP.001", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "display_colour", @@ -96222,7 +95949,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.PMT.001", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "rigid_body_collision", @@ -96327,14 +96054,14 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.SR.001", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "materials_textures", "mandatory": false, "requirement_id": "com.nvidia.simready.VM.BIND.002", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "materials_textures", @@ -96369,7 +96096,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.VM.PBR.003", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "materials_textures", @@ -96422,10 +96149,10 @@ } ], "coverage_fraction": 1.0, - "failed_count": 12, - "lower_bound_percent": 76.47058823529412, + "failed_count": 17, + "lower_bound_percent": 66.66666666666667, "measured_count": 51, - "passed_count": 39, + "passed_count": 34, "profile": { "id": "Robotics-Prop", "version": "4.0.0" @@ -96434,18 +96161,18 @@ "profile_optional_count": 51, "schema": "simready-validator-optional-score-v1", "scope": "all_optional_profile", - "score_percent": 76.47058823529412, + "score_percent": 66.66666666666667, "status": "scored", "unknown_count": 0, "unknown_reason": null, - "upper_bound_percent": 76.47058823529412 + "upper_bound_percent": 66.66666666666667 }, "fidelity": { "schema": "source-usd-fidelity-v4", "status": "measured", "complete_geometry_comparison": true, "alignment": { - "aligned_rms_m": 0.021634474172174192, + "aligned_rms_m": 0.001649366449424105, "converged": false, "iterations": 16, 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"runtime_physics", + "mandatory": false, + "requirement_id": "com.nvidia.simready.RV.006", + "requirement_version": "0.1.0", + "status": "pass" + }, + { + "category": "runtime_physics", + "mandatory": false, + "requirement_id": "com.nvidia.simready.RV.007", + "requirement_version": "0.1.0", + "status": "fail" + }, + { + "category": "runtime_physics", + "mandatory": false, + "requirement_id": "com.nvidia.simready.RV.008", + "requirement_version": "0.1.0", + "status": "pass" + }, + { + "category": "runtime_physics", + "mandatory": false, + "requirement_id": "com.nvidia.simready.RV.009", + "requirement_version": "0.1.0", + "status": "pass" + }, + { + "category": "runtime_physics", + "mandatory": false, + "requirement_id": "com.nvidia.simready.RV.010", + "requirement_version": "0.1.0", + "status": "pass" + }, + { + "category": "runtime_physics", + "mandatory": false, + "requirement_id": "com.nvidia.simready.RV.011", + "requirement_version": "0.1.0", + "status": "pass" + }, + { + "category": "thumbnail_metadata", + "mandatory": false, + "requirement_id": "com.nvidia.simready.SR.001", + "requirement_version": "0.1.0", + "status": "fail" + }, + { + "category": "materials_textures", + "mandatory": false, + "requirement_id": "com.nvidia.simready.VM.BIND.002", + "requirement_version": "0.1.0", + "status": "fail" + }, + { + "category": "materials_textures", + "mandatory": false, + "requirement_id": "com.nvidia.simready.VM.MDL.001", + "requirement_version": "0.1.0", + "status": "pass" + }, + { + "category": "materials_textures", + "mandatory": false, + "requirement_id": "com.nvidia.simready.VM.MDL.003", + "requirement_version": "0.1.0", + "status": "fail" + }, + { + "category": "materials_textures", + "mandatory": false, + "requirement_id": "com.nvidia.simready.VM.PBR.001", + "requirement_version": "0.1.0", + "status": "fail" + }, + { + "category": "materials_textures", + "mandatory": false, + "requirement_id": "com.nvidia.simready.VM.PBR.002", + "requirement_version": "0.1.0", + "status": "pass" + }, + { + "category": "materials_textures", + "mandatory": false, + "requirement_id": "com.nvidia.simready.VM.PBR.003", + "requirement_version": "0.1.0", + "status": "fail" + }, + { + "category": "materials_textures", + "mandatory": false, + "requirement_id": "com.nvidia.simready.VM.TEX.004", + "requirement_version": "0.1.0", + "status": "pass" + }, + { + "category": "materials_textures", + "mandatory": false, + "requirement_id": "com.nvidia.simready.VM.TEX.005", + "requirement_version": "0.1.0", + "status": "pass" + }, + { + "category": "joints_articulations", + "mandatory": false, + "requirement_id": "com.nvidia.usd.JT.002", + "requirement_version": "1.0.0", + "status": "pass" + }, + { + "category": "joints_articulations", + "mandatory": false, + "requirement_id": "com.nvidia.usd.JT.003", + "requirement_version": "1.0.0", + "status": "pass" + }, + { + "category": "joints_articulations", + "mandatory": false, + "requirement_id": "com.nvidia.usd.JT.ART.002", + "requirement_version": "1.0.0", + "status": "pass" + }, + { + "category": "joints_articulations", + "mandatory": false, + "requirement_id": "com.nvidia.usd.JT.ART.004", + "requirement_version": "1.0.0", + "status": "pass" + }, + { + "category": "materials_textures", + "mandatory": false, + "requirement_id": "com.nvidia.usd.VM.MDL.002", + "requirement_version": "1.0.0", + "status": "pass" + } + ], + "coverage_fraction": 1.0, + "failed_count": 16, + "lower_bound_percent": 68.62745098039215, + "measured_count": 51, + "passed_count": 35, + "profile": { + "id": "Robotics-Prop", + "version": "4.0.0" + }, + "profile_inventory_sha256": "e47935d0d76c63b5e5dbe8b79a53408a8234544f6bbd5246686a65691a3231a9", + "profile_optional_count": 51, + "schema": "simready-validator-optional-score-v1", + "scope": "all_optional_profile", + "score_percent": 68.62745098039215, + "status": "scored", + "unknown_count": 0, + "unknown_reason": null, + "upper_bound_percent": 68.62745098039215 + }, + "fidelity": { + "schema": "source-usd-fidelity-v4", + "status": "measured", + "complete_geometry_comparison": true, + "alignment": { + "aligned_rms_m": 0.021452983159518525, + "converged": false, + "iterations": 16, + "maximum_iterations_per_start": 8, + "method": "global_z_yaw_translation_surface_icp", + "objective": "symmetric_mean_squared_point_to_surface_distance", + "refined_starts": 2, + "rotation": [ + [ + 0.9993587581927331, + 0.03580603892471791, + 0.0 + ], + [ + -0.03580603892471791, + 0.9993587581927331, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "samples_each_direction": 128, + "scale": 1.0, + "translation_m": [ + -0.008904383040838734, + -0.09488293948020182, + -0.019586533513315407 + ], + "unaligned_rms_m": 0.05984663067467512, + "yaw_degrees": -2.051973533959541, + "yaw_starts": 32 + }, + "components": { + "joints": { + "candidate_joint_count": 8, "checks": [ { "feature": "existence_type_connectivity", @@ -96816,7 +102305,7 @@ }, { "feature": "anchors", - "passed": false, + "passed": true, "reference_joint": 6 }, { @@ -96991,20 +102480,20 @@ } ], "coverage_fraction": 1.0, - "earned": 36, + "earned": 37, "eligible": 101, "extra_joint_count": 0, "measured": 101, "reference_joint_count": 10, "reference_possible_checks": 101, - "score_percent": 35.64356435643565, + "score_percent": 36.633663366336634, "status": "measured" }, "kinematics": { "aggregation": "geometric mean of moving-joint and fixed-constraint recovery, each 2*sum(quality)/(reference_count+candidate_count)", "candidate_joint_count": 8, "coverage_fraction": 1.0, - "earned": 0.019156562288657506, + "earned": 0.07466832178092579, "eligible": 1, "extra_joint_count": 4, "finite_extent_treatment": "1/(1+(unwrapped interval extent error/(absolute range tolerance+relative tolerance*reference extent))^2)", @@ -97024,14 +102513,14 @@ "moving_joints": { "candidate_joint_count": 8, "coverage_fraction": 1.0, - "earned": 0.3448181211958351, + "earned": 1.3440297920566642, "eligible": 18, - "lower_bound_percent": 1.9156562288657506, + "lower_bound_percent": 7.466832178092579, "measured": 18, "reference_joint_count": 10, - "score_percent": 1.9156562288657506, + "score_percent": 7.466832178092579, "status": "measured", - "upper_bound_percent": 1.9156562288657506 + "upper_bound_percent": 7.466832178092579 } }, "infinite_range_probes": "one full revolution or one reference diagonal, centred at a canonical coordinate for fully unbounded motion or anchored at the finite endpoint for half-bounded motion; authored limits remain unchanged", @@ -97043,19 +102532,19 @@ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/LeftCasterAxle", + "candidate_path": "/HandTruck/Joints/Left_Caster_Roll", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.0386424786180519, + "earned": 0.011923985836951001, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.0386424786180519, - "motion_rms_m": 0.08062152169068713, + "motion_credit": 0.011923985836951001, + "motion_rms_m": 0.14713820955552556, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 0, @@ -97068,7 +102557,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 3.86424786180519, + "score_percent": 1.1923985836951, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -97109,19 +102598,19 @@ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/RightMainWheelAxle", + "candidate_path": "/HandTruck/Joints/Right_Axle_Rotation", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.0425792696684476, + "earned": 0.2831440105349913, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.0425792696684476, - "motion_rms_m": 0.07664667574554006, + "motion_credit": 0.2831440105349913, + "motion_rms_m": 0.02571895294597781, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 3, @@ -97134,7 +102623,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 4.25792696684476, + "score_percent": 28.31440105349913, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -97175,19 +102664,19 @@ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/LeftMainWheelAxle", + "candidate_path": "/HandTruck/Joints/Left_Axle_Rotation", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.05486501696517294, + "earned": 0.36483971600301063, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.05486501696517294, - "motion_rms_m": 0.06708727854135649, + "motion_credit": 0.36483971600301063, + "motion_rms_m": 0.0213270912450384, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 6, @@ -97200,7 +102689,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 5.486501696517294, + "score_percent": 36.48397160030106, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -97227,19 +102716,19 @@ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/RightCasterAxle", + "candidate_path": "/HandTruck/Joints/Right_Caster_Roll", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.0363222953462451, + "earned": 0.012107183653379136, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.0363222953462451, - "motion_rms_m": 0.08325690788074679, + "motion_credit": 0.012107183653379136, + "motion_rms_m": 0.14600723040958272, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 8, @@ -97252,7 +102741,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 3.63222953462451, + "score_percent": 1.2107183653379137, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -97275,7 +102764,7 @@ } ], "limit_pattern_treatment": "1/(1+number of differing bound endpoint states after coordinate normalisation)", - "lower_bound_percent": 1.9156562288657506, + "lower_bound_percent": 7.466832178092579, "matched_joint_count": 4, "measured": 1, "measurement": "sampled joint constraint transforms on common reference-body bounding-box landmarks", @@ -97283,7 +102772,7 @@ "range_scope": "observed finite, half-bounded, unbounded and locked intervals", "reference_joint_count": 10, "schema": "source-usd-kinematics-v1", - "score_percent": 1.9156562288657506, + "score_percent": 7.466832178092579, "settings": { "distance_band_m": 0.016163708676063322, "range_absolute_degrees": 5, @@ -97317,29 +102806,29 @@ "PhysicsRevoluteJoint", "PhysicsPrismaticJoint" ], - "upper_bound_percent": 1.9156562288657506 + "upper_bound_percent": 7.466832178092579 }, "materials": { "appearance": { "aggregation": "mean per-sample appearance-property match fraction", "coverage_basis": "reference surface samples with assigned visual materials", "coverage_fraction": 1.0, - "earned": 43.666666666666664, + "earned": 838.1666666666666, "eligible": 2048, - "lower_bound_percent": 2.132161458333333, + "lower_bound_percent": 40.92610677083333, "measured": 2048, - "score_percent": 2.132161458333333, + "score_percent": 40.92610677083333, "status": "measured", "unknown": 0, - "upper_bound_percent": 2.132161458333326 + "upper_bound_percent": 40.92610677083333 }, "coverage_basis": "reference area samples with supported effective material properties", "coverage_fraction": 0.6671142578125, - "earned": 2216, + "earned": 3129, "eligible": 16395, "features": { "physics:assignment": { - "earned": 777, + "earned": 0, "eligible": 2048 }, "physics:density": { @@ -97359,7 +102848,7 @@ "eligible": 2048 }, "visual:assignment": { - "earned": 1308, + "earned": 1467, "eligible": 2048 }, "visual:diffuseColor": { @@ -97367,11 +102856,11 @@ "eligible": 1439 }, "visual:metallic": { - "earned": 131, + "earned": 195, "eligible": 310 }, "visual:opacity": { - "earned": 0, + "earned": 1467, "eligible": 2048 }, "visual:roughness": { @@ -97381,61 +102870,61 @@ }, "measured": 16395, "reference_possible_fields": 24576, - "score_percent": 13.516315949984751, + "score_percent": 19.08508691674291, "status": "measured" }, "rigid_parts": { "coverage_fraction": 1.0, - "earned": 3.7833937276560365, + "earned": 2.777888168001514, "eligible": 11, "extra_bodies": 0, - "geometry_score_percent": 34.394488433236695, + "geometry_score_percent": 25.25352880001376, "measured": 11, "missing_parts": 2, "parts": [ { "band_m": 0.016163708676063322, "candidate_body": "/HandTruck/Frame", - "p95_m": 0.051071618359664006, - "precision": 0.48291015625, - "recall": 0.52294921875, + "p95_m": 0.04262523661748474, + "precision": 0.55517578125, + "recall": 0.73193359375, "reference_body": "/RootNode/Geometry/sm_body_a01_obj_00", - "rms_m": 0.025628212865158657, + "rms_m": 0.02097110458586289, "samples_each_direction": 2048, - "score_percent": 50.21327935376214 + "score_percent": 63.141767533668435 }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/RightWheel", - "p95_m": 0.04646023281870524, - "precision": 0.51220703125, - "recall": 0.67333984375, + "candidate_body": "/HandTruck/Right_Main_Wheel", + "p95_m": 0.02706091758970666, + "precision": 0.60498046875, + "recall": 0.83251953125, "reference_body": "/RootNode/Geometry/sm_front_wheel1_a01_obj_00", - "rms_m": 0.022198699134097038, + "rms_m": 0.013802143158853739, "samples_each_direction": 2048, - "score_percent": 58.18233081497117 + "score_percent": 70.07416434909986 }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/LeftWheel", - "p95_m": 0.040098230467720375, - "precision": 0.49560546875, - "recall": 0.7060546875, + "candidate_body": "/HandTruck/Left_Main_Wheel", + "p95_m": 0.017354296918212646, + "precision": 0.8564453125, + "recall": 0.958984375, "reference_body": "/RootNode/Geometry/sm_front_wheel2_a01_obj_00", - "rms_m": 0.01958556508204086, + "rms_m": 0.01058387523316869, "samples_each_direction": 2048, - "score_percent": 58.24018755079236 + "score_percent": 90.4819039133943 }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/SlidingHandle", - "p95_m": 0.11623436671719328, - "precision": 0.33544921875, - "recall": 0.486328125, + "candidate_body": "/HandTruck/Telescopic_Handle", + "p95_m": 0.10746444690201323, + "precision": 0.42724609375, + "recall": 0.58544921875, "reference_body": "/RootNode/Geometry/sm_handle_a01_obj_00", - "rms_m": 0.0455647094450475, + "rms_m": 0.041063737787569166, "samples_each_direction": 2048, - "score_percent": 39.70379344919786 + "score_percent": 49.39904208353423 }, { "candidate_body": null, @@ -97446,12 +102935,12 @@ }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/ReleaseLatch", - "p95_m": 0.11166714596911931, + "candidate_body": "/HandTruck/Release_Latch", + "p95_m": 0.13145003307224032, "precision": 0.0, "recall": 0.0, "reference_body": "/RootNode/Geometry/sm_lock2_a01_obj_00", - "rms_m": 0.08041830317058994, + "rms_m": 0.0937212538438553, "samples_each_direction": 2048, "score_percent": 0.0 }, @@ -97464,50 +102953,50 @@ }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/RightCasterFork", - "p95_m": 0.04527524598235165, - "precision": 0.458984375, - "recall": 0.52587890625, + "candidate_body": "/HandTruck/Right_Caster_Fork", + "p95_m": 0.09228128169815861, + "precision": 0.033203125, + "recall": 0.05810546875, "reference_body": "/RootNode/Geometry/sm_rear_frame1_a01_obj_00", - "rms_m": 0.022212264298960265, + "rms_m": 0.05889856322071646, "samples_each_direction": 2048, - "score_percent": 49.0159813460585 + "score_percent": 4.2258522727272725 }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/LeftCasterFork", - "p95_m": 0.044671497007418876, - "precision": 0.421875, - "recall": 0.44677734375, + "candidate_body": "/HandTruck/Left_Caster_Fork", + "p95_m": 0.09737373543455874, + "precision": 0.00732421875, + "recall": 0.00341796875, "reference_body": "/RootNode/Geometry/sm_rear_frame2_a01_obj_00", - "rms_m": 0.0233107283202418, + "rms_m": 0.06672701344737629, "samples_each_direction": 2048, - "score_percent": 43.39692242833053 + "score_percent": 0.4660866477272727 }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/RightCasterWheel", - "p95_m": 0.052165413778911776, - "precision": 0.3662109375, - "recall": 0.4130859375, + "candidate_body": "/HandTruck/Right_Caster_Wheel", + "p95_m": 0.09901905686760806, + "precision": 0.0, + "recall": 0.0, "reference_body": "/RootNode/Geometry/sm_rear_wheel1_a01_obj_00", - "rms_m": 0.02929895291417196, + "rms_m": 0.06987515723521809, "samples_each_direction": 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100.0, "mandatory_passed": 46, "mandatory_total": 46, @@ -98322,19 +103811,19 @@ "mandatory_lower_bound_percent": 100.0, "mandatory_upper_bound_percent": 100.0, "completion_bonus": 5, - "optional_score_percent": 68.62745098039215, - "optional_passed": 35, - "optional_failed": 16, + "optional_score_percent": 76.47058823529412, + "optional_passed": 39, + "optional_failed": 12, "optional_unknown": 0, "optional_total": 51, "optional_measured": 51, "optional_coverage": 1.0, - "optional_lower_bound_percent": 68.62745098039215, - "optional_upper_bound_percent": 68.62745098039215, - "fidelity_shape_percent": 67.0874014588619, - "fidelity_rigid_parts_percent": 25.25352880001376, - "fidelity_joints_percent": 36.633663366336634, - "fidelity_materials_percent": 19.08508691674291, + "optional_lower_bound_percent": 76.47058823529412, + "optional_upper_bound_percent": 76.47058823529412, + "fidelity_shape_percent": 59.81495116789066, + "fidelity_rigid_parts_percent": 24.617923694116914, + 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1, "kinematic_fidelity_coverage": 1.0, - "kinematic_fidelity_lower_bound_percent": 7.466832178092579, - "kinematic_fidelity_upper_bound_percent": 7.466832178092579, - "visual_appearance_percent": 40.92610677083333, + "kinematic_fidelity_lower_bound_percent": 1.0327480041644415, + "kinematic_fidelity_upper_bound_percent": 1.0327480041644415, + "visual_appearance_percent": 32.85319010416667, "visual_appearance_status": "measured", - "visual_appearance_earned": 838.1666666666666, + "visual_appearance_earned": 672.8333333333334, "visual_appearance_eligible": 2048, "visual_appearance_measured": 2048, "visual_appearance_coverage": 1.0, - "visual_appearance_lower_bound_percent": 40.92610677083333, - "visual_appearance_upper_bound_percent": 40.92610677083333, + "visual_appearance_lower_bound_percent": 32.85319010416667, + "visual_appearance_upper_bound_percent": 32.85319010416667, "kinematic_reference_joint_count": 10, "kinematic_candidate_joint_count": 8, "kinematic_matched_joint_count": 4, "kinematic_missing_joint_count": 6, "kinematic_extra_joint_count": 4, - "kinematic_moving_joints_percent": 7.466832178092579, + "kinematic_moving_joints_percent": 1.0327480041644415, "kinematic_moving_joints_status": "measured", - "kinematic_moving_joints_earned": 1.3440297920566642, + "kinematic_moving_joints_earned": 0.18589464074959947, "kinematic_moving_joints_eligible": 18, "kinematic_moving_joints_measured": 18, "kinematic_moving_joints_coverage": 1.0, - "kinematic_moving_joints_lower_bound_percent": 7.466832178092579, - "kinematic_moving_joints_upper_bound_percent": 7.466832178092579, + "kinematic_moving_joints_lower_bound_percent": 1.0327480041644415, + "kinematic_moving_joints_upper_bound_percent": 1.0327480041644415, "kinematic_fixed_constraints_percent": null, "kinematic_fixed_constraints_status": "not_applicable", "kinematic_fixed_constraints_earned": 0, @@ -98390,43 +103879,43 @@ "kinematic_fixed_constraints_coverage": 0, "kinematic_fixed_constraints_lower_bound_percent": null, "kinematic_fixed_constraints_upper_bound_percent": null, - "fidelity_shape_earned": 0.6708740145886191, + "fidelity_shape_earned": 0.5981495116789066, "fidelity_shape_eligible": 1, "fidelity_shape_measured": 1, "fidelity_shape_status": "measured", - "fidelity_rigid_parts_earned": 2.777888168001514, + "fidelity_rigid_parts_earned": 2.7079716063528605, "fidelity_rigid_parts_eligible": 11, "fidelity_rigid_parts_measured": 11, "fidelity_rigid_parts_status": "measured", - "fidelity_joints_earned": 37, + "fidelity_joints_earned": 32, "fidelity_joints_eligible": 101, "fidelity_joints_measured": 101, "fidelity_joints_status": "measured", - "fidelity_materials_earned": 3129, + "fidelity_materials_earned": 5803, "fidelity_materials_eligible": 16395, "fidelity_materials_measured": 16395, "fidelity_materials_status": "measured", - "fidelity_shape_precision": 0.630859375, - "fidelity_shape_recall": 0.71630859375, + "fidelity_shape_precision": 0.6103515625, + "fidelity_shape_recall": 0.58642578125, "fidelity_shape_samples_each_direction": 2048, - "fidelity_rigid_parts_geometry_percent": 25.25352880001376, + "fidelity_rigid_parts_geometry_percent": 24.617923694116914, "fidelity_rigid_parts_structure_percent": 75.0, "fidelity_rigid_parts_structure_earned": 18, "fidelity_rigid_parts_structure_eligible": 24, "fidelity_joints_reference_count": 10, "fidelity_joints_candidate_count": 8, - "inference_calls_used": 38, + "inference_calls_used": 43, "validation_calls_used": 3, "model_request_errors": 0, - "elapsed_seconds": 694.8190784752369, - "model_request_seconds": 639.446894634515, - "input_tokens": 1008585, - "output_tokens": 28396, - "total_tokens": 1036981, + "elapsed_seconds": 687.0988452881575, + "model_request_seconds": 611.9244428686798, + "input_tokens": 1356378, + "output_tokens": 27848, + "total_tokens": 1384226, "inference_cost_usd": null, "compute_cost_usd": null, "total_cost_usd": null, - "seed": 64121683, + "seed": 1750736179, "scoring_policy_id": "NVIDIA-Robotics-Prop-4.0.0-mandatory-95-plus-5-v1", "official_conformance_passed": true, "simready": { @@ -99173,7 +104662,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.PMT.001", "requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "rigid_body_collision", @@ -99278,14 +104767,14 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.SR.001", "requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "materials_textures", "mandatory": false, "requirement_id": "com.nvidia.simready.VM.BIND.002", "requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "materials_textures", @@ -99320,7 +104809,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.VM.PBR.003", "requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "materials_textures", @@ -99373,10 +104862,10 @@ } ], "coverage_fraction": 1.0, - "failed_count": 16, - "lower_bound_percent": 68.62745098039215, + "failed_count": 12, + "lower_bound_percent": 76.47058823529412, "measured_count": 51, - "passed_count": 35, + "passed_count": 39, "profile": { "id": "Robotics-Prop", "version": "4.0.0" @@ -99385,11 +104874,11 @@ "profile_optional_count": 51, "schema": "simready-validator-optional-score-v1", "scope": "all_optional_profile", - "score_percent": 68.62745098039215, + "score_percent": 76.47058823529412, "status": "scored", "unknown_count": 0, "unknown_reason": null, - "upper_bound_percent": 68.62745098039215 + "upper_bound_percent": 76.47058823529412 } }, "optional_score": { @@ -99554,7 +105043,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.PMT.001", "requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "rigid_body_collision", @@ -99659,14 +105148,14 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.SR.001", "requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "materials_textures", "mandatory": false, "requirement_id": "com.nvidia.simready.VM.BIND.002", "requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "materials_textures", @@ -99701,7 +105190,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.VM.PBR.003", "requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "materials_textures", @@ -99754,10 +105243,10 @@ } ], "coverage_fraction": 1.0, - "failed_count": 16, - "lower_bound_percent": 68.62745098039215, + "failed_count": 12, + "lower_bound_percent": 76.47058823529412, "measured_count": 51, - "passed_count": 35, + "passed_count": 39, "profile": { "id": "Robotics-Prop", "version": "4.0.0" @@ -99766,18 +105255,18 @@ "profile_optional_count": 51, "schema": "simready-validator-optional-score-v1", "scope": "all_optional_profile", - "score_percent": 68.62745098039215, + "score_percent": 76.47058823529412, "status": "scored", "unknown_count": 0, "unknown_reason": null, - "upper_bound_percent": 68.62745098039215 + "upper_bound_percent": 76.47058823529412 }, "fidelity": { "schema": "source-usd-fidelity-v4", "status": "measured", "complete_geometry_comparison": true, "alignment": { - "aligned_rms_m": 0.021452983159518525, + "aligned_rms_m": 0.026228730020709135, "converged": false, "iterations": 16, "maximum_iterations_per_start": 8, @@ -99786,13 +105275,13 @@ "refined_starts": 2, "rotation": [ [ - 0.9993587581927331, - 0.03580603892471791, + 0.9974954124859092, + 0.07073119587258399, 0.0 ], [ - -0.03580603892471791, - 0.9993587581927331, + -0.07073119587258399, + 0.9974954124859092, 0.0 ], [ @@ -99804,12 +105293,12 @@ "samples_each_direction": 128, "scale": 1.0, "translation_m": [ - -0.008904383040838734, - -0.09488293948020182, - -0.019586533513315407 + -0.0027510214704174847, + -0.1257414479328283, + -0.0577830816103011 ], - "unaligned_rms_m": 0.05984663067467512, - "yaw_degrees": -2.051973533959541, + "unaligned_rms_m": 0.08002402350078561, + "yaw_degrees": -4.055985759580579, "yaw_starts": 32 }, "components": { @@ -99853,7 +105342,7 @@ }, { "feature": "axes", - "passed": true, + "passed": false, "reference_joint": 0 }, { @@ -100003,7 +105492,7 @@ }, { "feature": "axes", - "passed": true, + "passed": false, "reference_joint": 3 }, { @@ -100148,12 +105637,12 @@ }, { "feature": "anchors", - "passed": true, + "passed": false, "reference_joint": 6 }, { "feature": "axes", - "passed": true, + "passed": false, "reference_joint": 6 }, { @@ -100253,7 +105742,7 @@ }, { "feature": "axes", - "passed": true, + "passed": false, "reference_joint": 8 }, { @@ -100323,20 +105812,20 @@ } ], "coverage_fraction": 1.0, - "earned": 37, + "earned": 32, "eligible": 101, "extra_joint_count": 0, "measured": 101, "reference_joint_count": 10, "reference_possible_checks": 101, - "score_percent": 36.633663366336634, + "score_percent": 31.683168316831683, "status": "measured" }, "kinematics": { "aggregation": "geometric mean of moving-joint and fixed-constraint recovery, each 2*sum(quality)/(reference_count+candidate_count)", "candidate_joint_count": 8, "coverage_fraction": 1.0, - "earned": 0.07466832178092579, + "earned": 0.010327480041644415, "eligible": 1, "extra_joint_count": 4, "finite_extent_treatment": "1/(1+(unwrapped interval extent error/(absolute range tolerance+relative tolerance*reference extent))^2)", @@ -100356,38 +105845,38 @@ "moving_joints": { "candidate_joint_count": 8, "coverage_fraction": 1.0, - "earned": 1.3440297920566642, + "earned": 0.18589464074959947, "eligible": 18, - "lower_bound_percent": 7.466832178092579, + "lower_bound_percent": 1.0327480041644415, "measured": 18, "reference_joint_count": 10, - "score_percent": 7.466832178092579, + "score_percent": 1.0327480041644415, "status": "measured", - "upper_bound_percent": 7.466832178092579 + "upper_bound_percent": 1.0327480041644415 } }, "infinite_range_probes": "one full revolution or one reference diagonal, centred at a canonical coordinate for fully unbounded motion or anchored at the finite endpoint for half-bounded motion; authored limits remain unchanged", "joint_quality": "motion_credit*unwrapped_extent_credit*limit_pattern_credit, with motion_credit=1/(1+(motion_rms_m/distance_band_m)^2)", "joints": [ { - "candidate_joint": 2, + "candidate_joint": 5, "candidate_limit_pattern": [ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/Left_Caster_Roll", + "candidate_path": "/HandTruck/Joints/CasterWheel_L_Rolling", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.011923985836951001, + "earned": 0.01866773662124913, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.011923985836951001, - "motion_rms_m": 0.14713820955552556, + "motion_credit": 0.01866773662124913, + "motion_rms_m": 0.11719341795475569, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 0, @@ -100400,7 +105889,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 1.1923985836951, + "score_percent": 1.866773662124913, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -100436,24 +105925,24 @@ "type": "PhysicsPrismaticJoint" }, { - "candidate_joint": 3, + "candidate_joint": 1, "candidate_limit_pattern": [ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/Right_Axle_Rotation", + "candidate_path": "/HandTruck/Joints/MainWheel_R_Axle", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.2831440105349913, + "earned": 0.023191146303850347, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.2831440105349913, - "motion_rms_m": 0.02571895294597781, + "motion_credit": 0.023191146303850347, + "motion_rms_m": 0.10490222511087822, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 3, @@ -100466,7 +105955,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 28.31440105349913, + "score_percent": 2.3191146303850347, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -100507,19 +105996,19 @@ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/Left_Axle_Rotation", + "candidate_path": "/HandTruck/Joints/MainWheel_L_Axle", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.36483971600301063, + "earned": 0.03166046412390307, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.36483971600301063, - "motion_rms_m": 0.0213270912450384, + "motion_credit": 0.03166046412390307, + "motion_rms_m": 0.08939149648555247, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 6, @@ -100532,7 +106021,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 36.48397160030106, + "score_percent": 3.166046412390307, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -100554,24 +106043,24 @@ "type": "PhysicsRevoluteJoint" }, { - "candidate_joint": 5, + "candidate_joint": 7, "candidate_limit_pattern": [ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/Right_Caster_Roll", + "candidate_path": "/HandTruck/Joints/CasterWheel_R_Rolling", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.012107183653379136, + "earned": 0.019427973325797192, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.012107183653379136, - "motion_rms_m": 0.14600723040958272, + "motion_credit": 0.019427973325797192, + "motion_rms_m": 0.11483308041757999, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 8, @@ -100584,7 +106073,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 1.2107183653379137, + "score_percent": 1.9427973325797192, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -100607,7 +106096,7 @@ } ], "limit_pattern_treatment": "1/(1+number of differing bound endpoint states after coordinate normalisation)", - "lower_bound_percent": 7.466832178092579, + "lower_bound_percent": 1.0327480041644415, "matched_joint_count": 4, "measured": 1, "measurement": "sampled joint constraint transforms on common reference-body bounding-box landmarks", @@ -100615,7 +106104,7 @@ "range_scope": "observed finite, half-bounded, unbounded and locked intervals", "reference_joint_count": 10, "schema": "source-usd-kinematics-v1", - "score_percent": 7.466832178092579, + "score_percent": 1.0327480041644415, "settings": { "distance_band_m": 0.016163708676063322, "range_absolute_degrees": 5, @@ -100649,29 +106138,29 @@ "PhysicsRevoluteJoint", "PhysicsPrismaticJoint" ], - "upper_bound_percent": 7.466832178092579 + "upper_bound_percent": 1.0327480041644415 }, "materials": { "appearance": { "aggregation": "mean per-sample appearance-property match fraction", "coverage_basis": "reference surface samples with assigned visual materials", "coverage_fraction": 1.0, - "earned": 838.1666666666666, + "earned": 672.8333333333334, "eligible": 2048, - "lower_bound_percent": 40.92610677083333, + "lower_bound_percent": 32.85319010416667, "measured": 2048, - "score_percent": 40.92610677083333, + "score_percent": 32.85319010416667, "status": "measured", "unknown": 0, - "upper_bound_percent": 40.92610677083333 + "upper_bound_percent": 32.85319010416667 }, "coverage_basis": "reference area samples with supported effective material properties", "coverage_fraction": 0.6671142578125, - "earned": 3129, + "earned": 5803, "eligible": 16395, "features": { "physics:assignment": { - "earned": 0, + "earned": 1201, "eligible": 2048 }, "physics:density": { @@ -100679,19 +106168,19 @@ "eligible": 2048 }, "physics:dynamicFriction": { - "earned": 0, + "earned": 976, "eligible": 2048 }, "physics:restitution": { - "earned": 0, + "earned": 1056, "eligible": 2048 }, "physics:staticFriction": { - "earned": 0, + "earned": 55, "eligible": 2048 }, "visual:assignment": { - "earned": 1467, + "earned": 1201, "eligible": 2048 }, "visual:diffuseColor": { @@ -100699,11 +106188,11 @@ "eligible": 1439 }, "visual:metallic": { - "earned": 195, + "earned": 113, "eligible": 310 }, "visual:opacity": { - "earned": 1467, + "earned": 1201, "eligible": 2048 }, "visual:roughness": { @@ -100713,61 +106202,61 @@ }, "measured": 16395, "reference_possible_fields": 24576, - "score_percent": 19.08508691674291, + "score_percent": 35.39493748093931, "status": "measured" }, "rigid_parts": { "coverage_fraction": 1.0, - "earned": 2.777888168001514, + "earned": 2.7079716063528605, "eligible": 11, "extra_bodies": 0, - "geometry_score_percent": 25.25352880001376, + "geometry_score_percent": 24.617923694116914, "measured": 11, "missing_parts": 2, "parts": [ { "band_m": 0.016163708676063322, "candidate_body": "/HandTruck/Frame", - "p95_m": 0.04262523661748474, - "precision": 0.55517578125, - "recall": 0.73193359375, + "p95_m": 0.055053891860574536, + "precision": 0.45068359375, + "recall": 0.52490234375, "reference_body": "/RootNode/Geometry/sm_body_a01_obj_00", - "rms_m": 0.02097110458586289, + "rms_m": 0.029705609811820344, "samples_each_direction": 2048, - "score_percent": 63.141767533668435 + "score_percent": 48.49698331143644 }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/Right_Main_Wheel", - "p95_m": 0.02706091758970666, - "precision": 0.60498046875, - "recall": 0.83251953125, + "candidate_body": "/HandTruck/MainWheel_R", + "p95_m": 0.06052594207266711, + "precision": 0.587890625, + "recall": 0.634765625, "reference_body": "/RootNode/Geometry/sm_front_wheel1_a01_obj_00", - "rms_m": 0.013802143158853739, + "rms_m": 0.026761531935539203, "samples_each_direction": 2048, - "score_percent": 70.07416434909986 + "score_percent": 61.04295626996805 }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/Left_Main_Wheel", - "p95_m": 0.017354296918212646, - "precision": 0.8564453125, - "recall": 0.958984375, + "candidate_body": "/HandTruck/MainWheel_L", + "p95_m": 0.04074411354839334, + "precision": 0.60546875, + "recall": 0.728515625, "reference_body": "/RootNode/Geometry/sm_front_wheel2_a01_obj_00", - "rms_m": 0.01058387523316869, + "rms_m": 0.01979948869018155, "samples_each_direction": 2048, - "score_percent": 90.4819039133943 + "score_percent": 66.13172584187409 }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/Telescopic_Handle", - "p95_m": 0.10746444690201323, - "precision": 0.42724609375, - "recall": 0.58544921875, + "candidate_body": "/HandTruck/SlidingHandle", + "p95_m": 0.05512043413800685, + "precision": 0.71435546875, + "recall": 0.69384765625, "reference_body": 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+108194,10 @@ } ], "coverage_fraction": 1.0, - "failed_count": 12, - "lower_bound_percent": 76.47058823529412, + "failed_count": 13, + "lower_bound_percent": 74.50980392156863, "measured_count": 51, - "passed_count": 39, + "passed_count": 38, "profile": { "id": "Robotics-Prop", "version": "4.0.0" @@ -102717,11 +108206,11 @@ "profile_optional_count": 51, "schema": "simready-validator-optional-score-v1", "scope": "all_optional_profile", - "score_percent": 76.47058823529412, + "score_percent": 74.50980392156863, "status": "scored", "unknown_count": 0, "unknown_reason": null, - "upper_bound_percent": 76.47058823529412 + "upper_bound_percent": 74.50980392156863 } }, "optional_score": { @@ -102795,7 +108284,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.NEWTON.COL.001", "requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "runtime_physics", @@ -102823,7 +108312,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.NP.006", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "nonvisual_materials", @@ -102991,7 +108480,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.SR.001", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "materials_textures", @@ -103086,10 +108575,10 @@ } ], "coverage_fraction": 1.0, - "failed_count": 12, - "lower_bound_percent": 76.47058823529412, + "failed_count": 13, + "lower_bound_percent": 74.50980392156863, "measured_count": 51, - "passed_count": 39, + "passed_count": 38, "profile": { "id": "Robotics-Prop", "version": "4.0.0" @@ -103098,18 +108587,18 @@ "profile_optional_count": 51, "schema": "simready-validator-optional-score-v1", "scope": "all_optional_profile", - "score_percent": 76.47058823529412, + "score_percent": 74.50980392156863, "status": "scored", "unknown_count": 0, "unknown_reason": null, - "upper_bound_percent": 76.47058823529412 + "upper_bound_percent": 74.50980392156863 }, 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"candidate_joint_count": 8, + "candidate_joint_count": 7, "checks": [ { "feature": "existence_type_connectivity", @@ -103185,7 +108674,7 @@ }, { "feature": "axes", - "passed": false, + "passed": true, "reference_joint": 0 }, { @@ -103335,7 +108824,7 @@ }, { "feature": "axes", - "passed": false, + "passed": true, "reference_joint": 3 }, { @@ -103485,7 +108974,7 @@ }, { "feature": "axes", - "passed": false, + "passed": true, "reference_joint": 6 }, { @@ -103585,7 +109074,7 @@ }, { "feature": "axes", - "passed": false, + "passed": true, "reference_joint": 8 }, { @@ -103655,22 +109144,22 @@ } ], "coverage_fraction": 1.0, - "earned": 32, + "earned": 36, "eligible": 101, "extra_joint_count": 0, "measured": 101, "reference_joint_count": 10, "reference_possible_checks": 101, - "score_percent": 31.683168316831683, + "score_percent": 35.64356435643565, "status": "measured" }, "kinematics": { "aggregation": "geometric mean of moving-joint and fixed-constraint recovery, each 2*sum(quality)/(reference_count+candidate_count)", - "candidate_joint_count": 8, + "candidate_joint_count": 7, "coverage_fraction": 1.0, - "earned": 0.010327480041644415, + "earned": 0.020781840884305944, "eligible": 1, - "extra_joint_count": 4, + "extra_joint_count": 3, "finite_extent_treatment": "1/(1+(unwrapped interval extent error/(absolute range tolerance+relative tolerance*reference extent))^2)", "groups": { "fixed_constraints": { @@ -103686,40 +109175,40 @@ "upper_bound_percent": null }, "moving_joints": { - "candidate_joint_count": 8, + "candidate_joint_count": 7, "coverage_fraction": 1.0, - "earned": 0.18589464074959947, - "eligible": 18, - "lower_bound_percent": 1.0327480041644415, - "measured": 18, + "earned": 0.353291295033201, + "eligible": 17, + "lower_bound_percent": 2.078184088430594, + "measured": 17, "reference_joint_count": 10, - "score_percent": 1.0327480041644415, + "score_percent": 2.078184088430594, "status": "measured", - "upper_bound_percent": 1.0327480041644415 + "upper_bound_percent": 2.078184088430594 } }, "infinite_range_probes": "one full revolution or one reference diagonal, centred at a canonical coordinate for fully unbounded motion or anchored at the finite endpoint for half-bounded motion; authored limits remain unchanged", "joint_quality": "motion_credit*unwrapped_extent_credit*limit_pattern_credit, with motion_credit=1/(1+(motion_rms_m/distance_band_m)^2)", "joints": [ { - "candidate_joint": 5, + "candidate_joint": 4, "candidate_limit_pattern": [ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/CasterWheel_L_Rolling", + "candidate_path": "/HandTruck/Joints/CasterRollLeft", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.01866773662124913, + "earned": 0.03025359811858904, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.01866773662124913, - "motion_rms_m": 0.11719341795475569, + "motion_credit": 0.03025359811858904, + "motion_rms_m": 0.09151274574001962, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 0, @@ -103732,7 +109221,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 1.866773662124913, + "score_percent": 3.025359811858904, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -103768,24 +109257,24 @@ "type": "PhysicsPrismaticJoint" }, { - "candidate_joint": 1, + "candidate_joint": 2, "candidate_limit_pattern": [ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/MainWheel_R_Axle", + "candidate_path": "/HandTruck/Joints/AxleRotationRight", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.023191146303850347, + "earned": 0.0602200764193428, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.023191146303850347, - "motion_rms_m": 0.10490222511087822, + "motion_credit": 0.0602200764193428, + "motion_rms_m": 0.06385331438235578, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 3, @@ -103798,7 +109287,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 2.3191146303850347, + "score_percent": 6.02200764193428, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -103834,24 +109323,24 @@ "type": "PhysicsRevoluteJoint" }, { - "candidate_joint": 0, + "candidate_joint": 1, "candidate_limit_pattern": [ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/MainWheel_L_Axle", + "candidate_path": "/HandTruck/Joints/AxleRotationLeft", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.03166046412390307, + "earned": 0.05614257318542662, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.03166046412390307, - "motion_rms_m": 0.08939149648555247, + "motion_credit": 0.05614257318542662, + "motion_rms_m": 0.06627474359989383, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 6, @@ -103864,7 +109353,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 3.166046412390307, + "score_percent": 5.614257318542662, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -103886,24 +109375,24 @@ "type": "PhysicsRevoluteJoint" }, { - "candidate_joint": 7, + "candidate_joint": 6, "candidate_limit_pattern": [ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/CasterWheel_R_Rolling", + "candidate_path": "/HandTruck/Joints/CasterRollRight", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.019427973325797192, + "earned": 0.03002939979324204, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.019427973325797192, - "motion_rms_m": 0.11483308041757999, + "motion_credit": 0.03002939979324204, + "motion_rms_m": 0.0918643431228731, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 8, @@ -103916,7 +109405,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 1.9427973325797192, + "score_percent": 3.002939979324204, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -103939,7 +109428,7 @@ } ], "limit_pattern_treatment": "1/(1+number of differing bound endpoint states after coordinate normalisation)", - "lower_bound_percent": 1.0327480041644415, + "lower_bound_percent": 2.078184088430594, "matched_joint_count": 4, "measured": 1, "measurement": "sampled joint constraint transforms on common reference-body bounding-box landmarks", @@ -103947,7 +109436,7 @@ "range_scope": "observed finite, half-bounded, unbounded and locked intervals", "reference_joint_count": 10, "schema": "source-usd-kinematics-v1", - "score_percent": 1.0327480041644415, + "score_percent": 2.078184088430594, "settings": { "distance_band_m": 0.016163708676063322, "range_absolute_degrees": 5, @@ -103981,29 +109470,29 @@ "PhysicsRevoluteJoint", "PhysicsPrismaticJoint" ], - "upper_bound_percent": 1.0327480041644415 + "upper_bound_percent": 2.078184088430594 }, "materials": { "appearance": { "aggregation": "mean per-sample appearance-property match fraction", "coverage_basis": "reference surface samples with assigned visual materials", "coverage_fraction": 1.0, - "earned": 672.8333333333334, + "earned": 46.666666666666664, "eligible": 2048, - "lower_bound_percent": 32.85319010416667, + "lower_bound_percent": 2.278645833333333, "measured": 2048, - "score_percent": 32.85319010416667, + "score_percent": 2.278645833333333, "status": "measured", "unknown": 0, - "upper_bound_percent": 32.85319010416667 + "upper_bound_percent": 2.278645833333326 }, "coverage_basis": "reference area samples with supported effective material properties", "coverage_fraction": 0.6671142578125, - "earned": 5803, + "earned": 1322, "eligible": 16395, "features": { "physics:assignment": { - "earned": 1201, + "earned": 0, "eligible": 2048 }, "physics:density": { @@ -104011,19 +109500,19 @@ "eligible": 2048 }, "physics:dynamicFriction": { - "earned": 976, + "earned": 0, "eligible": 2048 }, "physics:restitution": { - "earned": 1056, + "earned": 0, "eligible": 2048 }, "physics:staticFriction": { - "earned": 55, + "earned": 0, "eligible": 2048 }, "visual:assignment": { - "earned": 1201, + "earned": 1182, "eligible": 2048 }, "visual:diffuseColor": { @@ -104031,11 +109520,11 @@ "eligible": 1439 }, "visual:metallic": { - "earned": 113, + "earned": 140, "eligible": 310 }, "visual:opacity": { - "earned": 1201, + "earned": 0, "eligible": 2048 }, "visual:roughness": { @@ -104045,61 +109534,61 @@ }, "measured": 16395, "reference_possible_fields": 24576, - "score_percent": 35.39493748093931, + "score_percent": 8.063433973772492, "status": "measured" }, "rigid_parts": { "coverage_fraction": 1.0, - "earned": 2.7079716063528605, + "earned": 2.793599945801616, "eligible": 11, "extra_bodies": 0, - "geometry_score_percent": 24.617923694116914, + "geometry_score_percent": 25.396363143651055, "measured": 11, - "missing_parts": 2, + "missing_parts": 3, "parts": [ { "band_m": 0.016163708676063322, "candidate_body": "/HandTruck/Frame", - "p95_m": 0.055053891860574536, - "precision": 0.45068359375, - "recall": 0.52490234375, + "p95_m": 0.04569776902066465, + "precision": 0.58740234375, + "recall": 0.55126953125, "reference_body": "/RootNode/Geometry/sm_body_a01_obj_00", - "rms_m": 0.029705609811820344, + "rms_m": 0.023113220816398387, "samples_each_direction": 2048, - "score_percent": 48.49698331143644 + "score_percent": 56.87626467356347 }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/MainWheel_R", - "p95_m": 0.06052594207266711, - "precision": 0.587890625, - "recall": 0.634765625, + "candidate_body": "/HandTruck/MainWheelRight", + "p95_m": 0.04210656235703328, + "precision": 0.52685546875, + "recall": 0.73486328125, "reference_body": "/RootNode/Geometry/sm_front_wheel1_a01_obj_00", - "rms_m": 0.026761531935539203, + "rms_m": 0.019646930633186274, "samples_each_direction": 2048, - "score_percent": 61.04295626996805 + "score_percent": 61.37132201770511 }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/MainWheel_L", - "p95_m": 0.04074411354839334, - "precision": 0.60546875, - "recall": 0.728515625, + "candidate_body": "/HandTruck/MainWheelLeft", + "p95_m": 0.04519793640531217, + "precision": 0.54638671875, + "recall": 0.701171875, "reference_body": "/RootNode/Geometry/sm_front_wheel2_a01_obj_00", - "rms_m": 0.01979948869018155, + "rms_m": 0.02008020583067962, "samples_each_direction": 2048, - "score_percent": 66.13172584187409 + "score_percent": 61.41771648727984 }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/SlidingHandle", - "p95_m": 0.05512043413800685, - "precision": 0.71435546875, - "recall": 0.69384765625, + "candidate_body": "/HandTruck/Handle", + "p95_m": 0.11018071376670473, + "precision": 0.26171875, + "recall": 0.3857421875, "reference_body": "/RootNode/Geometry/sm_handle_a01_obj_00", - "rms_m": 0.021318141618088073, + "rms_m": 0.04276628520770746, "samples_each_direction": 2048, - "score_percent": 70.3952233768204 + "score_percent": 31.185190422322773 }, { "candidate_body": null, @@ -104109,14 +109598,10 @@ "score_percent": 0.0 }, { - "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/ReleasePin", - "p95_m": 0.109989075457944, + "candidate_body": null, "precision": 0.0, "recall": 0.0, "reference_body": "/RootNode/Geometry/sm_lock2_a01_obj_00", - "rms_m": 0.08846207730004509, - "samples_each_direction": 2048, "score_percent": 0.0 }, { @@ -104128,50 +109613,50 @@ }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/CasterFork_R", - "p95_m": 0.06829981695227712, - "precision": 0.1181640625, - "recall": 0.13232421875, + "candidate_body": "/HandTruck/CasterForkRight", + "p95_m": 0.06260412851988977, + "precision": 0.125, + "recall": 0.22216796875, "reference_body": "/RootNode/Geometry/sm_rear_frame1_a01_obj_00", - "rms_m": 0.045935926867636506, + "rms_m": 0.03759483264775371, "samples_each_direction": 2048, - "score_percent": 12.484390229044834 + "score_percent": 15.9985935302391 }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/CasterFork_L", - "p95_m": 0.07242744859549165, - "precision": 0.03076171875, - "recall": 0.0419921875, + "candidate_body": "/HandTruck/CasterForkLeft", + "p95_m": 0.06219713722567463, + "precision": 0.1630859375, + "recall": 0.2373046875, "reference_body": "/RootNode/Geometry/sm_rear_frame2_a01_obj_00", - "rms_m": 0.05100396493668091, + "rms_m": 0.03695986693589715, "samples_each_direction": 2048, - "score_percent": 3.5510171979865772 + "score_percent": 19.331650152439025 }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/CasterWheel_R", - "p95_m": 0.0799427187817758, - "precision": 0.02099609375, - "recall": 0.04638671875, + "candidate_body": "/HandTruck/CasterWheelRight", + "p95_m": 0.06240422844464052, + "precision": 0.15087890625, + "recall": 0.1884765625, "reference_body": "/RootNode/Geometry/sm_rear_wheel1_a01_obj_00", - "rms_m": 0.05402309636831416, + "rms_m": 0.03921931673250929, "samples_each_direction": 2048, - "score_percent": 2.8907665307971016 + "score_percent": 16.759498651079134 }, { "band_m": 0.016163708676063322, - "candidate_body": "/HandTruck/CasterWheel_L", - "p95_m": 0.07938240504751982, - "precision": 0.0439453125, - "recall": 0.08544921875, + "candidate_body": "/HandTruck/CasterWheelLeft", + "p95_m": 0.06322702365878616, + "precision": 0.1396484375, + "recall": 0.19921875, "reference_body": "/RootNode/Geometry/sm_rear_wheel2_a01_obj_00", - "rms_m": 0.05165732139505179, + "rms_m": 0.03952082601772596, "samples_each_direction": 2048, - "score_percent": 5.80409787735849 + "score_percent": 16.419758645533143 } ], - "score_percent": 24.617923694116914, + "score_percent": 25.396363143651055, "status": "measured", "structure": { "checks": [ @@ -104195,12 +109680,12 @@ }, { "feature": "body_enabled", - "passed": true, + "passed": false, "reference_body": "/RootNode/Geometry/sm_lock2_a01_obj_00" }, { "feature": "body_kinematic", - "passed": true, + "passed": false, "reference_body": "/RootNode/Geometry/sm_lock2_a01_obj_00" }, { @@ -104295,10 +109780,10 @@ } ], "coverage_fraction": 1, - "earned": 18, + "earned": 16, "eligible": 24, "measured": 24, - "score_percent": 75.0, + "score_percent": 66.66666666666667, "status": "measured" }, "treatment": "minimum of reference-body mean surface F-score and fixed rigid-structure check fraction; no cross-component weighting" @@ -104307,16 +109792,16 @@ "band_m": 0.016163708676063322, "coverage_basis": "fixed source supported-visible-prim fraction", "coverage_fraction": 1.0, - "earned": 0.5981495116789066, + "earned": 0.5737101063829787, "eligible": 1, "full_surface_correspondence": "supported_authored_surfaces", "measured": 1, - "p95_m": 0.05505388620776976, - "precision": 0.6103515625, - "recall": 0.58642578125, - "rms_m": 0.025921800805515347, + "p95_m": 0.04161126948572971, + "precision": 0.5703125, + "recall": 0.5771484375, + "rms_m": 0.021018873698626907, "samples_each_direction": 2048, - "score_percent": 59.81495116789066, + "score_percent": 57.37101063829787, "status": "measured" } } @@ -104335,9 +109820,9 @@ "upper_bound_percent": 100.0 }, "visual": { - "score_percent": 44.32958337036519, + "score_percent": 11.433643966167557, "status": "measured", - "earned": 0.8865916674073039, + "earned": 0.22867287932335112, "eligible": 2, "measured": 2, "coverage_fraction": 1.0, @@ -104347,41 +109832,41 @@ "band_m": 0.016163708676063322, "coverage_basis": "fixed source supported-visible-prim fraction", "coverage_fraction": 1.0, - "earned": 0.5981495116789066, + "earned": 0.5737101063829787, "eligible": 1, "full_surface_correspondence": "supported_authored_surfaces", "measured": 1, - "p95_m": 0.05505388620776976, - "precision": 0.6103515625, - "recall": 0.58642578125, - "rms_m": 0.025921800805515347, + "p95_m": 0.04161126948572971, + "precision": 0.5703125, + "recall": 0.5771484375, + "rms_m": 0.021018873698626907, "samples_each_direction": 2048, - "score_percent": 59.81495116789066, + "score_percent": 57.37101063829787, "status": "measured" }, "appearance": { "aggregation": "mean per-sample appearance-property match fraction", "coverage_basis": "reference surface samples with assigned visual materials", "coverage_fraction": 1.0, - "earned": 672.8333333333334, + "earned": 46.666666666666664, "eligible": 2048, - "lower_bound_percent": 32.85319010416667, + "lower_bound_percent": 2.278645833333333, "measured": 2048, - "score_percent": 32.85319010416667, + "score_percent": 2.278645833333333, "status": "measured", "unknown": 0, - "upper_bound_percent": 32.85319010416667, + "upper_bound_percent": 2.278645833333326, "features": { "visual:diffuseColor": { "earned": 0, "eligible": 1439 }, "visual:metallic": { - "earned": 113, + "earned": 140, "eligible": 310 }, "visual:opacity": { - "earned": 1201, + "earned": 0, "eligible": 2048 }, "visual:roughness": { @@ -104391,16 +109876,16 @@ } } }, - "lower_bound_percent": 44.32958337036519, - "upper_bound_percent": 44.32958337036519 + "lower_bound_percent": 11.433643966167557, + "upper_bound_percent": 11.433643966167557 }, "kinematic": { "aggregation": "geometric mean of moving-joint and fixed-constraint recovery, each 2*sum(quality)/(reference_count+candidate_count)", - "candidate_joint_count": 8, + "candidate_joint_count": 7, "coverage_fraction": 1.0, - "earned": 0.010327480041644415, + "earned": 0.020781840884305944, "eligible": 1, - "extra_joint_count": 4, + "extra_joint_count": 3, "finite_extent_treatment": "1/(1+(unwrapped interval extent error/(absolute range tolerance+relative tolerance*reference extent))^2)", "groups": { "fixed_constraints": { @@ -104416,40 +109901,40 @@ "upper_bound_percent": null }, "moving_joints": { - "candidate_joint_count": 8, + "candidate_joint_count": 7, "coverage_fraction": 1.0, - "earned": 0.18589464074959947, - "eligible": 18, - "lower_bound_percent": 1.0327480041644415, - "measured": 18, + "earned": 0.353291295033201, + "eligible": 17, + "lower_bound_percent": 2.078184088430594, + "measured": 17, "reference_joint_count": 10, - "score_percent": 1.0327480041644415, + "score_percent": 2.078184088430594, "status": "measured", - "upper_bound_percent": 1.0327480041644415 + "upper_bound_percent": 2.078184088430594 } }, "infinite_range_probes": "one full revolution or one reference diagonal, centred at a canonical coordinate for fully unbounded motion or anchored at the finite endpoint for half-bounded motion; authored limits remain unchanged", "joint_quality": "motion_credit*unwrapped_extent_credit*limit_pattern_credit, with motion_credit=1/(1+(motion_rms_m/distance_band_m)^2)", "joints": [ { - "candidate_joint": 5, + "candidate_joint": 4, "candidate_limit_pattern": [ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/CasterWheel_L_Rolling", + "candidate_path": "/HandTruck/Joints/CasterRollLeft", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.01866773662124913, + "earned": 0.03025359811858904, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.01866773662124913, - "motion_rms_m": 0.11719341795475569, + "motion_credit": 0.03025359811858904, + "motion_rms_m": 0.09151274574001962, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 0, @@ -104462,7 +109947,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 1.866773662124913, + "score_percent": 3.025359811858904, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -104498,24 +109983,24 @@ "type": "PhysicsPrismaticJoint" }, { - "candidate_joint": 1, + "candidate_joint": 2, "candidate_limit_pattern": [ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/MainWheel_R_Axle", + "candidate_path": "/HandTruck/Joints/AxleRotationRight", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.023191146303850347, + "earned": 0.0602200764193428, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.023191146303850347, - "motion_rms_m": 0.10490222511087822, + "motion_credit": 0.0602200764193428, + "motion_rms_m": 0.06385331438235578, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 3, @@ -104528,7 +110013,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 2.3191146303850347, + "score_percent": 6.02200764193428, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -104564,24 +110049,24 @@ "type": "PhysicsRevoluteJoint" }, { - "candidate_joint": 0, + "candidate_joint": 1, "candidate_limit_pattern": [ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/MainWheel_L_Axle", + "candidate_path": "/HandTruck/Joints/AxleRotationLeft", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.03166046412390307, + "earned": 0.05614257318542662, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.03166046412390307, - "motion_rms_m": 0.08939149648555247, + "motion_credit": 0.05614257318542662, + "motion_rms_m": 0.06627474359989383, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 6, @@ -104594,7 +110079,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 3.166046412390307, + "score_percent": 5.614257318542662, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -104616,24 +110101,24 @@ "type": "PhysicsRevoluteJoint" }, { - "candidate_joint": 7, + "candidate_joint": 6, "candidate_limit_pattern": [ "negative_unbounded", "positive_unbounded" ], - "candidate_path": "/HandTruck/Joints/CasterWheel_R_Rolling", + "candidate_path": "/HandTruck/Joints/CasterRollRight", "candidate_probe_interval": [ -3.141592653589793, 3.141592653589793 ], "coverage_fraction": 1, - "earned": 0.019427973325797192, + "earned": 0.03002939979324204, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.019427973325797192, - "motion_rms_m": 0.11483308041757999, + "motion_credit": 0.03002939979324204, + "motion_rms_m": 0.0918643431228731, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 8, @@ -104646,7 +110131,7 @@ -3.141592653589793, 3.141592653589793 ], - "score_percent": 1.9427973325797192, + "score_percent": 3.002939979324204, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", @@ -104669,7 +110154,7 @@ } ], "limit_pattern_treatment": "1/(1+number of differing bound endpoint states after coordinate normalisation)", - "lower_bound_percent": 1.0327480041644415, + "lower_bound_percent": 2.078184088430594, "matched_joint_count": 4, "measured": 1, "measurement": "sampled joint constraint transforms on common reference-body bounding-box landmarks", @@ -104677,7 +110162,7 @@ "range_scope": "observed finite, half-bounded, unbounded and locked intervals", "reference_joint_count": 10, "schema": "source-usd-kinematics-v1", - "score_percent": 1.0327480041644415, + "score_percent": 2.078184088430594, "settings": { "distance_band_m": 0.016163708676063322, "range_absolute_degrees": 5, @@ -104711,16 +110196,16 @@ "PhysicsRevoluteJoint", "PhysicsPrismaticJoint" ], - "upper_bound_percent": 1.0327480041644415 + "upper_bound_percent": 2.078184088430594 } }, "illustrations": { - "rig_sha256": "d57ad254d24dd3f3752fdf5eb7f3840f13ac11cc964bd343706d9e97ad4cbc0f", + "rig_sha256": "42164cbcc119a1499b50a26c410278d80f1ee4446be4b6d681a85a209c51e400", "rig": { "aperture": 2.2244290351473026, "basis": "reference bounds in metres/Z-up", "candidate_alignment": { - "aligned_rms_m": 0.026228730020709135, + "aligned_rms_m": 0.021557177947464926, "converged": false, "iterations": 16, "maximum_iterations_per_start": 8, @@ -104729,13 +110214,13 @@ "refined_starts": 2, "rotation": [ [ - 0.9974954124859092, - 0.07073119587258399, + 0.9999377765795638, + -0.011155400894556642, 0.0 ], [ - -0.07073119587258399, - 0.9974954124859092, + 0.011155400894556642, + 0.9999377765795638, 0.0 ], [ @@ -104747,12 +110232,12 @@ "samples_each_direction": 128, "scale": 1.0, "translation_m": [ - -0.0027510214704174847, - -0.1257414479328283, - -0.0577830816103011 + 0.00015734971321955046, + -0.1037616261392526, + -0.051794878132268796 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@@ "mandatory": false, "requirement_id": "com.nvidia.simready.NP.006", "requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "nonvisual_materials", @@ -106323,7 +111808,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.SR.001", "requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "materials_textures", @@ -106418,10 +111903,10 @@ } ], "coverage_fraction": 1.0, - "failed_count": 13, - "lower_bound_percent": 74.50980392156863, + "failed_count": 12, + "lower_bound_percent": 76.47058823529412, "measured_count": 51, - "passed_count": 38, + "passed_count": 39, "profile": { "id": "Robotics-Prop", "version": "4.0.0" @@ -106430,18 +111915,18 @@ "profile_optional_count": 51, "schema": "simready-validator-optional-score-v1", "scope": "all_optional_profile", - "score_percent": 74.50980392156863, + "score_percent": 76.47058823529412, "status": "scored", "unknown_count": 0, "unknown_reason": null, - 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- "feature": "existence_type_connectivity", - "passed": true, - "reference_joint": 0 - }, - { - "feature": "joint_enabled", - "passed": true, - "reference_joint": 0 - }, - { - "feature": "body0_enabled", - "passed": true, - "reference_joint": 0 - }, - { - "feature": "body0_kinematic", - "passed": true, - "reference_joint": 0 - }, - { - "feature": "body1_enabled", - "passed": true, - "reference_joint": 0 - }, - { - "feature": "body1_kinematic", - "passed": true, - "reference_joint": 0 - }, - { - "feature": "anchors", - "passed": false, - "reference_joint": 0 - }, - { - "feature": "axes", - "passed": true, - "reference_joint": 0 - }, - { - "feature": "relative_orientation", - "passed": true, - "reference_joint": 0 - }, - { - "feature": "limits", - "passed": true, - "reference_joint": 0 - }, - { - "feature": "existence_type_connectivity", - "passed": false, - "reference_joint": 1 - }, - { - "feature": "joint_enabled", - "passed": false, - "reference_joint": 1 - }, - { - "feature": "body0_enabled", - "passed": false, - "reference_joint": 1 - }, - { - "feature": "body0_kinematic", - "passed": false, - "reference_joint": 1 - }, - { - "feature": "body1_enabled", - "passed": false, - "reference_joint": 1 - }, - { - "feature": "body1_kinematic", - "passed": false, - "reference_joint": 1 - }, - { - "feature": "anchors", - "passed": false, - "reference_joint": 1 - }, - { - "feature": "axes", - "passed": false, - "reference_joint": 1 - }, - { - "feature": "relative_orientation", - "passed": false, - "reference_joint": 1 - }, - { - "feature": "limits", - "passed": false, - "reference_joint": 1 - }, - { - "feature": "existence_type_connectivity", - "passed": false, - "reference_joint": 2 - }, - { - "feature": "joint_enabled", - "passed": false, - "reference_joint": 2 - }, - { - "feature": "body0_enabled", - "passed": false, - "reference_joint": 2 - }, - { - "feature": "body0_kinematic", - "passed": false, - "reference_joint": 2 - }, - { - "feature": "body1_enabled", - "passed": false, - "reference_joint": 2 - }, - { - "feature": "body1_kinematic", - "passed": false, - "reference_joint": 2 - }, - { - "feature": "anchors", - "passed": false, - "reference_joint": 2 - }, - { - "feature": "axes", - "passed": false, - "reference_joint": 2 - }, - { - "feature": "relative_orientation", - "passed": false, - "reference_joint": 2 - }, - { - "feature": "limits", - "passed": false, - "reference_joint": 2 - }, - { - "feature": "existence_type_connectivity", - "passed": true, - "reference_joint": 3 - }, - { - "feature": "joint_enabled", - "passed": true, - "reference_joint": 3 - }, - { - "feature": "body0_enabled", - "passed": true, - "reference_joint": 3 - }, - { - "feature": "body0_kinematic", - "passed": true, - "reference_joint": 3 - }, - { - "feature": "body1_enabled", - "passed": true, - "reference_joint": 3 - }, - { - "feature": "body1_kinematic", - "passed": true, - "reference_joint": 3 - }, - { - "feature": "anchors", - "passed": false, - "reference_joint": 3 - }, - { - "feature": "axes", - "passed": true, - "reference_joint": 3 - }, - { - "feature": "relative_orientation", - "passed": true, - "reference_joint": 3 - }, - { - "feature": "limits", - "passed": true, - "reference_joint": 3 - }, - { - "feature": "existence_type_connectivity", - "passed": false, - "reference_joint": 4 - }, - { - "feature": "joint_enabled", - "passed": false, - "reference_joint": 4 - }, - { - "feature": "body0_enabled", - "passed": false, - "reference_joint": 4 - }, - { - "feature": "body0_kinematic", - "passed": false, - "reference_joint": 4 - }, - { - "feature": "body1_enabled", - "passed": false, - "reference_joint": 4 - }, - { - "feature": "body1_kinematic", - "passed": false, - "reference_joint": 4 - }, - { - "feature": "anchors", - "passed": false, - "reference_joint": 4 - }, - { - "feature": "axes", - "passed": false, - "reference_joint": 4 - }, - { - "feature": "relative_orientation", - "passed": false, - "reference_joint": 4 - }, - { - "feature": "limits", - "passed": false, - "reference_joint": 4 - }, - { - "feature": "existence_type_connectivity", - "passed": false, - "reference_joint": 5 - }, - { - "feature": "joint_enabled", - "passed": false, - "reference_joint": 5 - }, - { - "feature": "body0_enabled", - "passed": false, - "reference_joint": 5 - }, - { - "feature": "body0_kinematic", - "passed": false, - "reference_joint": 5 - }, - { - "feature": "body1_enabled", - "passed": false, - "reference_joint": 5 - }, - { - "feature": "body1_kinematic", - "passed": false, - "reference_joint": 5 - }, - { - "feature": "anchors", - "passed": false, - "reference_joint": 5 - }, - { - "feature": "axes", - "passed": false, - "reference_joint": 5 - }, - { - "feature": "relative_orientation", - "passed": false, - "reference_joint": 5 - }, - { - "feature": "limits", - "passed": false, - "reference_joint": 5 - }, + "translation_m": [ + 0.0001229506774112593, + -0.020890014554298342, + 0.00010793434554709491 + ], + "unaligned_rms_m": 0.012235625398782857, + "yaw_degrees": 0.020879409720331126, + "yaw_starts": 32 + }, + "components": { + "joints": { + "candidate_joint_count": 4, + "checks": [ { "feature": "existence_type_connectivity", "passed": true, - "reference_joint": 6 + "reference_joint": 0 }, { "feature": "joint_enabled", "passed": true, - "reference_joint": 6 + "reference_joint": 0 }, { "feature": "body0_enabled", "passed": true, - "reference_joint": 6 + "reference_joint": 0 }, { "feature": "body0_kinematic", "passed": true, - "reference_joint": 6 + "reference_joint": 0 }, { "feature": "body1_enabled", "passed": true, - "reference_joint": 6 + "reference_joint": 0 }, { "feature": "body1_kinematic", "passed": true, - "reference_joint": 6 + "reference_joint": 0 }, { "feature": "anchors", "passed": false, - "reference_joint": 6 + "reference_joint": 0 }, { "feature": "axes", "passed": true, - "reference_joint": 6 + "reference_joint": 0 }, { "feature": "relative_orientation", "passed": true, - "reference_joint": 6 + "reference_joint": 0 }, { "feature": "limits", - "passed": true, - "reference_joint": 6 + "passed": false, + "reference_joint": 0 }, { "feature": "existence_type_connectivity", "passed": false, - "reference_joint": 7 + "reference_joint": 1 }, { "feature": "joint_enabled", "passed": false, - "reference_joint": 7 + "reference_joint": 1 }, { "feature": "body0_enabled", "passed": false, - "reference_joint": 7 + "reference_joint": 1 }, { "feature": "body0_kinematic", "passed": false, - "reference_joint": 7 + "reference_joint": 1 }, { "feature": "body1_enabled", "passed": false, - "reference_joint": 7 + "reference_joint": 1 }, { "feature": "body1_kinematic", "passed": false, - "reference_joint": 7 + "reference_joint": 1 }, { "feature": "anchors", "passed": false, - "reference_joint": 7 + "reference_joint": 1 }, { "feature": "axes", "passed": false, - "reference_joint": 7 + "reference_joint": 1 }, { "feature": "relative_orientation", "passed": false, - "reference_joint": 7 + "reference_joint": 1 }, { "feature": "limits", "passed": false, - "reference_joint": 7 - }, - { - "feature": "existence_type_connectivity", - "passed": true, - "reference_joint": 8 - }, - { - "feature": "joint_enabled", - "passed": true, - "reference_joint": 8 - }, - { - "feature": "body0_enabled", - "passed": true, - "reference_joint": 8 - }, - { - "feature": "body0_kinematic", - "passed": true, - "reference_joint": 8 - }, - { - "feature": "body1_enabled", - "passed": true, - "reference_joint": 8 - }, - { - "feature": "body1_kinematic", - "passed": true, - "reference_joint": 8 - }, - { - "feature": "anchors", - "passed": false, - "reference_joint": 8 - }, - { - "feature": "axes", - "passed": true, - "reference_joint": 8 - }, - { - "feature": "relative_orientation", - "passed": true, - "reference_joint": 8 - }, - { - "feature": "limits", - "passed": true, - "reference_joint": 8 + "reference_joint": 1 }, { "feature": "existence_type_connectivity", "passed": false, - "reference_joint": 9 + "reference_joint": 2 }, { "feature": "joint_enabled", "passed": false, - "reference_joint": 9 + "reference_joint": 2 }, { "feature": "body0_enabled", "passed": false, - "reference_joint": 9 + "reference_joint": 2 }, { "feature": "body0_kinematic", "passed": false, - "reference_joint": 9 + "reference_joint": 2 }, { "feature": "body1_enabled", "passed": false, - "reference_joint": 9 + "reference_joint": 2 }, { "feature": "body1_kinematic", "passed": false, - "reference_joint": 9 + "reference_joint": 2 }, { "feature": "anchors", "passed": false, - "reference_joint": 9 + "reference_joint": 2 }, { "feature": "axes", "passed": false, - "reference_joint": 9 + "reference_joint": 2 }, { "feature": "relative_orientation", "passed": false, - "reference_joint": 9 + "reference_joint": 2 }, { "feature": "limits", "passed": false, - "reference_joint": 9 + "reference_joint": 2 }, { "feature": "joint_count", @@ -106987,89 +112122,89 @@ } ], "coverage_fraction": 1.0, - "earned": 36, - "eligible": 101, - "extra_joint_count": 0, - "measured": 101, - "reference_joint_count": 10, - "reference_possible_checks": 101, - "score_percent": 35.64356435643565, + "earned": 8, + "eligible": 31, + "extra_joint_count": 1, + "measured": 31, + "reference_joint_count": 3, + "reference_possible_checks": 31, + "score_percent": 25.806451612903224, "status": "measured" }, "kinematics": { "aggregation": "geometric mean of moving-joint and fixed-constraint recovery, each 2*sum(quality)/(reference_count+candidate_count)", - "candidate_joint_count": 7, + "candidate_joint_count": 4, "coverage_fraction": 1.0, - "earned": 0.020781840884305944, - "eligible": 1, + "earned": 0.0, + "eligible": 2, "extra_joint_count": 3, "finite_extent_treatment": "1/(1+(unwrapped interval extent error/(absolute range tolerance+relative tolerance*reference extent))^2)", "groups": { "fixed_constraints": { - "candidate_joint_count": 0, - "coverage_fraction": 0, + "candidate_joint_count": 1, + "coverage_fraction": 1.0, "earned": 0, - "eligible": 0, - "lower_bound_percent": null, - "measured": 0, + "eligible": 1, + "lower_bound_percent": 0.0, + "measured": 1, "reference_joint_count": 0, - "score_percent": null, - "status": "not_applicable", - "upper_bound_percent": null + "score_percent": 0.0, + "status": "measured", + "upper_bound_percent": 0.0 }, "moving_joints": { - "candidate_joint_count": 7, + "candidate_joint_count": 3, "coverage_fraction": 1.0, - "earned": 0.353291295033201, - "eligible": 17, - "lower_bound_percent": 2.078184088430594, - "measured": 17, - "reference_joint_count": 10, - "score_percent": 2.078184088430594, + "earned": 0.08099690167232226, + "eligible": 6, + "lower_bound_percent": 1.349948361205371, + "measured": 6, + "reference_joint_count": 3, + "score_percent": 1.349948361205371, "status": "measured", - "upper_bound_percent": 2.078184088430594 + "upper_bound_percent": 1.349948361205371 } }, "infinite_range_probes": "one full revolution or one reference diagonal, centred at a canonical coordinate for fully unbounded motion or anchored at the finite endpoint for half-bounded motion; authored limits remain unchanged", "joint_quality": "motion_credit*unwrapped_extent_credit*limit_pattern_credit, with motion_credit=1/(1+(motion_rms_m/distance_band_m)^2)", "joints": [ { - "candidate_joint": 4, + "candidate_joint": 3, "candidate_limit_pattern": [ - "negative_unbounded", - "positive_unbounded" + "finite", + "finite" ], - "candidate_path": "/HandTruck/Joints/CasterRollLeft", + "candidate_path": "/Kettle/Joints/PowerRockerPivot", "candidate_probe_interval": [ - -3.141592653589793, - 3.141592653589793 + -0.24434609527920614, + 0.24434609527920614 ], "coverage_fraction": 1, - "earned": 0.03025359811858904, + "earned": 0.04049845083616113, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.03025359811858904, - "motion_rms_m": 0.09151274574001962, + "motion_credit": 0.2138568610741874, + "motion_rms_m": 0.00902056283024612, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 0, "reference_limit_pattern": [ - "negative_unbounded", - "positive_unbounded" + "finite", + "finite" ], - "reference_path": "/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00", + "reference_path": "/RootNode/Joints/joint_sm_kitchenware_kettle_a01_switch_joint_00", "reference_probe_interval": [ - -3.141592653589793, - 3.141592653589793 + -0.13962634015954636, + 0.13962634015954636 ], - "score_percent": 3.025359811858904, + "score_percent": 4.0498450836161135, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", - "unwrapped_extent_credit": 1.0, - "unwrapped_extent_error": null + "unwrapped_extent_credit": 0.1893717631164152, + "unwrapped_extent_error": 0.20943951023931956 }, { "candidate_joint": null, @@ -107080,7 +112215,7 @@ "motion_rms_m": null, "reason": "missing_joint", "reference_joint": 1, - "reference_path": "/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00", + "reference_path": "/RootNode/Joints/joint_sm_kitchenware_kettle_a01_button_joint_00", "score_percent": 0.0, "status": "measured", "type": "PhysicsRevoluteJoint" @@ -107094,198 +112229,28 @@ "motion_rms_m": null, "reason": "missing_joint", "reference_joint": 2, - "reference_path": "/RootNode/Joints/joint_sm_handle_a01_joint_00", - "score_percent": 0.0, - "status": "measured", - "type": "PhysicsPrismaticJoint" - }, - { - "candidate_joint": 2, - "candidate_limit_pattern": [ - "negative_unbounded", - "positive_unbounded" - ], - "candidate_path": "/HandTruck/Joints/AxleRotationRight", - "candidate_probe_interval": [ - -3.141592653589793, - 3.141592653589793 - ], - "coverage_fraction": 1, - "earned": 0.0602200764193428, - "eligible": 1, - "limit_pattern_credit": 1.0, - "limit_pattern_mismatches": 0, - "measured": 1, - "motion_credit": 0.0602200764193428, - "motion_rms_m": 0.06385331438235578, - "probe_units": "radians", - "reason": "measured_motion", - "reference_joint": 3, - "reference_limit_pattern": [ - "negative_unbounded", - "positive_unbounded" - ], - "reference_path": "/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00", - "reference_probe_interval": [ - -3.141592653589793, - 3.141592653589793 - ], - "score_percent": 6.02200764193428, - "status": "measured", - "swapped_endpoints": false, - "type": "PhysicsRevoluteJoint", - "unwrapped_extent_credit": 1.0, - "unwrapped_extent_error": null - }, - { - "candidate_joint": null, - "coverage_fraction": 1, - "earned": 0.0, - "eligible": 1, - "measured": 1, - "motion_rms_m": null, - "reason": "missing_joint", - "reference_joint": 4, - "reference_path": "/RootNode/Joints/joint_sm_lock1_a01_joint_00", - "score_percent": 0.0, - "status": "measured", - "type": "PhysicsPrismaticJoint" - }, - { - "candidate_joint": null, - "coverage_fraction": 1, - "earned": 0.0, - "eligible": 1, - "measured": 1, - "motion_rms_m": null, - "reason": "missing_joint", - "reference_joint": 5, - "reference_path": "/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00", - "score_percent": 0.0, - "status": "measured", - "type": "PhysicsRevoluteJoint" - }, - { - "candidate_joint": 1, - "candidate_limit_pattern": [ - "negative_unbounded", - "positive_unbounded" - ], - "candidate_path": "/HandTruck/Joints/AxleRotationLeft", - "candidate_probe_interval": [ - -3.141592653589793, - 3.141592653589793 - ], - "coverage_fraction": 1, - "earned": 0.05614257318542662, - "eligible": 1, - "limit_pattern_credit": 1.0, - "limit_pattern_mismatches": 0, - "measured": 1, - "motion_credit": 0.05614257318542662, - "motion_rms_m": 0.06627474359989383, - "probe_units": "radians", - "reason": "measured_motion", - "reference_joint": 6, - "reference_limit_pattern": [ - "negative_unbounded", - "positive_unbounded" - ], - "reference_path": "/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00", - "reference_probe_interval": [ - -3.141592653589793, - 3.141592653589793 - ], - "score_percent": 5.614257318542662, - "status": "measured", - "swapped_endpoints": false, - "type": "PhysicsRevoluteJoint", - "unwrapped_extent_credit": 1.0, - "unwrapped_extent_error": null - }, - { - "candidate_joint": null, - "coverage_fraction": 1, - "earned": 0.0, - "eligible": 1, - "measured": 1, - "motion_rms_m": null, - "reason": "missing_joint", - "reference_joint": 7, - "reference_path": "/RootNode/Joints/joint_sm_mount_a01_joint_01", + "reference_path": "/RootNode/Joints/joint_sm_kitchenware_kettle_a01_lid_joint_00", "score_percent": 0.0, "status": "measured", "type": "PhysicsRevoluteJoint" - }, - { - "candidate_joint": 6, - "candidate_limit_pattern": [ - "negative_unbounded", - "positive_unbounded" - ], - "candidate_path": "/HandTruck/Joints/CasterRollRight", - "candidate_probe_interval": [ - -3.141592653589793, - 3.141592653589793 - ], - "coverage_fraction": 1, - "earned": 0.03002939979324204, - "eligible": 1, - "limit_pattern_credit": 1.0, - "limit_pattern_mismatches": 0, - "measured": 1, - "motion_credit": 0.03002939979324204, - "motion_rms_m": 0.0918643431228731, - "probe_units": "radians", - "reason": "measured_motion", - "reference_joint": 8, - "reference_limit_pattern": [ - "negative_unbounded", - "positive_unbounded" - ], - "reference_path": "/RootNode/Joints/joint_sm_rear_wheel1_a01_joint_00", - "reference_probe_interval": [ - -3.141592653589793, - 3.141592653589793 - ], - "score_percent": 3.002939979324204, - "status": "measured", - "swapped_endpoints": false, - "type": "PhysicsRevoluteJoint", - "unwrapped_extent_credit": 1.0, - "unwrapped_extent_error": null - }, - { - "candidate_joint": null, - "coverage_fraction": 1, - "earned": 0.0, - "eligible": 1, - "measured": 1, - "motion_rms_m": null, - "reason": "missing_joint", - "reference_joint": 9, - "reference_path": "/RootNode/Joints/joint_sm_lock2_a01_joint_00", - "score_percent": 0.0, - "status": "measured", - "type": "PhysicsPrismaticJoint" } ], "limit_pattern_treatment": "1/(1+number of differing bound endpoint states after coordinate normalisation)", - "lower_bound_percent": 2.078184088430594, - "matched_joint_count": 4, - "measured": 1, + "lower_bound_percent": 0.0, + "matched_joint_count": 1, + "measured": 2, "measurement": "sampled joint constraint transforms on common reference-body bounding-box landmarks", - "missing_joint_count": 6, + "missing_joint_count": 2, "range_scope": "observed finite, half-bounded, unbounded and locked intervals", - "reference_joint_count": 10, + "reference_joint_count": 3, "schema": "source-usd-kinematics-v1", - "score_percent": 2.078184088430594, + "score_percent": 0.0, "settings": { - "distance_band_m": 0.016163708676063322, + "distance_band_m": 0.004704835199778105, "range_absolute_degrees": 5, "range_absolute_m": 0.005, "range_relative": 0.05, - "reference_diagonal_m": 1.516370867606332, + "reference_diagonal_m": 0.3704835199778104, "sweep_fractions": [ 0.0, 0.03444185374863373, @@ -107313,26 +112278,26 @@ "PhysicsRevoluteJoint", "PhysicsPrismaticJoint" ], - "upper_bound_percent": 2.078184088430594 + "upper_bound_percent": 0.0 }, "materials": { "appearance": { "aggregation": "mean per-sample appearance-property match fraction", "coverage_basis": "reference surface samples with assigned visual materials", "coverage_fraction": 1.0, - "earned": 46.666666666666664, + "earned": 812.75, "eligible": 2048, - "lower_bound_percent": 2.278645833333333, + "lower_bound_percent": 39.68505859375, "measured": 2048, - "score_percent": 2.278645833333333, + "score_percent": 39.68505859375, "status": "measured", "unknown": 0, - "upper_bound_percent": 2.278645833333326 + "upper_bound_percent": 39.68505859375 }, "coverage_basis": "reference area samples with supported effective material properties", - "coverage_fraction": 0.6671142578125, - "earned": 1322, - "eligible": 16395, + "coverage_fraction": 0.8333333333333334, + "earned": 5039, + "eligible": 20480, "features": { "physics:assignment": { "earned": 0, @@ -107355,151 +112320,86 @@ "eligible": 2048 }, "visual:assignment": { - "earned": 1182, + "earned": 1788, "eligible": 2048 }, "visual:diffuseColor": { - "earned": 0, - "eligible": 1439 + "earned": 372, + "eligible": 2048 }, "visual:metallic": { - "earned": 140, - "eligible": 310 + "earned": 1523, + "eligible": 2048 }, "visual:opacity": { "earned": 0, "eligible": 2048 }, "visual:roughness": { - "earned": 0, - "eligible": 310 + "earned": 1356, + "eligible": 2048 } }, - "measured": 16395, + "measured": 20480, "reference_possible_fields": 24576, - "score_percent": 8.063433973772492, + "score_percent": 24.6044921875, "status": "measured" }, "rigid_parts": { "coverage_fraction": 1.0, - "earned": 2.793599945801616, - "eligible": 11, - "extra_bodies": 0, - "geometry_score_percent": 25.396363143651055, - "measured": 11, - "missing_parts": 3, + "earned": 1.6057304824528367, + "eligible": 4, + "extra_bodies": 1, + "geometry_score_percent": 40.14326206132092, + "measured": 4, + "missing_parts": 0, "parts": [ { - 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0.1396484375, - "recall": 0.19921875, - "reference_body": "/RootNode/Geometry/sm_rear_wheel2_a01_obj_00", - "rms_m": 0.03952082601772596, + "band_m": 0.004704835199778105, + "candidate_body": "/Kettle/PowerRocker", + "p95_m": 0.015641254118031016, + "precision": 0.06982421875, + "recall": 0.06787109375, + "reference_body": "/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00", + "rms_m": 0.010153490031319842, "samples_each_direction": 2048, - "score_percent": 16.419758645533143 + "score_percent": 6.883380429964539 } ], - "score_percent": 25.396363143651055, + "score_percent": 40.14326206132092, "status": "measured", "structure": { "checks": [ @@ -107514,137 +112414,67 @@ { "feature": "body_enabled", "passed": true, - "reference_body": "/RootNode/Geometry/sm_handle_a01_obj_00" - }, - { - "feature": "body_kinematic", - "passed": true, - "reference_body": "/RootNode/Geometry/sm_handle_a01_obj_00" - }, - { - "feature": "body_enabled", - "passed": false, - "reference_body": "/RootNode/Geometry/sm_lock2_a01_obj_00" - }, - { - "feature": "body_kinematic", - "passed": false, - "reference_body": "/RootNode/Geometry/sm_lock2_a01_obj_00" - }, - { - "feature": "body_enabled", - "passed": true, - "reference_body": "/RootNode/Geometry/sm_rear_frame1_a01_obj_00" - }, - { - "feature": "body_kinematic", - "passed": true, - "reference_body": "/RootNode/Geometry/sm_rear_frame1_a01_obj_00" - }, - { - "feature": "body_enabled", - "passed": true, - "reference_body": "/RootNode/Geometry/sm_front_wheel2_a01_obj_00" - }, - { - "feature": "body_kinematic", - "passed": true, - "reference_body": "/RootNode/Geometry/sm_front_wheel2_a01_obj_00" - }, - { - "feature": "body_enabled", - "passed": true, - "reference_body": "/RootNode/Geometry/sm_rear_wheel1_a01_obj_00" - }, - { - "feature": "body_kinematic", - "passed": true, - "reference_body": "/RootNode/Geometry/sm_rear_wheel1_a01_obj_00" - }, - { - "feature": "body_enabled", - "passed": false, - "reference_body": "/RootNode/Geometry/sm_mount_a01_obj_01" - }, - { - "feature": "body_kinematic", - "passed": false, - "reference_body": "/RootNode/Geometry/sm_mount_a01_obj_01" - }, - { - "feature": "body_enabled", - "passed": true, - "reference_body": "/RootNode/Geometry/sm_front_wheel1_a01_obj_00" + "reference_body": "/RootNode/Geometry/sm_kitchenware_kettle_a01_button_obj_00" }, { "feature": "body_kinematic", "passed": true, - "reference_body": "/RootNode/Geometry/sm_front_wheel1_a01_obj_00" + "reference_body": "/RootNode/Geometry/sm_kitchenware_kettle_a01_button_obj_00" }, { "feature": "body_enabled", "passed": true, - "reference_body": "/RootNode/Geometry/sm_body_a01_obj_00" + "reference_body": "/RootNode/Geometry/sm_kitchenware_kettle_a01_body_obj_01" }, { "feature": "body_kinematic", "passed": true, - "reference_body": "/RootNode/Geometry/sm_body_a01_obj_00" + "reference_body": "/RootNode/Geometry/sm_kitchenware_kettle_a01_body_obj_01" }, { "feature": "body_enabled", "passed": true, - "reference_body": "/RootNode/Geometry/sm_rear_wheel2_a01_obj_00" + "reference_body": "/RootNode/Geometry/sm_kitchenware_kettle_a01_lid_obj_01" }, { "feature": "body_kinematic", "passed": true, - "reference_body": "/RootNode/Geometry/sm_rear_wheel2_a01_obj_00" - }, - { - "feature": "body_enabled", - "passed": false, - "reference_body": "/RootNode/Geometry/sm_lock1_a01_obj_00" - }, - { - "feature": "body_kinematic", - "passed": false, - "reference_body": "/RootNode/Geometry/sm_lock1_a01_obj_00" + "reference_body": "/RootNode/Geometry/sm_kitchenware_kettle_a01_lid_obj_01" }, { "feature": "body_enabled", "passed": true, - "reference_body": "/RootNode/Geometry/sm_rear_frame2_a01_obj_00" + "reference_body": "/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00" }, { "feature": "body_kinematic", "passed": true, - "reference_body": "/RootNode/Geometry/sm_rear_frame2_a01_obj_00" + "reference_body": "/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00" } ], "coverage_fraction": 1, - "earned": 16, - "eligible": 24, - "measured": 24, - "score_percent": 66.66666666666667, + "earned": 8, + "eligible": 10, + "measured": 10, + "score_percent": 80.0, "status": "measured" }, "treatment": "minimum of reference-body mean surface F-score and fixed rigid-structure check fraction; no cross-component weighting" }, "shape": { - "band_m": 0.016163708676063322, + "band_m": 0.004704835199778105, "coverage_basis": "fixed source supported-visible-prim fraction", "coverage_fraction": 1.0, - "earned": 0.5737101063829787, + "earned": 0.8267723056537103, "eligible": 1, "full_surface_correspondence": "supported_authored_surfaces", "measured": 1, - "p95_m": 0.04161126948572971, - "precision": 0.5703125, - "recall": 0.5771484375, - "rms_m": 0.021018873698626907, + "p95_m": 0.010835372440486993, + "precision": 0.78515625, + "recall": 0.873046875, + "rms_m": 0.004791977992880864, "samples_each_direction": 2048, - "score_percent": 57.37101063829787, + "score_percent": 82.67723056537103, "status": "measured" } } @@ -107663,139 +112493,139 @@ "upper_bound_percent": 100.0 }, "visual": { - "score_percent": 11.433643966167557, + "score_percent": 57.2804568710457, "status": "measured", - "earned": 0.22867287932335112, + "earned": 1.145609137420914, "eligible": 2, "measured": 2, "coverage_fraction": 1.0, "aggregation": "geometric_mean", "factors": { "shape": { - "band_m": 0.016163708676063322, + "band_m": 0.004704835199778105, "coverage_basis": "fixed source supported-visible-prim fraction", "coverage_fraction": 1.0, - "earned": 0.5737101063829787, + "earned": 0.8267723056537103, "eligible": 1, "full_surface_correspondence": "supported_authored_surfaces", "measured": 1, - "p95_m": 0.04161126948572971, - "precision": 0.5703125, - "recall": 0.5771484375, - "rms_m": 0.021018873698626907, + "p95_m": 0.010835372440486993, + "precision": 0.78515625, + "recall": 0.873046875, + "rms_m": 0.004791977992880864, "samples_each_direction": 2048, - "score_percent": 57.37101063829787, + "score_percent": 82.67723056537103, "status": "measured" }, "appearance": { "aggregation": "mean per-sample appearance-property match fraction", "coverage_basis": "reference surface samples with assigned visual materials", "coverage_fraction": 1.0, - "earned": 46.666666666666664, + "earned": 812.75, "eligible": 2048, - "lower_bound_percent": 2.278645833333333, + "lower_bound_percent": 39.68505859375, "measured": 2048, - "score_percent": 2.278645833333333, + "score_percent": 39.68505859375, "status": "measured", "unknown": 0, - "upper_bound_percent": 2.278645833333326, + "upper_bound_percent": 39.68505859375, "features": { "visual:diffuseColor": { - "earned": 0, - "eligible": 1439 + "earned": 372, + "eligible": 2048 }, "visual:metallic": { - "earned": 140, - "eligible": 310 + "earned": 1523, + "eligible": 2048 }, "visual:opacity": { "earned": 0, "eligible": 2048 }, "visual:roughness": { - "earned": 0, - "eligible": 310 + "earned": 1356, + "eligible": 2048 } } } }, - "lower_bound_percent": 11.433643966167557, - "upper_bound_percent": 11.433643966167557 + "lower_bound_percent": 57.2804568710457, + "upper_bound_percent": 57.2804568710457 }, "kinematic": { "aggregation": "geometric mean of moving-joint and fixed-constraint recovery, each 2*sum(quality)/(reference_count+candidate_count)", - "candidate_joint_count": 7, + "candidate_joint_count": 4, "coverage_fraction": 1.0, - "earned": 0.020781840884305944, - "eligible": 1, + "earned": 0.0, + "eligible": 2, "extra_joint_count": 3, "finite_extent_treatment": "1/(1+(unwrapped interval extent error/(absolute range tolerance+relative tolerance*reference extent))^2)", "groups": { "fixed_constraints": { - "candidate_joint_count": 0, - "coverage_fraction": 0, + "candidate_joint_count": 1, + "coverage_fraction": 1.0, "earned": 0, - "eligible": 0, - "lower_bound_percent": null, - "measured": 0, + "eligible": 1, + "lower_bound_percent": 0.0, + "measured": 1, "reference_joint_count": 0, - "score_percent": null, - "status": "not_applicable", - "upper_bound_percent": null + "score_percent": 0.0, + "status": "measured", + "upper_bound_percent": 0.0 }, "moving_joints": { - "candidate_joint_count": 7, + "candidate_joint_count": 3, "coverage_fraction": 1.0, - "earned": 0.353291295033201, - "eligible": 17, - "lower_bound_percent": 2.078184088430594, - "measured": 17, - "reference_joint_count": 10, - "score_percent": 2.078184088430594, + "earned": 0.08099690167232226, + "eligible": 6, + "lower_bound_percent": 1.349948361205371, + "measured": 6, + "reference_joint_count": 3, + "score_percent": 1.349948361205371, "status": "measured", - "upper_bound_percent": 2.078184088430594 + "upper_bound_percent": 1.349948361205371 } }, "infinite_range_probes": "one full revolution or one reference diagonal, centred at a canonical coordinate for fully unbounded motion or anchored at the finite endpoint for half-bounded motion; authored limits remain unchanged", "joint_quality": "motion_credit*unwrapped_extent_credit*limit_pattern_credit, with motion_credit=1/(1+(motion_rms_m/distance_band_m)^2)", "joints": [ { - "candidate_joint": 4, + "candidate_joint": 3, "candidate_limit_pattern": [ - "negative_unbounded", - "positive_unbounded" + "finite", + "finite" ], - "candidate_path": "/HandTruck/Joints/CasterRollLeft", + "candidate_path": "/Kettle/Joints/PowerRockerPivot", "candidate_probe_interval": [ - -3.141592653589793, - 3.141592653589793 + -0.24434609527920614, + 0.24434609527920614 ], "coverage_fraction": 1, - "earned": 0.03025359811858904, + "earned": 0.04049845083616113, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.03025359811858904, - "motion_rms_m": 0.09151274574001962, + "motion_credit": 0.2138568610741874, + "motion_rms_m": 0.00902056283024612, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 0, "reference_limit_pattern": [ - "negative_unbounded", - "positive_unbounded" + "finite", + "finite" ], - "reference_path": "/RootNode/Joints/joint_sm_rear_wheel2_a01_joint_00", + "reference_path": "/RootNode/Joints/joint_sm_kitchenware_kettle_a01_switch_joint_00", "reference_probe_interval": [ - -3.141592653589793, - 3.141592653589793 + -0.13962634015954636, + 0.13962634015954636 ], - "score_percent": 3.025359811858904, + "score_percent": 4.0498450836161135, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", - "unwrapped_extent_credit": 1.0, - "unwrapped_extent_error": null + "unwrapped_extent_credit": 0.1893717631164152, + "unwrapped_extent_error": 0.20943951023931956 }, { "candidate_joint": null, @@ -107806,7 +112636,7 @@ "motion_rms_m": null, "reason": "missing_joint", "reference_joint": 1, - "reference_path": "/RootNode/Joints/joint_sm_rear_frame2_a01_joint_00", + "reference_path": "/RootNode/Joints/joint_sm_kitchenware_kettle_a01_button_joint_00", "score_percent": 0.0, "status": "measured", "type": "PhysicsRevoluteJoint" @@ -107820,198 +112650,28 @@ "motion_rms_m": null, "reason": "missing_joint", "reference_joint": 2, - "reference_path": "/RootNode/Joints/joint_sm_handle_a01_joint_00", - "score_percent": 0.0, - "status": "measured", - "type": "PhysicsPrismaticJoint" - }, - { - "candidate_joint": 2, - "candidate_limit_pattern": [ - "negative_unbounded", - "positive_unbounded" - ], - "candidate_path": "/HandTruck/Joints/AxleRotationRight", - "candidate_probe_interval": [ - -3.141592653589793, - 3.141592653589793 - ], - "coverage_fraction": 1, - "earned": 0.0602200764193428, - "eligible": 1, - "limit_pattern_credit": 1.0, - "limit_pattern_mismatches": 0, - "measured": 1, - "motion_credit": 0.0602200764193428, - "motion_rms_m": 0.06385331438235578, - "probe_units": "radians", - "reason": "measured_motion", - "reference_joint": 3, - "reference_limit_pattern": [ - "negative_unbounded", - "positive_unbounded" - ], - "reference_path": "/RootNode/Joints/joint_sm_front_wheel1_a01_joint_00", - "reference_probe_interval": [ - -3.141592653589793, - 3.141592653589793 - ], - "score_percent": 6.02200764193428, - "status": "measured", - "swapped_endpoints": false, - "type": "PhysicsRevoluteJoint", - "unwrapped_extent_credit": 1.0, - "unwrapped_extent_error": null - }, - { - "candidate_joint": null, - "coverage_fraction": 1, - "earned": 0.0, - "eligible": 1, - "measured": 1, - "motion_rms_m": null, - "reason": "missing_joint", - "reference_joint": 4, - "reference_path": "/RootNode/Joints/joint_sm_lock1_a01_joint_00", - "score_percent": 0.0, - "status": "measured", - "type": "PhysicsPrismaticJoint" - }, - { - "candidate_joint": null, - "coverage_fraction": 1, - "earned": 0.0, - "eligible": 1, - "measured": 1, - "motion_rms_m": null, - "reason": "missing_joint", - "reference_joint": 5, - "reference_path": "/RootNode/Joints/joint_sm_rear_frame1_a01_joint_00", - "score_percent": 0.0, - "status": "measured", - "type": "PhysicsRevoluteJoint" - }, - { - "candidate_joint": 1, - "candidate_limit_pattern": [ - "negative_unbounded", - "positive_unbounded" - ], - "candidate_path": "/HandTruck/Joints/AxleRotationLeft", - "candidate_probe_interval": [ - -3.141592653589793, - 3.141592653589793 - ], - "coverage_fraction": 1, - "earned": 0.05614257318542662, - "eligible": 1, - "limit_pattern_credit": 1.0, - "limit_pattern_mismatches": 0, - "measured": 1, - "motion_credit": 0.05614257318542662, - "motion_rms_m": 0.06627474359989383, - "probe_units": "radians", - "reason": "measured_motion", - "reference_joint": 6, - "reference_limit_pattern": [ - "negative_unbounded", - "positive_unbounded" - ], - "reference_path": "/RootNode/Joints/joint_sm_front_wheel2_a01_joint_00", - "reference_probe_interval": [ - -3.141592653589793, - 3.141592653589793 - ], - "score_percent": 5.614257318542662, - "status": "measured", - "swapped_endpoints": false, - "type": "PhysicsRevoluteJoint", - "unwrapped_extent_credit": 1.0, - 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-109011,7 +113677,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.DISP.001", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "display_colour", @@ -109165,7 +113831,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.PMT.001", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "rigid_body_collision", @@ -109270,14 +113936,14 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.SR.001", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "materials_textures", "mandatory": false, "requirement_id": "com.nvidia.simready.VM.BIND.002", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "materials_textures", @@ -109312,7 +113978,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.VM.PBR.003", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "materials_textures", @@ -109365,10 +114031,10 @@ } ], "coverage_fraction": 1.0, - "failed_count": 12, - "lower_bound_percent": 76.47058823529412, + "failed_count": 17, + "lower_bound_percent": 66.66666666666667, "measured_count": 51, - "passed_count": 39, + "passed_count": 34, "profile": { "id": "Robotics-Prop", "version": "4.0.0" @@ -109377,11 +114043,11 @@ "profile_optional_count": 51, "schema": "simready-validator-optional-score-v1", "scope": "all_optional_profile", - "score_percent": 76.47058823529412, + "score_percent": 66.66666666666667, "status": "scored", "unknown_count": 0, "unknown_reason": null, - "upper_bound_percent": 76.47058823529412 + "upper_bound_percent": 66.66666666666667 } }, "optional_score": { @@ -109392,7 +114058,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.DISP.001", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "display_colour", @@ -109546,7 +114212,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.PMT.001", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "rigid_body_collision", @@ -109651,14 +114317,14 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.SR.001", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "materials_textures", "mandatory": false, "requirement_id": "com.nvidia.simready.VM.BIND.002", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "materials_textures", @@ -109693,7 +114359,7 @@ "mandatory": false, "requirement_id": "com.nvidia.simready.VM.PBR.003", "requirement_version": "0.1.0", - "status": "pass" + "status": "fail" }, { "category": "materials_textures", @@ -109746,10 +114412,10 @@ } ], "coverage_fraction": 1.0, - "failed_count": 12, - "lower_bound_percent": 76.47058823529412, + "failed_count": 17, + "lower_bound_percent": 66.66666666666667, "measured_count": 51, - "passed_count": 39, + "passed_count": 34, "profile": { "id": "Robotics-Prop", "version": "4.0.0" @@ -109758,18 +114424,18 @@ "profile_optional_count": 51, "schema": "simready-validator-optional-score-v1", "scope": "all_optional_profile", - "score_percent": 76.47058823529412, + "score_percent": 66.66666666666667, "status": "scored", "unknown_count": 0, "unknown_reason": null, - "upper_bound_percent": 76.47058823529412 + "upper_bound_percent": 66.66666666666667 }, "fidelity": { "schema": "source-usd-fidelity-v4", "status": "measured", "complete_geometry_comparison": true, "alignment": { - "aligned_rms_m": 0.004728547058065731, + "aligned_rms_m": 0.004968548497876699, "converged": false, "iterations": 16, "maximum_iterations_per_start": 8, @@ -109778,13 +114444,13 @@ "refined_starts": 2, "rotation": [ [ - 0.9999999336010567, - -0.00036441443742710845, + 0.9999927488217617, + -0.0038081890574197, 0.0 ], [ - 0.00036441443742710845, - 0.9999999336010567, + 0.0038081890574197, + 0.9999927488217617, 0.0 ], [ @@ -109796,12 +114462,12 @@ "samples_each_direction": 128, "scale": 1.0, "translation_m": [ - 0.0001229506774112593, - -0.020890014554298342, - 0.00010793434554709491 + 0.00018477475414208208, + -0.022178806178330415, + -0.001442259902851295 ], - "unaligned_rms_m": 0.012235625398782857, - "yaw_degrees": 0.020879409720331126, + "unaligned_rms_m": 0.01259904495474076, + "yaw_degrees": 0.21819368796541416, "yaw_starts": 32 }, "components": { @@ -109855,7 +114521,7 @@ }, { "feature": "limits", - "passed": false, + "passed": true, "reference_joint": 0 }, { @@ -109910,32 +114576,32 @@ }, { "feature": "existence_type_connectivity", - "passed": false, + "passed": true, "reference_joint": 2 }, { "feature": "joint_enabled", - "passed": false, + "passed": true, "reference_joint": 2 }, { "feature": "body0_enabled", - "passed": false, + "passed": true, "reference_joint": 2 }, { "feature": "body0_kinematic", - "passed": false, + "passed": true, "reference_joint": 2 }, { "feature": "body1_enabled", - "passed": false, + "passed": true, "reference_joint": 2 }, { "feature": "body1_kinematic", - "passed": false, + "passed": true, "reference_joint": 2 }, { @@ -109945,12 +114611,12 @@ }, { "feature": "axes", - "passed": false, + "passed": true, "reference_joint": 2 }, { "feature": "relative_orientation", - "passed": false, + "passed": true, "reference_joint": 2 }, { @@ -109965,13 +114631,13 @@ } ], "coverage_fraction": 1.0, - "earned": 8, + "earned": 17, "eligible": 31, "extra_joint_count": 1, "measured": 31, "reference_joint_count": 3, "reference_possible_checks": 31, - "score_percent": 25.806451612903224, + "score_percent": 54.83870967741935, "status": "measured" }, "kinematics": { @@ -109980,7 +114646,7 @@ "coverage_fraction": 1.0, "earned": 0.0, "eligible": 2, - "extra_joint_count": 3, + "extra_joint_count": 2, "finite_extent_treatment": "1/(1+(unwrapped interval extent error/(absolute range tolerance+relative tolerance*reference extent))^2)", "groups": { "fixed_constraints": { @@ -109998,14 +114664,14 @@ "moving_joints": { "candidate_joint_count": 3, "coverage_fraction": 1.0, - "earned": 0.08099690167232226, + "earned": 0.26764629891935676, "eligible": 6, - "lower_bound_percent": 1.349948361205371, + "lower_bound_percent": 4.460771648655946, "measured": 6, "reference_joint_count": 3, - "score_percent": 1.349948361205371, + "score_percent": 4.460771648655946, "status": "measured", - "upper_bound_percent": 1.349948361205371 + "upper_bound_percent": 4.460771648655946 } }, "infinite_range_probes": "one full revolution or one reference diagonal, centred at a canonical coordinate for fully unbounded motion or anchored at the finite endpoint for half-bounded motion; authored limits remain unchanged", @@ -110017,19 +114683,19 @@ "finite", "finite" ], - "candidate_path": "/Kettle/Joints/PowerRockerPivot", + "candidate_path": "/Kettle/Joints/Power_rocker_hinge", "candidate_probe_interval": [ - -0.24434609527920614, - 0.24434609527920614 + -0.20943951023931956, + 0.20943951023931956 ], "coverage_fraction": 1, - "earned": 0.04049845083616113, + "earned": 0.13378637165085447, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.2138568610741874, - "motion_rms_m": 0.00902056283024612, + "motion_credit": 0.3883145460163328, + "motion_rms_m": 0.005904955954249946, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 0, @@ -110042,12 +114708,12 @@ -0.13962634015954636, 0.13962634015954636 ], - "score_percent": 4.0498450836161135, + "score_percent": 13.378637165085447, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", - "unwrapped_extent_credit": 0.1893717631164152, - "unwrapped_extent_error": 0.20943951023931956 + "unwrapped_extent_credit": 0.344530929946743, + "unwrapped_extent_error": 0.1396263401595464 }, { "candidate_joint": null, @@ -110064,26 +114730,50 @@ "type": "PhysicsRevoluteJoint" }, { - "candidate_joint": null, + "candidate_joint": 1, + "candidate_limit_pattern": [ + "finite", + "finite" + ], + "candidate_path": "/Kettle/Joints/Lid_hinge", + "candidate_probe_interval": [ + -1.8325957145940461, + 0.0 + ], "coverage_fraction": 1, - "earned": 0.0, + "earned": 3.677780882392021e-05, "eligible": 1, + "limit_pattern_credit": 1.0, + "limit_pattern_mismatches": 0, "measured": 1, - "motion_rms_m": null, - "reason": "missing_joint", + "motion_credit": 0.0025556859993801683, + "motion_rms_m": 0.09294691896305694, + "probe_units": "radians", + "reason": "measured_motion", "reference_joint": 2, + "reference_limit_pattern": [ + "finite", + "finite" + ], "reference_path": "/RootNode/Joints/joint_sm_kitchenware_kettle_a01_lid_joint_00", - "score_percent": 0.0, + "reference_probe_interval": [ + -0.7853981633974483, + 0.0 + ], + "score_percent": 0.003677780882392021, "status": "measured", - "type": "PhysicsRevoluteJoint" + "swapped_endpoints": false, + "type": "PhysicsRevoluteJoint", + "unwrapped_extent_credit": 0.014390581954449784, + "unwrapped_extent_error": 1.0471975511965979 } ], "limit_pattern_treatment": "1/(1+number of differing bound endpoint states after coordinate normalisation)", "lower_bound_percent": 0.0, - "matched_joint_count": 1, + "matched_joint_count": 2, "measured": 2, "measurement": "sampled joint constraint transforms on common reference-body bounding-box landmarks", - "missing_joint_count": 2, + "missing_joint_count": 1, "range_scope": "observed finite, half-bounded, unbounded and locked intervals", "reference_joint_count": 3, "schema": "source-usd-kinematics-v1", @@ -110128,18 +114818,18 @@ "aggregation": "mean per-sample appearance-property match fraction", "coverage_basis": "reference surface samples with assigned visual materials", "coverage_fraction": 1.0, - "earned": 812.75, + "earned": 738.75, "eligible": 2048, - "lower_bound_percent": 39.68505859375, + "lower_bound_percent": 36.07177734375, "measured": 2048, - "score_percent": 39.68505859375, + "score_percent": 36.07177734375, "status": "measured", "unknown": 0, - "upper_bound_percent": 39.68505859375 + "upper_bound_percent": 36.07177734375 }, "coverage_basis": "reference area samples with supported effective material properties", "coverage_fraction": 0.8333333333333334, - "earned": 5039, + "earned": 4856, "eligible": 20480, "features": { "physics:assignment": { @@ -110163,15 +114853,15 @@ "eligible": 2048 }, "visual:assignment": { - "earned": 1788, + "earned": 1901, "eligible": 2048 }, "visual:diffuseColor": { - "earned": 372, + "earned": 448, "eligible": 2048 }, "visual:metallic": { - "earned": 1523, + "earned": 1492, "eligible": 2048 }, "visual:opacity": { @@ -110179,70 +114869,70 @@ "eligible": 2048 }, "visual:roughness": { - "earned": 1356, + "earned": 1015, "eligible": 2048 } }, "measured": 20480, "reference_possible_fields": 24576, - "score_percent": 24.6044921875, + "score_percent": 23.7109375, "status": "measured" }, "rigid_parts": { "coverage_fraction": 1.0, - "earned": 1.6057304824528367, + "earned": 2.236854215260104, "eligible": 4, "extra_bodies": 1, - "geometry_score_percent": 40.14326206132092, + "geometry_score_percent": 55.92135538150261, "measured": 4, "missing_parts": 0, "parts": [ { "band_m": 0.004704835199778105, "candidate_body": "/Kettle/Vessel", - "p95_m": 0.017853642886386384, - "precision": 0.794921875, - "recall": 0.87451171875, + "p95_m": 0.01726517319499673, + "precision": 0.5947265625, + "recall": 0.88330078125, "reference_body": "/RootNode/Geometry/sm_kitchenware_kettle_a01_body_obj_01", - "rms_m": 0.009680385125410996, + "rms_m": 0.011136974118886119, "samples_each_direction": 2048, - "score_percent": 83.28195835770693 + "score_percent": 71.08426505203171 }, { "band_m": 0.004704835199778105, "candidate_body": "/Kettle/LidRelease", - "p95_m": 0.020621353371460215, - "precision": 0.35791015625, - "recall": 0.10888671875, + "p95_m": 0.018367222073632835, + "precision": 0.4892578125, + "recall": 0.18115234375, "reference_body": "/RootNode/Geometry/sm_kitchenware_kettle_a01_button_obj_00", - "rms_m": 0.010844087557243564, + "rms_m": 0.009282742905315989, "samples_each_direction": 2048, - "score_percent": 16.697482184884937 + "score_percent": 26.440589721412966 }, { "band_m": 0.004704835199778105, "candidate_body": "/Kettle/Lid", - "p95_m": 0.008069905397521112, - "precision": 0.5390625, - "recall": 0.53515625, + "p95_m": 0.009750442447937272, + "precision": 0.9404296875, + "recall": 0.63525390625, "reference_body": "/RootNode/Geometry/sm_kitchenware_kettle_a01_lid_obj_01", - "rms_m": 0.005251909068993193, + "rms_m": 0.0046938555876148745, "samples_each_direction": 2048, - "score_percent": 53.71022727272727 + "score_percent": 75.8288827665014 }, { "band_m": 0.004704835199778105, - "candidate_body": "/Kettle/PowerRocker", - "p95_m": 0.015641254118031016, - "precision": 0.06982421875, - "recall": 0.06787109375, + "candidate_body": "/Kettle/PowerSwitch", + "p95_m": 0.009714945687867054, + "precision": 0.55712890625, + "recall": 0.458984375, "reference_body": "/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00", - "rms_m": 0.010153490031319842, + "rms_m": 0.005698730225279614, "samples_each_direction": 2048, - "score_percent": 6.883380429964539 + "score_percent": 50.33168398606439 } ], - "score_percent": 40.14326206132092, + "score_percent": 55.92135538150261, "status": "measured", "structure": { "checks": [ @@ -110308,16 +114998,16 @@ "band_m": 0.004704835199778105, "coverage_basis": "fixed source supported-visible-prim fraction", "coverage_fraction": 1.0, - "earned": 0.8267723056537103, + "earned": 0.7768789193943103, "eligible": 1, "full_surface_correspondence": "supported_authored_surfaces", "measured": 1, - "p95_m": 0.010835372440486993, - "precision": 0.78515625, - "recall": 0.873046875, - "rms_m": 0.004791977992880864, + "p95_m": 0.011363147220493572, + "precision": 0.66796875, + "recall": 0.92822265625, + "rms_m": 0.004862371509834968, "samples_each_direction": 2048, - "score_percent": 82.67723056537103, + "score_percent": 77.68789193943103, "status": "measured" } } @@ -110336,9 +115026,9 @@ "upper_bound_percent": 100.0 }, "visual": { - "score_percent": 57.2804568710457, + "score_percent": 52.93713573989876, "status": "measured", - "earned": 1.145609137420914, + "earned": 1.058742714797975, "eligible": 2, "measured": 2, "coverage_fraction": 1.0, @@ -110348,37 +115038,37 @@ "band_m": 0.004704835199778105, "coverage_basis": "fixed source supported-visible-prim fraction", "coverage_fraction": 1.0, - "earned": 0.8267723056537103, + "earned": 0.7768789193943103, "eligible": 1, "full_surface_correspondence": "supported_authored_surfaces", "measured": 1, - "p95_m": 0.010835372440486993, - "precision": 0.78515625, - "recall": 0.873046875, - "rms_m": 0.004791977992880864, + "p95_m": 0.011363147220493572, + "precision": 0.66796875, + "recall": 0.92822265625, + "rms_m": 0.004862371509834968, "samples_each_direction": 2048, - "score_percent": 82.67723056537103, + "score_percent": 77.68789193943103, "status": "measured" }, "appearance": { "aggregation": "mean per-sample appearance-property match fraction", "coverage_basis": "reference surface samples with assigned visual materials", "coverage_fraction": 1.0, - "earned": 812.75, + "earned": 738.75, "eligible": 2048, - "lower_bound_percent": 39.68505859375, + "lower_bound_percent": 36.07177734375, "measured": 2048, - "score_percent": 39.68505859375, + "score_percent": 36.07177734375, "status": "measured", "unknown": 0, - "upper_bound_percent": 39.68505859375, + "upper_bound_percent": 36.07177734375, "features": { "visual:diffuseColor": { - "earned": 372, + "earned": 448, "eligible": 2048 }, "visual:metallic": { - "earned": 1523, + "earned": 1492, "eligible": 2048 }, "visual:opacity": { @@ -110386,14 +115076,14 @@ "eligible": 2048 }, "visual:roughness": { - "earned": 1356, + "earned": 1015, "eligible": 2048 } } } }, - "lower_bound_percent": 57.2804568710457, - "upper_bound_percent": 57.2804568710457 + "lower_bound_percent": 52.93713573989876, + "upper_bound_percent": 52.93713573989876 }, "kinematic": { "aggregation": "geometric mean of moving-joint and fixed-constraint recovery, each 2*sum(quality)/(reference_count+candidate_count)", @@ -110401,7 +115091,7 @@ "coverage_fraction": 1.0, "earned": 0.0, "eligible": 2, - "extra_joint_count": 3, + "extra_joint_count": 2, "finite_extent_treatment": "1/(1+(unwrapped interval extent error/(absolute range tolerance+relative tolerance*reference extent))^2)", "groups": { "fixed_constraints": { @@ -110419,14 +115109,14 @@ "moving_joints": { "candidate_joint_count": 3, "coverage_fraction": 1.0, - "earned": 0.08099690167232226, + "earned": 0.26764629891935676, "eligible": 6, - "lower_bound_percent": 1.349948361205371, + "lower_bound_percent": 4.460771648655946, "measured": 6, "reference_joint_count": 3, - "score_percent": 1.349948361205371, + "score_percent": 4.460771648655946, "status": "measured", - "upper_bound_percent": 1.349948361205371 + "upper_bound_percent": 4.460771648655946 } }, "infinite_range_probes": "one full revolution or one reference diagonal, centred at a canonical coordinate for fully unbounded motion or anchored at the finite endpoint for half-bounded motion; authored limits remain unchanged", @@ -110438,19 +115128,19 @@ "finite", "finite" ], - "candidate_path": "/Kettle/Joints/PowerRockerPivot", + "candidate_path": "/Kettle/Joints/Power_rocker_hinge", "candidate_probe_interval": [ - -0.24434609527920614, - 0.24434609527920614 + -0.20943951023931956, + 0.20943951023931956 ], "coverage_fraction": 1, - "earned": 0.04049845083616113, + "earned": 0.13378637165085447, "eligible": 1, "limit_pattern_credit": 1.0, "limit_pattern_mismatches": 0, "measured": 1, - "motion_credit": 0.2138568610741874, - "motion_rms_m": 0.00902056283024612, + "motion_credit": 0.3883145460163328, + "motion_rms_m": 0.005904955954249946, "probe_units": "radians", "reason": "measured_motion", "reference_joint": 0, @@ -110463,12 +115153,12 @@ -0.13962634015954636, 0.13962634015954636 ], - "score_percent": 4.0498450836161135, + "score_percent": 13.378637165085447, "status": "measured", "swapped_endpoints": false, "type": "PhysicsRevoluteJoint", - "unwrapped_extent_credit": 0.1893717631164152, - "unwrapped_extent_error": 0.20943951023931956 + "unwrapped_extent_credit": 0.344530929946743, + "unwrapped_extent_error": 0.1396263401595464 }, { "candidate_joint": null, @@ -110485,26 +115175,50 @@ "type": "PhysicsRevoluteJoint" }, { - "candidate_joint": null, + "candidate_joint": 1, + "candidate_limit_pattern": [ + "finite", + "finite" + ], + "candidate_path": "/Kettle/Joints/Lid_hinge", + "candidate_probe_interval": [ + -1.8325957145940461, + 0.0 + ], "coverage_fraction": 1, - "earned": 0.0, + "earned": 3.677780882392021e-05, "eligible": 1, + "limit_pattern_credit": 1.0, + "limit_pattern_mismatches": 0, "measured": 1, - "motion_rms_m": null, - "reason": "missing_joint", + "motion_credit": 0.0025556859993801683, + "motion_rms_m": 0.09294691896305694, + "probe_units": "radians", + "reason": "measured_motion", "reference_joint": 2, + "reference_limit_pattern": [ + "finite", + "finite" + ], "reference_path": "/RootNode/Joints/joint_sm_kitchenware_kettle_a01_lid_joint_00", - "score_percent": 0.0, + "reference_probe_interval": [ + -0.7853981633974483, + 0.0 + ], + "score_percent": 0.003677780882392021, "status": "measured", - "type": "PhysicsRevoluteJoint" + "swapped_endpoints": false, + "type": "PhysicsRevoluteJoint", + "unwrapped_extent_credit": 0.014390581954449784, + "unwrapped_extent_error": 1.0471975511965979 } ], "limit_pattern_treatment": "1/(1+number of differing bound endpoint states after coordinate normalisation)", "lower_bound_percent": 0.0, - "matched_joint_count": 1, + "matched_joint_count": 2, "measured": 2, "measurement": "sampled joint constraint transforms on common reference-body bounding-box landmarks", - "missing_joint_count": 2, + "missing_joint_count": 1, "range_scope": "observed finite, half-bounded, unbounded and locked 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"requirement_version": "0.1.0", - "status": "fail" + "status": "pass" }, { "category": "runtime_physics", @@ -123796,10 +128170,10 @@ } ], "coverage_fraction": 1.0, - "failed_count": 13, - "lower_bound_percent": 74.50980392156863, + "failed_count": 12, + "lower_bound_percent": 76.47058823529412, "measured_count": 51, - "passed_count": 38, + "passed_count": 39, "profile": { "id": "Robotics-Prop", "version": "4.0.0" @@ -123808,18 +128182,18 @@ "profile_optional_count": 51, "schema": "simready-validator-optional-score-v1", "scope": "all_optional_profile", - "score_percent": 74.50980392156863, + "score_percent": 76.47058823529412, "status": "scored", "unknown_count": 0, "unknown_reason": null, - "upper_bound_percent": 74.50980392156863 + "upper_bound_percent": 76.47058823529412 }, "fidelity": { "schema": "source-usd-fidelity-v4", "status": "measured", "complete_geometry_comparison": true, "alignment": { - "aligned_rms_m": 0.004209278709416838, + "aligned_rms_m": 0.004499545679746433, 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"/RootNode/Geometry/button_02_obj_00" + }, + { + "feature": "body_kinematic", + "passed": true, + "reference_body": "/RootNode/Geometry/button_02_obj_00" + }, + { + "feature": "body_enabled", + "passed": true, + "reference_body": "/RootNode/Geometry/selector_01_obj_00" + }, + { + "feature": "body_kinematic", + "passed": true, + "reference_body": "/RootNode/Geometry/selector_01_obj_00" + }, + { + "feature": "body_enabled", + "passed": true, + "reference_body": "/RootNode/Geometry/chuck_01_obj_00" + }, + { + "feature": "body_kinematic", + "passed": true, + "reference_body": "/RootNode/Geometry/chuck_01_obj_00" + }, + { + "feature": "body_enabled", + "passed": true, + "reference_body": "/RootNode/Geometry/body_01_obj_00" + }, + { + "feature": "body_kinematic", + "passed": true, + "reference_body": "/RootNode/Geometry/body_01_obj_00" + }, + { + "feature": "body_enabled", + "passed": true, + "reference_body": "/RootNode/Geometry/button_01_obj_00" + }, + { + "feature": "body_kinematic", + "passed": true, + "reference_body": "/RootNode/Geometry/button_01_obj_00" + }, + { + "feature": "body_enabled", + "passed": true, + "reference_body": "/RootNode/Geometry/battery_01_obj_00" + }, + { + "feature": "body_kinematic", + "passed": true, + "reference_body": "/RootNode/Geometry/battery_01_obj_00" } ], "coverage_fraction": 1, - "earned": 4, - "eligible": 4, - "measured": 4, - "score_percent": 100.0, + "earned": 14, + "eligible": 16, + "measured": 16, + "score_percent": 87.5, "status": "measured" }, "treatment": "minimum of reference-body mean surface F-score and fixed rigid-structure check fraction; no cross-component weighting" }, "shape": { - "band_m": 0.016028248228091693, + "band_m": 0.004380050613427058, "coverage_basis": "fixed source supported-visible-prim fraction", "coverage_fraction": 1.0, - "earned": 1.0, + "earned": 0.7020286512474013, "eligible": 1, "full_surface_correspondence": "supported_authored_surfaces", "measured": 1, - "p95_m": 0.0072979657594762866, - "precision": 1.0, - "recall": 1.0, - "rms_m": 0.004115421703693312, + "p95_m": 0.008818284520416483, + "precision": 0.662109375, + "recall": 0.7470703125, + "rms_m": 0.004479519812321784, "samples_each_direction": 2048, - "score_percent": 100.0, + "score_percent": 70.20286512474013, "status": "measured" } } @@ -124095,106 +129041,263 @@ "upper_bound_percent": 100.0 }, "visual": { - "score_percent": 0.0, + "score_percent": 72.41993951056226, "status": "measured", - "earned": 0.0, + "earned": 1.4483987902112452, "eligible": 2, "measured": 2, "coverage_fraction": 1.0, "aggregation": "geometric_mean", "factors": { "shape": { - "band_m": 0.016028248228091693, + "band_m": 0.004380050613427058, "coverage_basis": "fixed source supported-visible-prim fraction", "coverage_fraction": 1.0, - "earned": 1.0, + "earned": 0.7020286512474013, "eligible": 1, "full_surface_correspondence": "supported_authored_surfaces", "measured": 1, - "p95_m": 0.0072979657594762866, - "precision": 1.0, - "recall": 1.0, 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72.41993951056226 }, "kinematic": { "aggregation": "geometric mean of moving-joint and fixed-constraint recovery, each 2*sum(quality)/(reference_count+candidate_count)", - "candidate_joint_count": 0, - "coverage_fraction": 0, - "earned": 0, - "eligible": 0, - "extra_joint_count": 0, + "candidate_joint_count": 11, + "coverage_fraction": 1.0, + "earned": 0.0, + "eligible": 2, + "extra_joint_count": 8, "finite_extent_treatment": "1/(1+(unwrapped interval extent error/(absolute range tolerance+relative tolerance*reference extent))^2)", "groups": { "fixed_constraints": { "candidate_joint_count": 0, - "coverage_fraction": 0, - "earned": 0, - "eligible": 0, - "lower_bound_percent": null, - "measured": 0, - "reference_joint_count": 0, - "score_percent": null, - "status": "not_applicable", - "upper_bound_percent": null + "coverage_fraction": 1.0, + "earned": 0.0, + "eligible": 1, + "lower_bound_percent": 0.0, + "measured": 1, + "reference_joint_count": 1, + "score_percent": 0.0, + "status": 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"joints": [], + "joints": [ + { + "candidate_joint": 2, + "candidate_limit_pattern": [ + "finite", + "finite" + ], + "candidate_path": "/Drill/Joints/ClutchTorqueSelection", + "candidate_probe_interval": [ + -5.235987755982989, + -0.0 + ], + "coverage_fraction": 1, + "earned": 0.00020652968857310782, + "eligible": 1, + "limit_pattern_credit": 0.3333333333333333, + "limit_pattern_mismatches": 2, + "measured": 1, + "motion_credit": 0.0006195890657193235, + "motion_rms_m": 0.17591086850361798, + "probe_units": "radians", + "reason": "measured_motion", + "reference_joint": 0, + "reference_limit_pattern": [ + "negative_unbounded", + "positive_unbounded" + ], + "reference_path": "/RootNode/Joints/joint_chuck_01_joint_00", + "reference_probe_interval": [ + -3.141592653589793, + 3.141592653589793 + ], + "score_percent": 0.020652968857310782, + "status": "measured", + "swapped_endpoints": false, + "type": "PhysicsRevoluteJoint", + "unwrapped_extent_credit": 1.0, + "unwrapped_extent_error": null 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"status": "not_applicable", + "status": "measured", "supported_joint_types": [ "PhysicsFixedJoint", "PhysicsRevoluteJoint", "PhysicsPrismaticJoint" ], - "upper_bound_percent": null + "upper_bound_percent": 0.0 } }, "illustrations": { - "rig_sha256": "8a6ebdd27139f3692c6de03c34cd3085b92210dc397a1b5f800120aee89eb4a5", + "rig_sha256": "9488716aabf0bf7573cd40c37c24b1a374abec141a73dee16c8c2dd521489538", "rig": { - "aperture": 1.9699678301811216, + "aperture": 0.40250541936056833, "basis": "reference bounds in metres/Z-up", "candidate_alignment": { - "aligned_rms_m": 0.004209278709416838, + "aligned_rms_m": 0.004499545679746433, "converged": false, "iterations": 16, "maximum_iterations_per_start": 8, @@ -124240,13 +129343,13 @@ "refined_starts": 2, "rotation": [ [ - 0.999999128311267, - 0.0013203699126362308, + -0.9999977596835122, + -0.002116749384425035, 0.0 ], [ - -0.0013203699126362308, - 0.999999128311267, + 0.002116749384425035, + -0.9999977596835122, 0.0 ], [ @@ -124258,23 +129361,23 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condition-de32f057d28fc53b29e0387dd49ea30697ca431edc825bb97ba94141452d49e0,food_produce_banana_a01,gpt-6.1-sol,pi,none,1,completed,100.0,40.93867393185953,,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,72.56652955003358,72.56652955003358,,16.19140625,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.8187734786371906,2,2,1.0,40.93867393185953,40.93867393185953,not_applicable,0,0,0,0,,,23.095703125,measured,473.0,2048,2048,1.0,23.095703125,23.095703125,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,0.7256652955003358,1,1,measured,0.7256652955003358,1,1,measured,0,0,0,not_applicable,3316,20480,20480,measured,0.7587890625,0.6953125,2048,72.56652955003358,100.0,4,4,0,0,26,2,0,575.187478037551,395.28272926062346,611928,18503,630431,,, condition-e5c0f8041d6d77cff5376b29eebc90a7317d6c00814fdd4854a035cb8e614baf,food_produce_banana_a01,gpt-6.1-sol,pi,none,3,completed,100.0,41.80593534292164,,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,73.19762369791667,73.19762369791667,,30.9814453125,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.8361187068584328,2,2,1.0,41.80593534292164,41.80593534292164,not_applicable,0,0,0,0,,,23.876953125,measured,489.0,2048,2048,1.0,23.876953125,23.876953125,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,0.7319762369791667,1,1,measured,0.7319762369791667,1,1,measured,0,0,0,not_applicable,6345,20480,20480,measured,0.75048828125,0.71435546875,2048,73.19762369791667,100.0,4,4,0,0,29,3,0,479.2198220267892,322.5106446892023,699909,15132,715041,,, +condition-71f51480845cf71cac484d65ded0f0ffd5c39f08b2d3eeac213b76d88140ab0c,food_produce_banana_a01,gpt-6.1-sol,pi,none,4,completed,100.0,42.14464089980275,,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,75.04069539891022,75.04069539891022,,17.05078125,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.8428928179960551,2,2,1.0,42.14464089980275,42.14464089980275,not_applicable,0,0,0,0,,,23.66943359375,measured,484.75,2048,2048,1.0,23.66943359375,23.66943359375,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,0.7504069539891022,1,1,measured,0.7504069539891022,1,1,measured,0,0,0,not_applicable,3492,20480,20480,measured,0.74267578125,0.75830078125,2048,75.04069539891022,100.0,4,4,0,0,34,3,0,445.8019581474364,350.72471111267805,889062,16134,905196,,, condition-b34e667c614e3f0fd8853140006c3d53d6d02f365408f53367972c42e9eef9f1,food_produce_broccoli_b01,gpt-6.1-sol,pi,none,1,completed,100.0,19.370670691903992,,100.0,46,46,0,0,100.0,100.0,5,70.58823529411765,36,15,0,51,51,1.0,70.58823529411765,70.58823529411765,32.630847749255956,32.630847749255956,,19.78515625,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.38741341383807987,2,2,1.0,19.370670691903992,19.370670691903992,not_applicable,0,0,0,0,,,11.4990234375,measured,235.5,2048,2048,1.0,11.4990234375,11.4990234375,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,0.32630847749255953,1,1,measured,0.32630847749255953,1,1,measured,0,0,0,not_applicable,4052,20480,20480,measured,0.3525390625,0.3037109375,2048,32.630847749255956,100.0,4,4,0,0,41,3,0,578.419898815453,489.1102957203984,919313,20121,939434,,, condition-97a0dbac934469fda83f4767e1f7e8c35c1a9277bc21a9f2d112debb2dae7eb3,food_produce_broccoli_b01,gpt-6.1-sol,pi,none,2,completed,100.0,14.870369602755106,,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,27.998140529642544,27.998140529642544,,5.99609375,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.29740739205510214,2,2,1.0,14.870369602755106,14.870369602755106,not_applicable,0,0,0,0,,,7.89794921875,measured,161.75,2048,2048,1.0,7.89794921875,7.89794921875,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,0.27998140529642546,1,1,measured,0.27998140529642546,1,1,measured,0,0,0,not_applicable,1228,20480,20480,measured,0.2763671875,0.28369140625,2048,27.998140529642544,100.0,4,4,0,0,30,2,0,540.5971482079476,429.0521564204246,674005,18334,692339,,, condition-c564cce9a09b9a900bfdd8862285a7b5d7c57af996e41e28395d76fbe90d483c,food_produce_broccoli_b01,gpt-6.1-sol,pi,none,3,completed,100.0,11.689977291532182,,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,22.16796875,22.16796875,,9.1162109375,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.23379954583064363,2,2,1.0,11.689977291532182,11.689977291532182,not_applicable,0,0,0,0,,,6.16455078125,measured,126.25,2048,2048,1.0,6.16455078125,6.16455078125,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,0.2216796875,1,1,measured,0.2216796875,1,1,measured,0,0,0,not_applicable,1867,20480,20480,measured,0.2216796875,0.2216796875,2048,22.16796875,100.0,4,4,0,0,31,3,0,878.5564456917346,747.7582199461758,,,,,, @@ -53,6 +54,7 @@ condition-44da9b6881abf37704ba3279460ce0dc298d9c2c6ecd75454724c5d98e6a0025,kitch condition-5f68ba18b92fbd9b685635a35e8418a3fb77155a05ac9c24aedc1ad61d35f555,kitchenware_pan_j01,gpt-6.1-sol,pi,none,3,completed,100.0,68.59001271139991,0.0,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,100.0,50.0,,48.818359375,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.3718002542279981,2,2,1.0,68.59001271139991,68.59001271139991,measured,0.0,1,1,1.0,0.0,0.0,47.0458984375,measured,963.5,2048,2048,1.0,47.0458984375,47.0458984375,0,1,0,0,1,,not_applicable,0,0,0,0,,,0.0,measured,0,1,1,1.0,0.0,0.0,1.0,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,9998,20480,20480,measured,1.0,1.0,2048,94.78551245825841,50.0,2,4,0,1,31,3,0,638.5760712586343,455.7240464910865,772136,23035,795171,,, condition-bf2531deeddc288a90cd637b339ff8df90fd6d3b39988393b591333925cab0b7,pallet_wood_recycled_a05,gpt-6.1-sol,pi,none,1,completed,100.0,0.0,,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,100.0,100.0,,42.857142857142854,1.0,1.0,0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.0,2,2,1.0,0.0,0.0,not_applicable,0,0,0,0,,,0.0,measured,0.0,2048,2048,1.0,0.0,0.0,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,1.0,1,1,measured,1.0,1,1,measured,0,0,0,not_applicable,6144,14336,14336,measured,1.0,1.0,2048,100.0,100.0,4,4,0,0,35,3,0,509.47637607716024,404.91211871802807,658904,17018,675922,,, condition-f079abf8fc8229987e24bfb0a6eb5c79ffc9b19f7f6083c664930874be914c0a,pallet_wood_recycled_a05,gpt-6.1-sol,pi,none,3,completed,100.0,0.0,,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,100.0,100.0,,42.857142857142854,1.0,1.0,0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.0,2,2,1.0,0.0,0.0,not_applicable,0,0,0,0,,,0.0,measured,0.0,2048,2048,1.0,0.0,0.0,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,1.0,1,1,measured,1.0,1,1,measured,0,0,0,not_applicable,6144,14336,14336,measured,1.0,1.0,2048,100.0,100.0,4,4,0,0,36,4,0,481.51870868727565,379.66021859366447,882364,16779,899143,,, +condition-8dc053bc09f21a4b3ab300805f363919a07ba0d7aece1230156b693de05b306d,powerTool_drill_b01,gpt-6.1-sol,pi,none,3,completed,100.0,72.41993951056226,0.0,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,70.20286512474013,53.44026852525762,64.40677966101696,27.301897321428573,1.0,1.0,1.0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.4483987902112452,2,2,1.0,72.41993951056226,72.41993951056226,measured,0.0,2,2,1.0,0.0,0.0,74.70703125,measured,1530.0,2048,2048,1.0,74.70703125,74.70703125,6,11,3,3,8,19.60632992848582,measured,3.1370127885577315,16,16,1.0,19.60632992848582,19.60632992848582,0.0,measured,0.0,1,1,1.0,0.0,0.0,0.7020286512474013,1,1,measured,3.7408187967680333,7,7,measured,38,59,59,measured,3914,14336,14336,measured,0.662109375,0.7470703125,2048,53.44026852525762,87.5,14,16,6,11,43,4,0,908.2154193054885,813.1263963999227,1679495,42371,1721866,,, condition-4a90460fae09818c144f9027e244a781c398a13aa48550efcb5ba4b3c3684385,ppe_helmet_hardHat_a01,gpt-6.1-sol,pi,none,1,completed,100.0,0.0,,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,70.0819972826087,70.0819972826087,,28.507823432133318,1.0,1.0,0,0.6397298177083334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.0,2,2,1.0,0.0,0.0,not_applicable,0,0,0,0,,,0.0,measured,0.0,2048,2048,1.0,0.0,0.0,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,0.700819972826087,1,1,measured,0.700819972826087,1,1,measured,0,0,0,not_applicable,4482,15722,15722,measured,0.67431640625,0.7294921875,2048,70.0819972826087,100.0,4,4,0,0,39,3,0,742.3131545800716,651.1412981413305,1240702,28463,1269165,,, condition-fba4a7f0578bcea801061c9e96279f0a4f008c0c46d3cdd6a1cedc2464a0d7d5,ppe_helmet_hardHat_a01,gpt-6.1-sol,pi,none,2,completed,100.0,51.62225433847922,0.0,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,61.35612623762376,50.0,,42.901666454649536,1.0,1.0,0,0.6397298177083334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.0324450867695845,2,2,1.0,51.62225433847922,51.62225433847922,measured,0.0,1,1,1.0,0.0,0.0,43.4326171875,measured,889.5,2048,2048,1.0,43.4326171875,43.4326171875,0,1,0,0,1,,not_applicable,0,0,0,0,,,0.0,measured,0,1,1,1.0,0.0,0.0,0.6135612623762376,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,6745,15722,15722,measured,0.57421875,0.65869140625,2048,67.16827966714905,50.0,2,4,0,1,43,4,0,631.7337646726519,539.342551568523,1164052,24743,1188795,,, condition-6467e9f5da0cb4b11da30e398681f04e885b0b519fe7b95c4ef8b70e117ea2ec,ppe_helmet_hardHat_a01,gpt-6.1-sol,pi,none,3,completed,100.0,42.255008716955274,,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,50.751906174879814,50.751906174879814,,13.547894669889327,1.0,1.0,0,0.6397298177083334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.8451001743391054,2,2,1.0,42.255008716955274,42.255008716955274,not_applicable,0,0,0,0,,,35.1806640625,measured,720.5,2048,2048,1.0,35.1806640625,35.1806640625,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,0.5075190617487981,1,1,measured,0.5075190617487981,1,1,measured,0,0,0,not_applicable,2130,15722,15722,measured,0.49560546875,0.52001953125,2048,50.751906174879814,100.0,4,4,0,0,32,3,0,510.65958449430764,438.32412148453295,643908,20213,664121,,, diff --git a/viewer-index.json b/viewer-index.json index 6077d56b981c8109e6ee518150ddc28e615056c4..7ac38d8a160b1e92b71270c0a599ab48bbde63ad 100644 --- a/viewer-index.json +++ b/viewer-index.json @@ -167,6 +167,10 @@ "split": "pallet_wood_recycled_a05", "path": "viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/pallet_wood_recycled_a05.csv" }, + { + "split": "powertool_drill_b01", + "path": "viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/powertool_drill_b01.csv" + }, { "split": "ppe_helmet_hardhat_a01", "path": "viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/ppe_helmet_hardhat_a01.csv" @@ -225,7 +229,8 @@ "\"sign_wetFloor_a01\"": "sign_wetfloor_a01", "\"tools_fireExtinguisher_CO2_a01\"": "tools_fireextinguisher_co2_a01", "\"utensils_scissors_a01\"": "utensils_scissors_a01", - "\"wheelAssembly_wheel_rim_a01\"": "wheelassembly_wheel_rim_a01" + "\"wheelAssembly_wheel_rim_a01\"": "wheelassembly_wheel_rim_a01", + "\"powerTool_drill_b01\"": "powertool_drill_b01" }, "by_harness": { "\"pi\"": "pi" diff --git a/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_produce_banana_a01.csv b/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_produce_banana_a01.csv index 413f822f3831ba4d81507caa82d5bbb707668715..477f5dec14c75d366e34676b7b1245a363ee0e29 100644 --- a/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_produce_banana_a01.csv +++ b/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_produce_banana_a01.csv @@ -1,3 +1,4 @@ condition_id,asset_id,requested_model,harness_id,skill_set_id,repetition,status,formal_fidelity_percent,visual_fidelity_percent,kinematic_fidelity_percent,simready_reward,mandatory_passed,mandatory_total,mandatory_failed,mandatory_unknown,mandatory_lower_bound_percent,mandatory_upper_bound_percent,completion_bonus,optional_score_percent,optional_passed,optional_failed,optional_unknown,optional_total,optional_measured,optional_coverage,optional_lower_bound_percent,optional_upper_bound_percent,fidelity_shape_percent,fidelity_rigid_parts_percent,fidelity_joints_percent,fidelity_materials_percent,fidelity_shape_coverage,fidelity_rigid_parts_coverage,fidelity_joints_coverage,fidelity_materials_coverage,fidelity_reference_geometry_status,formal_fidelity_status,formal_fidelity_earned,formal_fidelity_eligible,formal_fidelity_measured,formal_fidelity_coverage,formal_fidelity_lower_bound_percent,formal_fidelity_upper_bound_percent,visual_fidelity_status,visual_fidelity_earned,visual_fidelity_eligible,visual_fidelity_measured,visual_fidelity_coverage,visual_fidelity_lower_bound_percent,visual_fidelity_upper_bound_percent,kinematic_fidelity_status,kinematic_fidelity_earned,kinematic_fidelity_eligible,kinematic_fidelity_measured,kinematic_fidelity_coverage,kinematic_fidelity_lower_bound_percent,kinematic_fidelity_upper_bound_percent,visual_appearance_percent,visual_appearance_status,visual_appearance_earned,visual_appearance_eligible,visual_appearance_measured,visual_appearance_coverage,visual_appearance_lower_bound_percent,visual_appearance_upper_bound_percent,kinematic_reference_joint_count,kinematic_candidate_joint_count,kinematic_matched_joint_count,kinematic_missing_joint_count,kinematic_extra_joint_count,kinematic_moving_joints_percent,kinematic_moving_joints_status,kinematic_moving_joints_earned,kinematic_moving_joints_eligible,kinematic_moving_joints_measured,kinematic_moving_joints_coverage,kinematic_moving_joints_lower_bound_percent,kinematic_moving_joints_upper_bound_percent,kinematic_fixed_constraints_percent,kinematic_fixed_constraints_status,kinematic_fixed_constraints_earned,kinematic_fixed_constraints_eligible,kinematic_fixed_constraints_measured,kinematic_fixed_constraints_coverage,kinematic_fixed_constraints_lower_bound_percent,kinematic_fixed_constraints_upper_bound_percent,fidelity_shape_earned,fidelity_shape_eligible,fidelity_shape_measured,fidelity_shape_status,fidelity_rigid_parts_earned,fidelity_rigid_parts_eligible,fidelity_rigid_parts_measured,fidelity_rigid_parts_status,fidelity_joints_earned,fidelity_joints_eligible,fidelity_joints_measured,fidelity_joints_status,fidelity_materials_earned,fidelity_materials_eligible,fidelity_materials_measured,fidelity_materials_status,fidelity_shape_precision,fidelity_shape_recall,fidelity_shape_samples_each_direction,fidelity_rigid_parts_geometry_percent,fidelity_rigid_parts_structure_percent,fidelity_rigid_parts_structure_earned,fidelity_rigid_parts_structure_eligible,fidelity_joints_reference_count,fidelity_joints_candidate_count,inference_calls_used,validation_calls_used,model_request_errors,elapsed_seconds,model_request_seconds,input_tokens,output_tokens,total_tokens,inference_cost_usd,compute_cost_usd,total_cost_usd condition-de32f057d28fc53b29e0387dd49ea30697ca431edc825bb97ba94141452d49e0,food_produce_banana_a01,gpt-6.1-sol,pi,none,1,completed,100.0,40.93867393185953,,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,72.56652955003358,72.56652955003358,,16.19140625,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.8187734786371906,2,2,1.0,40.93867393185953,40.93867393185953,not_applicable,0,0,0,0,,,23.095703125,measured,473.0,2048,2048,1.0,23.095703125,23.095703125,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,0.7256652955003358,1,1,measured,0.7256652955003358,1,1,measured,0,0,0,not_applicable,3316,20480,20480,measured,0.7587890625,0.6953125,2048,72.56652955003358,100.0,4,4,0,0,26,2,0,575.187478037551,395.28272926062346,611928,18503,630431,,, condition-e5c0f8041d6d77cff5376b29eebc90a7317d6c00814fdd4854a035cb8e614baf,food_produce_banana_a01,gpt-6.1-sol,pi,none,3,completed,100.0,41.80593534292164,,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,73.19762369791667,73.19762369791667,,30.9814453125,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.8361187068584328,2,2,1.0,41.80593534292164,41.80593534292164,not_applicable,0,0,0,0,,,23.876953125,measured,489.0,2048,2048,1.0,23.876953125,23.876953125,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,0.7319762369791667,1,1,measured,0.7319762369791667,1,1,measured,0,0,0,not_applicable,6345,20480,20480,measured,0.75048828125,0.71435546875,2048,73.19762369791667,100.0,4,4,0,0,29,3,0,479.2198220267892,322.5106446892023,699909,15132,715041,,, +condition-71f51480845cf71cac484d65ded0f0ffd5c39f08b2d3eeac213b76d88140ab0c,food_produce_banana_a01,gpt-6.1-sol,pi,none,4,completed,100.0,42.14464089980275,,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,75.04069539891022,75.04069539891022,,17.05078125,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.8428928179960551,2,2,1.0,42.14464089980275,42.14464089980275,not_applicable,0,0,0,0,,,23.66943359375,measured,484.75,2048,2048,1.0,23.66943359375,23.66943359375,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,0.7504069539891022,1,1,measured,0.7504069539891022,1,1,measured,0,0,0,not_applicable,3492,20480,20480,measured,0.74267578125,0.75830078125,2048,75.04069539891022,100.0,4,4,0,0,34,3,0,445.8019581474364,350.72471111267805,889062,16134,905196,,, diff --git a/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/powertool_drill_b01.csv b/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/powertool_drill_b01.csv new file mode 100644 index 0000000000000000000000000000000000000000..887cf961cbb2a7d98aa902eae7cda8e9c56c34a0 --- /dev/null +++ b/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/powertool_drill_b01.csv @@ -0,0 +1,2 @@ +condition_id,asset_id,requested_model,harness_id,skill_set_id,repetition,status,formal_fidelity_percent,visual_fidelity_percent,kinematic_fidelity_percent,simready_reward,mandatory_passed,mandatory_total,mandatory_failed,mandatory_unknown,mandatory_lower_bound_percent,mandatory_upper_bound_percent,completion_bonus,optional_score_percent,optional_passed,optional_failed,optional_unknown,optional_total,optional_measured,optional_coverage,optional_lower_bound_percent,optional_upper_bound_percent,fidelity_shape_percent,fidelity_rigid_parts_percent,fidelity_joints_percent,fidelity_materials_percent,fidelity_shape_coverage,fidelity_rigid_parts_coverage,fidelity_joints_coverage,fidelity_materials_coverage,fidelity_reference_geometry_status,formal_fidelity_status,formal_fidelity_earned,formal_fidelity_eligible,formal_fidelity_measured,formal_fidelity_coverage,formal_fidelity_lower_bound_percent,formal_fidelity_upper_bound_percent,visual_fidelity_status,visual_fidelity_earned,visual_fidelity_eligible,visual_fidelity_measured,visual_fidelity_coverage,visual_fidelity_lower_bound_percent,visual_fidelity_upper_bound_percent,kinematic_fidelity_status,kinematic_fidelity_earned,kinematic_fidelity_eligible,kinematic_fidelity_measured,kinematic_fidelity_coverage,kinematic_fidelity_lower_bound_percent,kinematic_fidelity_upper_bound_percent,visual_appearance_percent,visual_appearance_status,visual_appearance_earned,visual_appearance_eligible,visual_appearance_measured,visual_appearance_coverage,visual_appearance_lower_bound_percent,visual_appearance_upper_bound_percent,kinematic_reference_joint_count,kinematic_candidate_joint_count,kinematic_matched_joint_count,kinematic_missing_joint_count,kinematic_extra_joint_count,kinematic_moving_joints_percent,kinematic_moving_joints_status,kinematic_moving_joints_earned,kinematic_moving_joints_eligible,kinematic_moving_joints_measured,kinematic_moving_joints_coverage,kinematic_moving_joints_lower_bound_percent,kinematic_moving_joints_upper_bound_percent,kinematic_fixed_constraints_percent,kinematic_fixed_constraints_status,kinematic_fixed_constraints_earned,kinematic_fixed_constraints_eligible,kinematic_fixed_constraints_measured,kinematic_fixed_constraints_coverage,kinematic_fixed_constraints_lower_bound_percent,kinematic_fixed_constraints_upper_bound_percent,fidelity_shape_earned,fidelity_shape_eligible,fidelity_shape_measured,fidelity_shape_status,fidelity_rigid_parts_earned,fidelity_rigid_parts_eligible,fidelity_rigid_parts_measured,fidelity_rigid_parts_status,fidelity_joints_earned,fidelity_joints_eligible,fidelity_joints_measured,fidelity_joints_status,fidelity_materials_earned,fidelity_materials_eligible,fidelity_materials_measured,fidelity_materials_status,fidelity_shape_precision,fidelity_shape_recall,fidelity_shape_samples_each_direction,fidelity_rigid_parts_geometry_percent,fidelity_rigid_parts_structure_percent,fidelity_rigid_parts_structure_earned,fidelity_rigid_parts_structure_eligible,fidelity_joints_reference_count,fidelity_joints_candidate_count,inference_calls_used,validation_calls_used,model_request_errors,elapsed_seconds,model_request_seconds,input_tokens,output_tokens,total_tokens,inference_cost_usd,compute_cost_usd,total_cost_usd +condition-8dc053bc09f21a4b3ab300805f363919a07ba0d7aece1230156b693de05b306d,powerTool_drill_b01,gpt-6.1-sol,pi,none,3,completed,100.0,72.41993951056226,0.0,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,70.20286512474013,53.44026852525762,64.40677966101696,27.301897321428573,1.0,1.0,1.0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.4483987902112452,2,2,1.0,72.41993951056226,72.41993951056226,measured,0.0,2,2,1.0,0.0,0.0,74.70703125,measured,1530.0,2048,2048,1.0,74.70703125,74.70703125,6,11,3,3,8,19.60632992848582,measured,3.1370127885577315,16,16,1.0,19.60632992848582,19.60632992848582,0.0,measured,0.0,1,1,1.0,0.0,0.0,0.7020286512474013,1,1,measured,3.7408187967680333,7,7,measured,38,59,59,measured,3914,14336,14336,measured,0.662109375,0.7470703125,2048,53.44026852525762,87.5,14,16,6,11,43,4,0,908.2154193054885,813.1263963999227,1679495,42371,1721866,,,