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0000000000000000000000000000000000000000..a6822f95486cd77ccb6ef32f59900397600cb0a5 --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/kitchenware_pan_j01/reconstruction-4/candidate-side-7.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c68d9ad20a2c69caddbdf525e5537cf2d4a0c29ebaa1e0aeb1148e88d150baa +size 10196 diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/kitchenware_pan_j01/reconstruction-4/harbor-trajectory-4.json b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/kitchenware_pan_j01/reconstruction-4/harbor-trajectory-4.json new file mode 100644 index 0000000000000000000000000000000000000000..e36975cce33fc8d9772c2dcbb8d598c5a015b61b --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/kitchenware_pan_j01/reconstruction-4/harbor-trajectory-4.json @@ -0,0 +1,1907 @@ +{ + "schema_version": "ATIF-v1.7", + "session_id": "01a15c58-1a2f-70d0-8335-c10e201764ff", + "agent": { + "name": "pi", + "version": "0.85.1", + "model_name": "harbor-endpoint/gpt-6.1-sol" + }, + "steps": [ + { + "step_id": 1, + "timestamp": "2026-10-21T02:44:02.365Z", + "source": "user", + "message": [ + { + "type": "text", + "text": "\nReconstruct the supplied object as /output/asset.usd.\nNominal dimensions in canonical metres XYZ: [0.1964910328388214, 0.3779798746109009, 0.033470655034761876]\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": "f2c678d5", + "pi_parent_id": "de2cf9dc" + } + }, + { + "step_id": 2, + "timestamp": "2026-10-21T02:44:06.774Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_qhndFYBzK1AuNJTUpEObEbOx|fc_00d48b7a1a8dc8ea016ad826f6640487d098fdf1cae36c8f1d", + "function_name": "read", + "arguments": { + "path": "/task/contract.md", + "offset": 1, + "limit": 2000 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_qhndFYBzK1AuNJTUpEObEbOx|fc_00d48b7a1a8dc8ea016ad826f6640487d098fdf1cae36c8f1d", + "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 + } + } + ] + }, + "metrics": { + "prompt_tokens": 2668, + "completion_tokens": 30, + "cached_tokens": 0, + "extra": { + "cache_write_tokens": 2665, + "reasoning_tokens": 0, + "pi_total_tokens": 2698 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "a4e9b453", + "pi_parent_id": "f2c678d5", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad826f4236487d08da57b1479638988", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 3, + "timestamp": "2026-10-21T02:44:10.798Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_heDWhLVkqLc74PhCRGnCzs30|fc_00d48b7a1a8dc8ea016ad826fa771c87d0ab06b652376ca071", + "function_name": "read", + "arguments": { + "path": "/task/tool-docs.md", + "offset": 1, + "limit": 2000 + } + }, + { + "tool_call_id": "call_607AlGUxvc7XWz9fpGNjoAvy|fc_00d48b7a1a8dc8ea016ad826fa772c87d0b443793e7111acf8", + "function_name": "read", + "arguments": { + "path": "/task/scoring-policy.json", + "offset": 1, + "limit": 2000 + } + }, + { + "tool_call_id": "call_tVNGcYH5XbNMBKyb62RYUMAA|fc_00d48b7a1a8dc8ea016ad826fa773887d0aca64192408ee59f", + "function_name": "bash", + "arguments": { + "command": "ls -la /output && python -c \"from pxr import Usd; print('pxr ok')\"", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_heDWhLVkqLc74PhCRGnCzs30|fc_00d48b7a1a8dc8ea016ad826fa771c87d0ab06b652376ca071", + "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_607AlGUxvc7XWz9fpGNjoAvy|fc_00d48b7a1a8dc8ea016ad826fa772c87d0b443793e7111acf8", + "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_tVNGcYH5XbNMBKyb62RYUMAA|fc_00d48b7a1a8dc8ea016ad826fa773887d0aca64192408ee59f", + "content": "total 0\ndrwxrwxrwx 2 actor actor 40 Oct 21 02:43 .\ndrwxr-xr-x 1 root root 56 Oct 21 02:44 ..\npxr ok", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 3036, + "completion_tokens": 115, + "cached_tokens": 2665, + "extra": { + "cache_write_tokens": 368, + "reasoning_tokens": 0, + "pi_total_tokens": 3151 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "c09e9315", + "pi_parent_id": "6e813f45", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad826f7611087d0b4c324a376632f4f", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 4, + "timestamp": "2026-10-21T02:44:26.270Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "The object is a shallow frying pan with a red metal bowl, a speckled non-stick interior, a silver rim, and a black handle with a hanging hole. The handle is permanently fastened to the pan through a metal neck; I\u2019ll model that as a fixed attachment with no movable joints.", + "tool_calls": [ + { + "tool_call_id": "call_YM2zU9p11QtcKtQ9zWKrvAKi|fc_00d48b7a1a8dc8ea016ad82709e40c87d09e818335e4a07fab", + "function_name": "mcp", + "arguments": { + "server": "benchmark" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_YM2zU9p11QtcKtQ9zWKrvAKi|fc_00d48b7a1a8dc8ea016ad82709e40c87d09e818335e4a07fab", + "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": 4401, + "completion_tokens": 509, + "cached_tokens": 3033, + "extra": { + "cache_write_tokens": 1365, + "reasoning_tokens": 421, + "pi_total_tokens": 4910 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "6137d3b7", + "pi_parent_id": "65a5aeee", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad826fbc33087d098dfffe9676b4273", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 5, + "timestamp": "2026-10-21T02:44:31.832Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Considering rendering options**\n\nI wonder if the previews tool is necessary. Maybe I could utilize local rendering with usdrecord, but I need to check out the environment and libraries first. I\u2019m thinking it\u2019s essential to inspect everything before proceeding. There\u2019s just so much to consider, and I want to make sure everything is set up properly! Let's see what the environment has in store before diving in.", + "tool_calls": [ + { + "tool_call_id": "call_rlj6kqoEFYEd5nBW2V2UqfLP|fc_00d48b7a1a8dc8ea016ad8270f8f0c87d0b1c7cd1651126d26", + "function_name": "mcp", + "arguments": { + "describe": "benchmark_validate_candidate" + } + }, + { + "tool_call_id": "call_6FrklmddvKaj1x4W93vjKJYn|fc_00d48b7a1a8dc8ea016ad8270f8f2087d0b6bc6c78de942d69", + "function_name": "bash", + "arguments": { + "command": "which usdrecord || true; python - <<'PY'\nimport importlib.util\nfor m in ['PIL','numpy','scipy','trimesh','OpenGL','pxr.UsdAppUtils']:\n print(m,importlib.util.find_spec(m))\nPY\nls /opt; env | grep -E 'NVIDIA|DISPLAY|USD|ISAAC'", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_rlj6kqoEFYEd5nBW2V2UqfLP|fc_00d48b7a1a8dc8ea016ad8270f8f0c87d0b1c7cd1651126d26", + "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_6FrklmddvKaj1x4W93vjKJYn|fc_00d48b7a1a8dc8ea016ad8270f8f2087d0b6bc6c78de942d69", + "content": "PIL ModuleSpec(name='PIL', loader=<_frozen_importlib_external.SourceFileLoader object at 0x7451fe578830>, origin='/usr/local/lib/python3.12/dist-packages/PIL/__init__.py', submodule_search_locations=['/usr/local/lib/python3.12/dist-packages/PIL'])\nnumpy ModuleSpec(name='numpy', loader=<_frozen_importlib_external.SourceFileLoader object at 0x7451fe579460>, origin='/usr/local/lib/python3.12/dist-packages/numpy/__init__.py', submodule_search_locations=['/usr/local/lib/python3.12/dist-packages/numpy'])\nscipy None\ntrimesh None\nOpenGL None\npxr.UsdAppUtils None\nnvm\nsimready\n\n\nCommand exited with code 1", + "extra": { + "tool_name": "bash", + "is_error": true + } + } + ] + }, + "metrics": { + "prompt_tokens": 4984, + "completion_tokens": 156, + "cached_tokens": 4398, + "extra": { + "cache_write_tokens": 583, + "reasoning_tokens": 21, + "pi_total_tokens": 5140 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "6cdadb32", + "pi_parent_id": "cc84bc08", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad8270bc0cc87d0a2ea7beadb9fb26f", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 6, + "timestamp": "2026-10-21T02:44:36.191Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_6oWKxAHyYdsxv6kchU9nmbuS|fc_00d48b7a1a8dc8ea016ad82712d3fc87d0a16ed4e658692b5e", + "function_name": "bash", + "arguments": { + "command": "ls -la /opt/simready; ls /usr/local/bin | head -50; find /opt/simready -maxdepth 3 -type f | head -30", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_6oWKxAHyYdsxv6kchU9nmbuS|fc_00d48b7a1a8dc8ea016ad82712d3fc87d0a16ed4e658692b5e", + "content": "total 4\ndrwxr-xr-x 1 root root 29 Oct 20 22:14 .\ndrwxr-xr-x 1 root root 30 Oct 20 22:14 ..\ndrwxr-xr-x 3 root root 87 Oct 20 22:13 opencode\ndrwxr-xr-x 3 root root 87 Oct 20 22:13 pi\n-rw-r--r-- 1 root root 369 Oct 20 22:12 python-requirements.txt\ndr-xr-xr-x 3 actor actor 60 Oct 21 02:43 runtime\nnode\nnpm\nnpx\nopencode\npi\npython\n/opt/simready/runtime/simready_bench/__init__.py\n/opt/simready/python-requirements.txt\n/opt/simready/pi/node_modules/.package-lock.json\n/opt/simready/pi/package-lock.json\n/opt/simready/pi/package.json\n/opt/simready/opencode/node_modules/.package-lock.json\n/opt/simready/opencode/package-lock.json\n/opt/simready/opencode/package.json", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 5373, + "completion_tokens": 76, + "cached_tokens": 4981, + "extra": { + "cache_write_tokens": 389, + "reasoning_tokens": 16, + "pi_total_tokens": 5449 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "b37b77bd", + "pi_parent_id": "b47b1c2e", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad82710b34087d083ee2b2ff3ebd479", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 7, + "timestamp": "2026-10-21T02:44:40.029Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Considering build quality**\n\nI notice that we have 55 turns, which seems ample for something. The goal is to build quality. I\u2019m wondering if I could use the CPU to render my own inspection of the geometry through matplotlib. Is that available? I\u2019m curious how the rendering might help us achieve the quality we want. Overall, I think we should focus on making sure everything looks right during the inspection process!", + "tool_calls": [ + { + "tool_call_id": "call_TOxBvCtLo3MM5oxMcNfNptoC|fc_00d48b7a1a8dc8ea016ad827176e9087d08ec221ce006ddb96", + "function_name": "bash", + "arguments": { + "command": "cat /opt/simready/python-requirements.txt; python - <<'PY'\nfrom pxr import Usd, UsdGeom, UsdPhysics, Sdf, Gf\ntry:\n from pxr import Semantics\n print('Semantics',Semantics)\nexcept Exception as e: print(e)\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_TOxBvCtLo3MM5oxMcNfNptoC|fc_00d48b7a1a8dc8ea016ad827176e9087d08ec221ce006ddb96", + "content": "usd-core==26.8 --hash=sha256:204fb1ef1fc977b827c491f4e9fa39b57518504ed0cacfe12e026e95123cacf1\nPillow==13.0.0 --hash=sha256:42d63be3af4f9b951b199b0a9d23365d37ab14687e6d77b74940432c8515c4ca\nnumpy==2.2.6 --hash=sha256:fd83c01228a688733f1ded5201c678f0c53ecc1006ffbc404db9f7a899ac6249\npip==24.0 --hash=sha256:ba0d021a166865d2265246961bec0152ff124de910c5cc39f1156ce3fa7c69dc\ncannot import name 'Semantics' from 'pxr' (/usr/local/lib/python3.12/dist-packages/pxr/__init__.py)", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 5712, + "completion_tokens": 120, + "cached_tokens": 5370, + "extra": { + "cache_write_tokens": 339, + "reasoning_tokens": 28, + "pi_total_tokens": 5832 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "2c37196d", + "pi_parent_id": "63b1e56b", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad82714d57487d0bba4245f3e1088f7", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 8, + "timestamp": "2026-10-21T02:45:20.343Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Exploring authoring techniques**\n\nI\u2019m considering how an author might use a slice grid with an integrated hole, possibly by using cross-sections through the y-axis. It seems like they could handle rounded endpoints effectively. To create a slot, I'm thinking about using triangulation for the top surface with a library like Shapely. I wonder if it's possible to install local external packages like Shapely or mapbox_earcut for this purpose. Let's explore this further!\n**Analyzing nonstick properties**\n\nI\u2019m working on understanding the nonstick surface roughness metrics. I\u2019ve noted that the nonstick has roughness of .42 and that the metallic is at .08. For the silver rim, it\u2019s .7 with a roughness of .24. Looking at the exterior, it\u2019s metallic with a roughness of .27 and rated at .62. The reference for the exterior red seems vivid, and I wonder if the linear for diffuse red at (0.48, .018, .013) will be functional in this context?\n**Creating a texture plan**\n\nI'm focusing on rendering a color texture with a linear base of .45 red, which should be brighter than the typical thumbnail preview that uses a base of .5. I need to incorporate a nonstick charcoal base with tiny mauve-gray specks. The texture resolution needs to be 2048, with about 20,000 specks in a range of pixel sizes. Also, these specks should form clusters and have a Perlin-like fine grain background. Let's ensure all parameters align for the ideal visual effect!\n\n**Designing texture elements**\n\nI'm considering an alternative cylindrical exterior texture with a microfine roughness in red, though it's not necessary. The handle could have a subtle matte black finish with a dark charcoal texture and no visible logos. I plan to use procedural grayscale noise mapped with uniform UV. The hole walls will be a black matte inside. Additionally, there will be two metal rivet heads on the inside near the rim, with exact placements for a seamless look. It's all about those details!\n\n**Designing metal features**\n\nI'm working on a metal rectangular trapezoid piece that extends from y .001 to .022, with a width of .015 and thickness of .0028. It will slope from z .021 at the pan to z .023 at the grip. The body has a black grip starting at .018. Additionally, there's a link that forms an exposed neck, measuring .013 in length. I have to decide whether to use an extruded bevel rectangular mesh or a rounded box for this design. It's all in the details!", + "tool_calls": [ + { + "tool_call_id": "call_LsjbbJqMy3b4f4MIvjLqD4un|fc_00d48b7a1a8dc8ea016ad8273ff47087d08cc38b01644e23b1", + "function_name": "bash", + "arguments": { + "command": "pip install mapbox-earcut -q", + "timeout": 60 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_LsjbbJqMy3b4f4MIvjLqD4un|fc_00d48b7a1a8dc8ea016ad8273ff47087d08cc38b01644e23b1", + "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": 6068, + "completion_tokens": 1583, + "cached_tokens": 5709, + "extra": { + "cache_write_tokens": 356, + "reasoning_tokens": 1552, + "pi_total_tokens": 7651 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "bfb04229", + "pi_parent_id": "36a73442", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad8271944ac87d0bd13c2c5e01db0fd", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 9, + "timestamp": "2026-10-21T02:45:23.014Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_UGLCnAoqTfVbOyPcBXA5NM2o|fc_00d48b7a1a8dc8ea016ad82742732887d0b7a24a07b47349d1", + "function_name": "bash", + "arguments": { + "command": "python -m pip install mapbox-earcut -q", + "timeout": 60 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_UGLCnAoqTfVbOyPcBXA5NM2o|fc_00d48b7a1a8dc8ea016ad82742732887d0b7a24a07b47349d1", + "content": "error: externally-managed-environment\n\n\u00d7 This environment is externally managed\n\u2570\u2500> To install Python packages system-wide, try apt install\n python3-xyz, where xyz is the package you are trying to\n install.\n \n If you wish to install a non-Debian-packaged Python package,\n create a virtual environment using python3 -m venv path/to/venv.\n Then use path/to/venv/bin/python and path/to/venv/bin/pip. Make\n sure you have python3-full installed.\n \n If you wish to install a non-Debian packaged Python application,\n it may be easiest to use pipx install xyz, which will manage a\n virtual environment for you. Make sure you have pipx installed.\n \n See /usr/share/doc/python3.12/README.venv for more information.\n\nnote: If you believe this is a mistake, please contact your Python installation or OS distribution provider. You can override this, at the risk of breaking your Python installation or OS, by passing --break-system-packages.\nhint: See PEP 668 for the detailed specification.\n\n\nCommand exited with code 1", + "extra": { + "tool_name": "bash", + "is_error": true + } + } + ] + }, + "metrics": { + "prompt_tokens": 7681, + "completion_tokens": 32, + "cached_tokens": 6065, + "extra": { + "cache_write_tokens": 1613, + "reasoning_tokens": 0, + "pi_total_tokens": 7713 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "395f0ee6", + "pi_parent_id": "c40ab375", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad82741445087d09140214ceb7ebb62", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 10, + "timestamp": "2026-10-21T02:45:25.813Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_kWO16VMBFduffZKFZBhh1EOB|fc_00d48b7a1a8dc8ea016ad827452d0c87d08a6bdcb14029aefe", + "function_name": "bash", + "arguments": { + "command": "python -m pip install --break-system-packages mapbox-earcut -q", + "timeout": 60 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_kWO16VMBFduffZKFZBhh1EOB|fc_00d48b7a1a8dc8ea016ad827452d0c87d08a6bdcb14029aefe", + "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/mapbox-earcut/\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/mapbox-earcut/\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/mapbox-earcut/\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/mapbox-earcut/\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/mapbox-earcut/\nERROR: Could not find a version that satisfies the requirement mapbox-earcut (from versions: none)\nERROR: No matching distribution found for mapbox-earcut\n\n\nCommand exited with code 1", + "extra": { + "tool_name": "bash", + "is_error": true + } + } + ] + }, + "metrics": { + "prompt_tokens": 7967, + "completion_tokens": 37, + "cached_tokens": 7678, + "extra": { + "cache_write_tokens": 286, + "reasoning_tokens": 0, + "pi_total_tokens": 8004 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "4e93a38f", + "pi_parent_id": "801dcde8", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad827442e9087d099023fb6699b3538", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 11, + "timestamp": "2026-10-21T02:47:24.327Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Planning asset creation**\n\nI\u2019m thinking about creating some asset metadata focused on frying pan designs, including the looks and handle mounts. I need to consider how to structure the data properly and also incorporate old API semantic labels. It seems like it would be important to write a script that uses USD schemas while manually calculating adjacency for meshes and normals. This will ensure everything is well organized and functional in the end!", + "tool_calls": [ + { + "tool_call_id": "call_1bfixCtrPbD21HZMkndzXf5q|fc_00d48b7a1a8dc8ea016ad82768de8887d08416771f3f4fae67", + "function_name": "write", + "arguments": { + "path": "/tmp/build_asset.py", + "content": "import os, math, numpy as np\nfrom PIL import Image, ImageDraw, ImageFilter\nfrom pxr import Usd, UsdGeom, UsdShade, UsdPhysics, Sdf, Gf, Vt, Kind\nOUT='/output'; os.makedirs(OUT+'/textures',exist_ok=True)\n# High-resolution baked surface: charcoal ceramic/PTFE with small stone-like mineral inclusions.\nrng=np.random.default_rng(2407); S=2048\nnoise=rng.normal(0,0.95,(S,S,1))\nbase=np.zeros((S,S,3))+np.array([43.0,42.0,44.0])+noise\nim=Image.fromarray(np.uint8(np.clip(base,0,255)))\nd=ImageDraw.Draw(im)\nfor i in range(33500):\n x,y=rng.uniform(0,S,2)\n r=rng.uniform(.45,1.1) if i<19500 else rng.uniform(1.0,2.8)\n val=rng.uniform(50,83)\n col=(int(val*1.01),int(val*.94),int(val*1.035))\n if i%3==0:\n d.ellipse((x-r*1.35,y-r*.64,x+r*1.35,y+r*.64),fill=col)\n else:\n d.polygon([(x-r,y),(x-.4*r,y-.75*r),(x+.8*r,y-.5*r),(x+r,y+.35*r),(x,y+r*.7)],fill=col)\nim=im.filter(ImageFilter.GaussianBlur(.32)); im.save(OUT+'/textures/nonstick_color.png')\nnoise=rng.normal(0,1.2,(512,512,1))\nh=np.zeros((512,512,3))+np.array([38,40,39])+noise\nImage.fromarray(np.uint8(np.clip(h,0,255))).save(OUT+'/textures/handle_grain.png')\nstage=Usd.Stage.CreateNew(OUT+'/asset.usd'); stage.SetMetadata('upAxis','Z'); stage.SetMetadata('metersPerUnit',1.0)\nstage.SetMetadata('kilogramsPerUnit',1.0)\nstage.SetMetadata('documentation','Shallow enamelled aluminium frying pan with fixed phenolic handle. SI metres and kilograms. No movable degrees of freedom.')\nroot=UsdGeom.Xform.Define(stage,'/FryingPan'); stage.SetDefaultPrim(root.GetPrim())\nUsd.ModelAPI(root).SetKind(Kind.Tokens.component)\nUsd.ModelAPI(root).SetAssetName('Red nonstick frying pan')\nroot.GetPrim().SetCustomDataByKey('assetDescription','196 mm red frying pan, mineral-speckled nonstick coating, silver lip, fixed black phenolic grip with hanging eye')\nroot.GetPrim().SetCustomDataByKey('rigidAssembly',True)\n\ndef semantic(prim,label,material=None):\n prim.AddAppliedSchema('SemanticsAPI:class')\n prim.CreateAttribute('semantics:class:semanticType',Sdf.ValueTypeNames.String).Set('class')\n prim.CreateAttribute('semantics:class:semanticData',Sdf.ValueTypeNames.String).Set(label)\n if material:\n prim.AddAppliedSchema('SemanticsAPI:material')\n prim.CreateAttribute('semantics:material:semanticType',Sdf.ValueTypeNames.String).Set('material')\n prim.CreateAttribute('semantics:material:semanticData',Sdf.ValueTypeNames.String).Set(material)\nsemantic(root.GetPrim(),'frying_pan','aluminum_and_phenolic_resin')\nlooks=UsdGeom.Scope.Define(stage,'/FryingPan/Looks')\ndef mat(name,color,metal=0.,rough=.5,texture=None):\n m=UsdShade.Material.Define(stage,'/FryingPan/Looks/'+name)\n sh=UsdShade.Shader.Define(stage,m.GetPath().AppendChild('Surface')); sh.CreateIdAttr('UsdPreviewSurface')\n sh.CreateInput('diffuseColor',Sdf.ValueTypeNames.Color3f).Set(color)\n sh.CreateInput('metallic',Sdf.ValueTypeNames.Float).Set(metal)\n sh.CreateInput('roughness',Sdf.ValueTypeNames.Float).Set(rough)\n sh.CreateInput('opacity',Sdf.ValueTypeNames.Float).Set(1.)\n sh.CreateInput('ior',Sdf.ValueTypeNames.Float).Set(1.5)\n sh.CreateOutput('surface',Sdf.ValueTypeNames.Token)\n m.CreateSurfaceOutput().ConnectToSource(sh.ConnectableAPI(),'surface')\n if texture:\n reader=UsdShade.Shader.Define(stage,m.GetPath().AppendChild('UV')); reader.CreateIdAttr('UsdPrimvarReader_float2')\n reader.CreateInput('varname',Sdf.ValueTypeNames.Token).Set('st'); reader.CreateOutput('result',Sdf.ValueTypeNames.Float2)\n tex=UsdShade.Shader.Define(stage,m.GetPath().AppendChild('ColorTexture')); tex.CreateIdAttr('UsdUVTexture')\n tex.CreateInput('file',Sdf.ValueTypeNames.Asset).Set(Sdf.AssetPath('./textures/'+texture))\n tex.CreateInput('sourceColorSpace',Sdf.ValueTypeNames.Token).Set('sRGB')\n tex.CreateInput('wrapS',Sdf.ValueTypeNames.Token).Set('repeat'); tex.CreateInput('wrapT',Sdf.ValueTypeNames.Token).Set('repeat')\n tex.CreateInput('st',Sdf.ValueTypeNames.Float2).ConnectToSource(reader.ConnectableAPI(),'result')\n tex.CreateOutput('rgb',Sdf.ValueTypeNames.Float3)\n sh.GetInput('diffuseColor').ConnectToSource(tex.ConnectableAPI(),'rgb')\n return m\nred=mat('RubyRedEnamel',(0.46,.012,.009),.52,.27)\nblack=mat('SpeckledNonstick',(.035,.033,.037),.08,.48,'nonstick_color.png')\nsilver=mat('ExposedAluminiumRim',(.68,.69,.71),.83,.23)\nsteel=mat('BrushedSteelNeck',(.52,.54,.56),.82,.3)\nplastic=mat('TexturedBlackPhenolic',(.021,.024,.023),.0,.46,'handle_grain.png')\nunder=mat('UndersideMetal',(.15,.155,.16),.75,.38)\n\ndef mesh(path,pts,faces,material=None,uv=None,smooth=True):\n p=np.array(pts,dtype=float); m=UsdGeom.Mesh.Define(stage,path)\n m.CreatePointsAttr([Gf.Vec3f(*v) for v in p]); m.CreateFaceVertexCountsAttr([len(f) for f in faces]); m.CreateFaceVertexIndicesAttr([i for f in faces for i in f])\n m.CreateSubdivisionSchemeAttr('none'); m.CreateOrientationAttr('rightHanded'); m.CreateDoubleSidedAttr(False)\n m.CreateExtentAttr([Gf.Vec3f(*p.min(axis=0)),Gf.Vec3f(*p.max(axis=0))])\n if smooth:\n n=np.zeros_like(p)\n for f in faces:\n norm=np.cross(p[f[1]]-p[f[0]],p[f[2]]-p[f[0]])\n for i in f:n[i]+=norm\n n/=np.maximum(np.linalg.norm(n,axis=1)[:,None],1e-20)\n m.CreateNormalsAttr([Gf.Vec3f(*v) for v in n]); m.SetNormalsInterpolation('vertex')\n else:\n norms=[]\n for f in faces:\n norm=np.cross(p[f[1]]-p[f[0]],p[f[2]]-p[f[0]]); norm/=max(np.linalg.norm(norm),1e-20); norms.append(Gf.Vec3f(*norm))\n m.CreateNormalsAttr(norms); m.SetNormalsInterpolation('uniform')\n if uv is None: uv=[(v[0]*4+.5,v[1]*4+.5) for v in p]\n pv=UsdGeom.PrimvarsAPI(m).CreatePrimvar('st',Sdf.ValueTypeNames.TexCoord2fArray,UsdGeom.Tokens.vertex)\n pv.Set([Gf.Vec2f(*v) for v in uv])\n if material: UsdShade.MaterialBindingAPI.Apply(m.GetPrim()).Bind(material)\n return m\n\ndef body(name,loc,mass,com,inertia,label):\n obj=UsdGeom.Xform.Define(stage,'/FryingPan/'+name); obj.AddTranslateOp().Set(Gf.Vec3d(*loc))\n Usd.ModelAPI(obj).SetKind(Kind.Tokens.subcomponent)\n rb=UsdPhysics.RigidBodyAPI.Apply(obj.GetPrim()); rb.CreateRigidBodyEnabledAttr(True); rb.CreateKinematicEnabledAttr(False)\n ma=UsdPhysics.MassAPI.Apply(obj.GetPrim()); ma.CreateMassAttr(mass); ma.CreateCenterOfMassAttr(Gf.Vec3f(*com)); ma.CreateDiagonalInertiaAttr(Gf.Vec3f(*inertia)); ma.CreatePrincipalAxesAttr(Gf.Quatf(1))\n semantic(obj.GetPrim(),label)\n return obj\nR=.1964910328388214/2\nYC=-.3779798746109009/2+R\npan=body('Pan',(0,YC,0),.39,(0,0,.008),(0.00097,0.00097,0.00185),'pan_bowl')\nhandle=body('Handle',(0,.019,.024),.085,(0,.085,.004),(.00022,.000004,.00022),'fixed_pan_handle')\n# Closed lathed shell, from underside centre around the red side, over the bare lip and into the cooking surface.\nprofile=[(0,.0007),(.065,.0007),(.073,.0007),(.078,0),(.081,0),(.084,.0005),(.0865,.0016),(.089,.0035),(.0917,.0061),(.094,.0094),(.0958,.0132),(.0971,.0175),(.0979,.0215),(R,.0244),(R-.00008,.0250),(R-.00035,.0254),(R-.00070,.0255),(R-.00105,.0254),(R-.00134,.0250),(.09665,.0244),(.0961,.0210),(.0951,.0171),(.0936,.0134),(.0914,.0100),(.0886,.0072),(.0852,.0053),(.0810,.0042),(.076,.0037),(.068,.0035),(.045,.0035),(0,.0035)]\nN=256; pts=[]; rings=[]\nfor r,z in profile:\n if r==0:\n rings.append([len(pts)]); pts.append((0,0,z))\n else:\n inds=[]\n for i in range(N):\n t=2*math.pi*i/N; inds.append(len(pts)); pts.append((r*math.cos(t),r*math.sin(t),z))\n rings.append(inds)\nfaces=[]; groups={'red':[],'silver':[],'black':[],'under':[]}\nfor j in range(len(rings)-1):\n a,b=rings[j],rings[j+1]\n for i in range(N):\n k=(i+1)%N\n if len(a)==1: f=[a[0],b[k],b[i]]\n elif len(b)==1:f=[a[i],a[k],b[0]]\n else:f=[a[i],a[k],b[k],b[i]]\n idx=len(faces); faces.append(f)\n zone='under' if j<4 else ('red' if j<13 else ('silver' if j<19 else 'black'))\n groups[zone].append(idx)\nuv=[(.5+x/(2*R),.5+y/(2*R)) for x,y,z in pts]\nm=mesh('/FryingPan/Pan/Bowl',pts,faces,red,uv)\nUsdGeom.Subset.SetFamilyType(m,'materialBind',UsdGeom.Tokens.partition)\nfor name,matl in [('red',red),('silver',silver),('black',black),('under',under)]:\n subset=UsdGeom.Subset.CreateGeomSubset(m,name,UsdGeom.Tokens.face,groups[name],'materialBind')\n UsdShade.MaterialBindingAPI.Apply(subset.GetPrim()).Bind(matl)\nsemantic(m.GetPrim(),'frying_pan_bowl','aluminum')\n\n# Slightly tapered, rounded black handle; the hanging slot is real through geometry.\ndef bezier(p0,p1,p2,p3,n=20):\n return [tuple((1-t)**3*np.array(p0)+3*(1-t)**2*t*np.array(p1)+3*(1-t)*t*t*np.array(p2)+t**3*np.array(p3)) for t in np.linspace(0,1,n,endpoint=False)]\nYEND=.3779798746109009/2\nouter=[]\nouter+=bezier((-.0085,.018),(-.0114,.018),(-.0124,.020),(-.0122,.025),15)\nouter+=bezier((-.0122,.025),(-.0113,.060),(-.0095,.116),(-.0108,.157),40)\nouter+=bezier((-.0108,.157),(-.0114,.171),(-.0122,.179),(-.0095,.184),20)\nouter+=bezier((-.0095,.184),(-.0075,YEND),(-.003,YEND),(0,YEND),20)\nouter+= [( -x,y) for x,y in reversed(outer)]\n# Ensure convex silhouette includes straight rounded root closing edge.\npoly=np.array(outer)\nC=np.array([0,.172])\ndef ray_hit(direction,polygon):\n best=1e9\n for p,q in zip(polygon,np.roll(polygon,-1,axis=0)):\n e=q-p; det=direction[0]*(-e[1])-direction[1]*(-e[0])\n if abs(det)<1e-13:continue\n # C+t*d = p+u*e\n b=p-C\n t=(b[0]*(-e[1])-b[1]*(-e[0]))/det\n u=(direction[0]*b[1]-direction[1]*b[0])/det\n if t>0 and -.000001<=u<=1.000001:best=min(best,t)\n if best==1e9: raise ValueError('no ray hit')\n return C+direction*best\n# Real rounded capsule hole, 20.5 x 9.3 mm.\nhole=[]\nfor angle in np.linspace(0,2*math.pi,200,endpoint=False):\n # stadium formed from semicircles, with Y-oriented central segment\n hole.append((.00465*math.cos(angle),.172+.0056*(1 if math.sin(angle)>=0 else -1)+.00465*math.sin(angle)))\nhole=np.array(hole)\nH=256; angles=np.linspace(0,2*math.pi,H,endpoint=False)\nO=np.array([ray_hit(np.array([math.cos(a),math.sin(a)]),poly) for a in angles])\nI=np.array([ray_hit(np.array([math.cos(a),math.sin(a)]),hole) for a in angles])\n# Rays point out; normals found from contour tangent.\ndef outward_norm(P):\n tangent=np.roll(P,-1,axis=0)-np.roll(P,1,axis=0)\n n=np.stack([tangent[:,1],-tangent[:,0]],axis=1)\n return n/np.maximum(np.linalg.norm(n,axis=1)[:,None],1e-14)\non=outward_norm(O); inn=outward_norm(I)\nOT=O-.0010*on; IT=I+.0007*inn\n\ndef topz(P):\n return .027+.0067*(P[:,1]-.018)/(YEND-.018)-.00055*(P[:,0]/.012)**2\nlayers=[]\n# Path around the solid section from hole-top to outer top, outer wall, bottom back to hole, hole wall.\nfor f in np.linspace(0,1,13):\n P=IT*(1-f)+OT*f; layers.append((P,topz(P)))\nlayers += [(O,topz(O)-.0016),(O,topz(O)-.0070),(OT,topz(OT)-.0085)]\nfor f in np.linspace(0,1,13)[1:]:\n P=OT*(1-f)+IT*f; layers.append((P,topz(P)-.0085))\nlayers += [(I,topz(I)-.0074),(I,topz(I)-.0011)]\npts=[]\nfor P,z in layers:\n for (x,y),zz in zip(P,z): pts.append((x,y-.019,zz-.024))\n# Exact overall specified thickness.\nmaxz=max(p[2]+.024 for p in pts); dz=.033470655034761876-maxz\npts=[(x,y,z+dz) for x,y,z in pts]\nfaces=[]\nfor j in range(len(layers)):\n k=(j+1)%len(layers)\n for i in range(H):\n ni=(i+1)%H\n faces.append([j*H+i,k*H+i,k*H+ni,j*H+ni])\n# correct winding: ring traversal from inner -> outer top gives +Z for radial then tangential order.\nuv=[(x/.025+.5,(y+.019)/.06) for x,y,z in pts]\nhm=mesh('/FryingPan/Handle/Grip',pts,faces,plastic,uv)\nsemantic(hm.GetPrim(),'handle_grip','phenolic_resin')\n\n# Tang is a simple bevelled rectangular metal extrusion, mostly inserted in the grip.\ndef bevel_box(path,center,size,bevel,material):\n # Rounded planar rectangular footprint with a bevel in Z.\n cx,cy,cz=center; sx,sy,sz=size\n outline=[]\n for xx,yy,a0 in [(sx/2-bevel,sy/2-bevel,0),(-sx/2+bevel,sy/2-bevel,90),(-sx/2+bevel,-sy/2+bevel,180),(sx/2-bevel,-sy/2+bevel,270)]:\n for a in np.linspace(a0,a0+90,9):\n # angles start +X, CCW; top-right sweeps 0->90 etc\n outline.append((cx+xx+bevel*math.cos(math.radians(a)),cy+yy+bevel*math.sin(math.radians(a))))\n Q=len(outline); p=[]\n for z in [cz-sz/2,cz+sz/2]:\n for x,y in outline:p.append((x,y,z))\n f=[list(reversed(range(Q))),list(range(Q,Q*2))]\n for i in range(Q):j=(i+1)%Q; f.append([i,j,j+Q,i+Q])\n return mesh(path,p,f,material,smooth=False)\ntang=bevel_box('/FryingPan/Pan/SteelTang',(0,.105,.0225),(.0145,.025,.0030),.0010,steel)\nsemantic(tang.GetPrim(),'handle_attachment','stainless_steel')\n\n# Small aluminium rivet heads, pointing inward from the bowl wall.\ndef ellipsoid(path,center,radii,axis,material):\n axis=np.array(axis,dtype=float); axis/=np.linalg.norm(axis)\n u=np.cross([1,0,0],axis); u/=np.linalg.norm(u); v=np.cross(axis,u)\n p=[tuple(np.array(center)+axis*radii[2])]; f=[]; n=40; bands=12\n for j in range(1,bands):\n t=math.pi*j/bands\n for i in range(n):\n a=2*math.pi*i/n\n q=np.array(center)+math.sin(t)*(math.cos(a)*radii[0]*u+math.sin(a)*radii[1]*v)+math.cos(t)*radii[2]*axis\n p.append(tuple(q))\n p.append(tuple(np.array(center)-axis*radii[2])); end=len(p)-1\n for i in range(n):f.append([0,1+i,1+(i+1)%n])\n for j in range(bands-2):\n for i in range(n):\n k=(i+1)%n; a=1+j*n; b=a+n; f.append([a+i,b+i,b+k,a+k])\n a=1+(bands-2)*n\n for i in range(n):f.append([a+i,end,a+(i+1)%n])\n return mesh(path,p,f,material)\nfor i,x in enumerate([-.0047,.0047]):\n riv=ellipsoid('/FryingPan/Pan/Rivet'+str(i+1),(x,.0945,.0182),(.0018,.0018,.00065),(0,-.94,.34),silver)\n semantic(riv.GetPrim(),'rivet','aluminum')\n\n# Efficient separate convex collision proxies. The compound retains the pan's open cavity.\nUsdGeom.Scope.Define(stage,'/FryingPan/Pan/Colliders')\nUsdGeom.Scope.Define(stage,'/FryingPan/Handle/Colliders')\ndef collider(m):\n m.CreatePurposeAttr(UsdGeom.Tokens.guide); m.CreateVisibilityAttr(UsdGeom.Tokens.invisible)\n UsdPhysics.CollisionAPI.Apply(m.GetPrim()).CreateCollisionEnabledAttr(True)\n UsdPhysics.MeshCollisionAPI.Apply(m.GetPrim()).CreateApproximationAttr('convexHull')\n UsdShade.MaterialBindingAPI.Apply(m.GetPrim()).Bind(under)\n semantic(m.GetPrim(),'collision_proxy')\n# simple bottom cylinder\np=[]; f=[]; nc=64\nfor z in [.0001,.0037]:\n for i in range(nc):a=2*math.pi*i/nc;p.append((.0815*math.cos(a),.0815*math.sin(a),z))\nf=[list(reversed(range(nc))),list(range(nc,2*nc))]\nfor i in range(nc):j=(i+1)%nc;f.append([i,j,j+nc,i+nc])\ncollider(mesh('/FryingPan/Pan/Colliders/Base',p,f,under,smooth=False))\nfor j in range(48):\n a0=2*math.pi*j/48; a1=2*math.pi*(j+1)/48\n p=[]\n for r,z in [(.080,.002),(.085,.0008),(.0982,.0254),(.0966,.0254)]:\n for a in [a0,a1]:p.append((r*math.cos(a),r*math.sin(a),z))\n f=[[0,1,3,2],[2,3,5,4],[4,5,7,6],[6,7,1,0],[0,2,4,6],[1,7,5,3]]\n collider(mesh(f'/FryingPan/Pan/Colliders/Wall_{j:02d}',p,f,under,smooth=False))\n# Grip's proxies leave the hanging eye unfilled.\nfor name,c,s in [('GripMain',(0,.070-.019,.0265-.024),(.0218,.102,.008)),('EyeLeft',(-.008,.171-.019,.0295-.024),(.005,.027,.008)),('EyeRight',(.008,.171-.019,.0295-.024),(.005,.027,.008)),('EyeTip',(0,.185-.019,.030-.024),(.016,.0065,.0075)),('Root',(0,.024-.019,.024-.024),(.022,.013,.008))]:\n cm=bevel_box('/FryingPan/Handle/Colliders/'+name,c,s,.0008,under); collider(cm)\n# Fixed mechanical attachment: no hinge, no sliding or folding.\nUsdGeom.Scope.Define(stage,'/FryingPan/Joints')\njoint=UsdPhysics.FixedJoint.Define(stage,'/FryingPan/Joints/HandleMount')\njoint.CreateBody0Rel().SetTargets([pan.GetPath()]); joint.CreateBody1Rel().SetTargets([handle.GetPath()])\njoint.CreateLocalPos0Attr(Gf.Vec3f(0,.019-YC,.024)); joint.CreateLocalPos1Attr(Gf.Vec3f(0,0,0))\njoint.CreateLocalRot0Attr(Gf.Quatf(1)); joint.CreateLocalRot1Attr(Gf.Quatf(1))\njoint.CreateJointEnabledAttr(True); joint.CreateCollisionEnabledAttr(False)\njoint.GetPrim().SetCustomDataByKey('attachmentDescription','Bolted fixed tang-to-phenolic-handle connection; all relative translation and rotation locked')\nsemantic(joint.GetPrim(),'fixed_handle_mount')\nstage.GetRootLayer().Save()\nprint('Saved',stage.GetRootLayer().identifier)\nb=UsdGeom.BBoxCache(0,['default','render']).ComputeWorldBound(root.GetPrim()).ComputeAlignedBox()\nprint('Visual bbox:',b, 'size',b.GetSize())\n" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_1bfixCtrPbD21HZMkndzXf5q|fc_00d48b7a1a8dc8ea016ad82768de8887d08416771f3f4fae67", + "content": "Successfully wrote to /tmp/build_asset.py", + "extra": { + "tool_name": "write", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 8466, + "completion_tokens": 6825, + "cached_tokens": 7964, + "extra": { + "cache_write_tokens": 499, + "reasoning_tokens": 1034, + "pi_total_tokens": 15291 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "64389d13", + "pi_parent_id": "3d207be6", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad8274e69c487d083afe450ff5d78c3", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 12, + "timestamp": "2026-10-21T02:47:27.057Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_o3iSWfC5rqmTy52Joau827Fd|fc_00d48b7a1a8dc8ea016ad827beb82087d097eca8bab1462ca8", + "function_name": "bash", + "arguments": { + "command": "python /tmp/build_asset.py", + "timeout": 90 + } + } + ], + "observation": { + "results": [ + { + 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"2026-10-21T02:47:35.253Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_2ykejmSVVEHeputsFEgMlTFU|fc_00d48b7a1a8dc8ea016ad827c6bff487d09950b813d46add95", + "function_name": "mcp", + "arguments": { + "tool": "benchmark_validate_candidate", + "args": { + "request_id": "check-1" + } + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_2ykejmSVVEHeputsFEgMlTFU|fc_00d48b7a1a8dc8ea016ad827c6bff487d09950b813d46add95", + "content": 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",\"status\":\"pass\",\"finding_count\":0}]},\"nvidia_validator_report\":{\"available\":true,\"report_id\":\"402bb74b96308aa55b474fbb47ab22c275a48f3c622f796c3a1d30d6f17b8bb5\",\"sha256\":\"402bb74b96308aa55b474fbb47ab22c275a48f3c622f796c3a1d30d6f17b8bb5\",\"bytes\":276250,\"total_characters\":276250,\"issue_counts\":{\"issues\":13,\"soft_issues\":149,\"warnings\":0,\"infos\":0},\"complete_report_available\":true,\"delivery\":\"agent_file\",\"file_path\":\"/tmp/simready-validation-reports/402bb74b96308aa55b474fbb47ab22c275a48f3c622f796c3a1d30d6f17b8bb5.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": 15466, + "completion_tokens": 154, + "cached_tokens": 15306, + "extra": { + "cache_write_tokens": 157, + "reasoning_tokens": 123, + "pi_total_tokens": 15620 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "7f6b53a8", + "pi_parent_id": "a73874a8", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad827c3103087d08ffb3a12188da10a", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 14, + "timestamp": "2026-10-21T02:47:42.556Z", + "source": "agent", + 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\"15f3c9803cc453796af967c33d72f8d1e74c9780921ad06c4d9b6c434434ce50\",\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\": false,\n \"dependencies\": \"[]\",\n \"passed\": true,\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 },\n \"FET_006_MDL\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[]\",\n \"optional requirements\": \"['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.MDL.003']\",\n \"passed\": false,\n \"version\": \"0.2.0\"\n },\n \"FET_006_OPENPBR\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[]\",\n \"optional requirements\": \"['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001', 'com.nvidia.simready.VM.PBR.003']\",\n \"passed\": false,\n \"version\": \"0.1.0\"\n },\n \"FET_006_STANDARD\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[]\",\n \"passed\": true,\n \"version\": \"0.2.0\"\n },\n \"FET_007_STANDARD\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[]\",\n \"optional requirements\": \"['com.nvidia.simready.NVM.001', 'com.nvidia.simready.NVM.002', 'com.nvidia.simready.NVM.003']\",\n \"passed\": false,\n \"version\": \"0.2.0\"\n },\n \"FET_010_STANDARD\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[]\",\n \"optional requirements\": \"['com.nvidia.simready.DISP.001']\",\n \"passed\": false,\n \"version\": \"0.1.0\"\n },\n \"FET_011_RTX\": {\n \"blocking_failure\": true,\n \"dependencies\": \"[{'FET_011_STANDARD': {'version': '0.2.0'}}]\",\n \"failing requirements\": \"['com.nvidia.simready.SL.001', 'com.nvidia.simready.SL.MAT.001']\",\n \"passed\": false,\n \"requirement_messages\": \"{\\\"com.nvidia.simready.SL.001\\\": [\\\"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\\\", \\\"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\\\", \\\"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\\\", \\\"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\\\", \\\"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\\\"], \\\"com.nvidia.simready.SL.MAT.001\\\": [\\\"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\\\", \\\"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\\\", \\\"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\\\", \\\"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\\\", \\\"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\\\", \\\"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\\\"]}\",\n \"version\": \"0.1.0\"\n },\n \"FET_011_STANDARD\": {\n \"blocking_failure\": true,\n \"dependencies\": \"[]\",\n \"failing requirements\": \"['com.nvidia.simready.SL.001']\",\n \"passed\": false,\n \"requirement_messages\": \"{\\\"com.nvidia.simready.SL.001\\\": [\\\"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\\\", \\\"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\\\", \\\"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\\\", \\\"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\\\", \\\"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\\\"]}\",\n \"version\": \"0.2.0\"\n },\n \"FET_031_STANDARD\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[]\",\n \"passed\": true,\n \"version\": \"0.1.0\"\n },\n \"FET_033_STANDARD\": {\n \"blocking_failure\": true,\n \"dependencies\": \"[{'FET_031_STANDARD': {'version': '0.1.0'}}]\",\n \"failing requirements\": \"['com.nvidia.simready.SR.002', 'com.nvidia.simready.SR.004']\",\n \"passed\": false,\n \"requirement_messages\": \"{\\\"com.nvidia.simready.SR.002\\\": [\\\"No thumbnail found at /output/.thumbs/256x256/asset.usd.png for SimReady asset \\\"], \\\"com.nvidia.simready.SR.004\\\": [\\\"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 \"version\": \"0.4.0\"\n },\n \"FET_046_STANDARD\": {\n \"blocking_failure\": true,\n \"dependencies\": \"[{'FET_011_STANDARD': {'version': '0.2.0'}}]\",\n \"failing requirements\": \"['com.nvidia.simready.SL.001']\",\n \"passed\": false,\n \"requirement_messages\": \"{\\\"com.nvidia.simready.SL.001\\\": [\\\"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\\\", \\\"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\\\", \\\"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\\\", \\\"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\\\", \\\"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\\\"]}\",\n \"version\": \"0.1.0\"\n },\n \"FET_100_ISAAC\": {\n \"blocking_failure\": false,\n \"dependencies\": \"[{'FET_003_PHYSX': {'version': '0.4.0'}}]\",\n \"optional requirements\": \"['com.nvidia.simready.ISA.001']\",\n \"passed\": false,\n \"version\": \"0.4.0\"\n }\n },\n \"infos\": [],\n \"infrastructure_errors\": [],\n \"inventory\": {\n \"effective_inventory_sha256\": \"ea2d9a1c262a18bef59c919b7045bca42f86b44753f90da743f14d4fd8696125\",\n \"mandatory_features\": [\n {\n \"id\": \"FET_000_STANDARD\",\n \"version\": \"0.2.0\"\n },\n {\n \"id\": \"FET_001_STANDARD\",\n \"version\": \"1.0.1\"\n },\n {\n \"id\": \"FET_003_STANDARD\",\n \"version\": \"0.2.0\"\n },\n {\n \"id\": \"FET_006_STANDARD\",\n \"version\": \"0.2.0\"\n },\n {\n \"id\": \"FET_011_RTX\",\n \"version\": \"0.1.0\"\n },\n {\n \"id\": \"FET_011_STANDARD\",\n \"version\": \"0.2.0\"\n },\n {\n \"id\": \"FET_031_STANDARD\",\n \"version\": \"0.1.0\"\n },\n {\n \"id\": \"FET_033_STANDARD\",\n \"version\": \"0.4.0\"\n },\n {\n \"id\": \"FET_046_STANDARD\",\n \"version\": \"0.1.0\"\n }\n ],\n \"mandatory_requirement_count\": 46,\n \"mandatory_requirements\": [\n {\n \"code\": \"com.nvidia.simready.HI.010\",\n \"rule\": \"simready.foundation.tier_core.capabilities.hierarchy.validation.UndefinedPrimsChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.NP.002\",\n \"rule\": \"simready.foundation.tier_core.capabilities.core.naming_paths.validation.FileNamingConventionChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.NP.003\",\n \"rule\": \"simready.foundation.tier_core.capabilities.core.naming_paths.validation.DirectoryStructureChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.NP.004\",\n \"rule\": \"simready.foundation.tier_core.capabilities.core.naming_paths.validation.PathLengthLimitsChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.NP.005\",\n \"rule\": \"simready.foundation.tier_core.capabilities.core.naming_paths.validation.AssetFolderStructureChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.NP.007\",\n \"rule\": \"simready.foundation.tier_core.capabilities.core.naming_paths.validation.RelativePathsChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.NP.008\",\n \"rule\": \"simready.foundation.tier_core.capabilities.core.naming_paths.validation.PathsExistChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.RB.001\",\n \"rule\": \"simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.RigidBodyCapabilityChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.RB.007\",\n \"rule\": \"simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.RigidBodyMassChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.RB.010\",\n \"rule\": \"simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.InvisibleCollisionMeshHasPurposeGuide\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.RB.COL.001\",\n \"rule\": \"simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.RigidBodyColliderCapabilityChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.RB.COL.002\",\n \"rule\": \"simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.RigidBodyColliderMeshChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.RB.COL.003\",\n \"rule\": \"simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.RigidBodyColliderNonUniformScaleChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.SL.001\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsCapabilityChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.SL.002\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsCapabilityChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.SL.003\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsCapabilityChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.SL.MAT.001\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.SL.QCODE.001\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsWikidataChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.SL.TIME.001\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.SR.002\",\n \"rule\": \"simready.foundation.tier_core.capabilities.core.sim_ready.validation.ThumbnailExists\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.SR.004\",\n \"rule\": \"simready.foundation.tier_core.capabilities.core.sim_ready.validation.MetadataUnion\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.UN.006\",\n \"rule\": \"simready.foundation.tier_core.capabilities.core.units.validation.UpAxisZChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.UN.007\",\n \"rule\": \"simready.foundation.tier_core.capabilities.core.units.validation.MetersPerUnit1Checker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.VG.008\",\n \"rule\": \"simready.foundation.tier_core.capabilities.visualization.geometry.validation.CoincidentMeshChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.VG.025\",\n \"rule\": \"simready.foundation.tier_core.capabilities.visualization.geometry.validation.AssetOriginPositioningChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.VG.MESH.001\",\n \"rule\": \"simready.foundation.tier_core.capabilities.visualization.geometry.validation.GeomShallBeMeshChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.VM.MAT.001\",\n \"rule\": \"simready.foundation.tier_core.capabilities.visualization.materials.validation.VisualMaterialsCapabilityChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.VM.PS.002\",\n \"rule\": \"simready.foundation.tier_core.capabilities.visualization.materials.validation.VisualMaterialsCapabilityChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.VM.TEX.001\",\n \"rule\": \"simready.foundation.tier_core.capabilities.visualization.materials.validation.VisualMaterialsCapabilityChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.simready.VM.TEX.003\",\n \"rule\": \"simready.foundation.tier_core.capabilities.visualization.materials.validation.VisualMaterialsCapabilityChecker\",\n \"version\": \"0.1.0\"\n },\n {\n \"code\": \"com.nvidia.usd.AA.001\",\n \"rule\": \"usd_validation_nvidia.rules._atomic_asset.AnchoredAssetPathsChecker\",\n \"version\": \"1.0.0\"\n },\n {\n \"code\": \"com.nvidia.usd.AA.002\",\n \"rule\": \"usd_validation_nvidia.rules._atomic_asset.SupportedFileTypesCheck", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 17258, + "completion_tokens": 114, + "cached_tokens": 15463, + "extra": { + "cache_write_tokens": 1792, + "reasoning_tokens": 0, + "pi_total_tokens": 17372 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "c753e2d8", + "pi_parent_id": "29c8c281", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad827cb2b3087d0a0b21834e19ed437", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 15, + "timestamp": "2026-10-21T02:47:59.001Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_ubBbDyCuTq7Mbvb5cApc6TY3|fc_00d48b7a1a8dc8ea016ad827dd3b5c87d0afb9af393bbc51f4", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport json\nj=json.load(open('/tmp/simready-validation-reports/402bb74b96308aa55b474fbb47ab22c275a48f3c622f796c3a1d30d6f17b8bb5.json'))\nfor i in j['issues']:\n print(json.dumps(i,indent=2))\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_ubBbDyCuTq7Mbvb5cApc6TY3|fc_00d48b7a1a8dc8ea016ad827dd3b5c87d0afb9af393bbc51f4", + "content": "{\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\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/FryingPan/Looks/RubyRedEnamel)\",\n \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n \"prim_path\": \"/FryingPan/Looks/RubyRedEnamel\",\n \"requirement_version\": \"0.1.0\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}\n{\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/FryingPan/Looks/SpeckledNonstick)\",\n \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n \"prim_path\": \"/FryingPan/Looks/SpeckledNonstick\",\n \"requirement_version\": \"0.1.0\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}\n{\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/FryingPan/Looks/ExposedAluminiumRim)\",\n \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n \"prim_path\": \"/FryingPan/Looks/ExposedAluminiumRim\",\n \"requirement_version\": \"0.1.0\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}\n{\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/FryingPan/Looks/BrushedSteelNeck)\",\n \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n \"prim_path\": \"/FryingPan/Looks/BrushedSteelNeck\",\n \"requirement_version\": \"0.1.0\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}\n{\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/FryingPan/Looks/TexturedBlackPhenolic)\",\n \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n \"prim_path\": \"/FryingPan/Looks/TexturedBlackPhenolic\",\n \"requirement_version\": \"0.1.0\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}\n{\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/FryingPan/Looks/UndersideMetal)\",\n \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n \"prim_path\": \"/FryingPan/Looks/UndersideMetal\",\n \"requirement_version\": \"0.1.0\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsMaterialChecker\",\n \"rule_id\": \"com.nvidia.simready.SL.MAT.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}\n{\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"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\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/FryingPan/Pan/Bowl)\",\n \"message\": \"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\",\n \"prim_path\": \"/FryingPan/Pan/Bowl\",\n \"requirement_version\": \"0.1.0\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsCapabilityChecker\",\n \"rule_id\": \"com.nvidia.simready.SL.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}\n{\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/FryingPan/Pan/SteelTang)\",\n \"message\": \"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\",\n \"prim_path\": \"/FryingPan/Pan/SteelTang\",\n \"requirement_version\": \"0.1.0\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsCapabilityChecker\",\n \"rule_id\": \"com.nvidia.simready.SL.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}\n{\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/FryingPan/Pan/Rivet1)\",\n \"message\": \"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\",\n \"prim_path\": \"/FryingPan/Pan/Rivet1\",\n \"requirement_version\": \"0.1.0\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsCapabilityChecker\",\n \"rule_id\": \"com.nvidia.simready.SL.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}\n{\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/FryingPan/Pan/Rivet2)\",\n \"message\": \"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\",\n \"prim_path\": \"/FryingPan/Pan/Rivet2\",\n \"requirement_version\": \"0.1.0\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsCapabilityChecker\",\n \"rule_id\": \"com.nvidia.simready.SL.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}\n{\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/FryingPan/Handle/Grip)\",\n \"message\": \"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\",\n \"prim_path\": \"/FryingPan/Handle/Grip\",\n \"requirement_version\": \"0.1.0\",\n \"rule\": \"simready.foundation.tier_core.capabilities.semantic_labels.validation.SemanticLabelsCapabilityChecker\",\n \"rule_id\": \"com.nvidia.simready.SL.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 22219, + "completion_tokens": 646, + "cached_tokens": 17255, + "extra": { + "cache_write_tokens": 4961, + "reasoning_tokens": 536, + "pi_total_tokens": 22865 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "152f9f28", + "pi_parent_id": "dd490e4f", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad827cf5b5087d092ecda20730d36a1", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 16, + "timestamp": "2026-10-21T02:48:03.952Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Exploring frying pan metadata**\n\nI think I need to look into the frying pan with the Q232896 code. Maybe I can find useful details on it through its wiki. Based on my recollection, Q232896 seems important, but I might not need the code unless the asset metadata is accurate. I'm also pondering whether there's a way to utilize new semantics like pxr.UsdSemantics. Let\u2019s see how it all ties together in the context of the frying pan!", + "tool_calls": [ + { + "tool_call_id": "call_MVIYNS1eT4JmfmLEQgtcSfdh|fc_00d48b7a1a8dc8ea016ad827e354d087d09babf012fc86331a", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\ntry:\n from pxr import UsdSemantics\n print(UsdSemantics,dir(UsdSemantics))\nexcept Exception as e: print(e)\nPY\nldconfig -p | grep -E 'EGL|GL|OSMesa|embree' | head -30", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_MVIYNS1eT4JmfmLEQgtcSfdh|fc_00d48b7a1a8dc8ea016ad827e354d087d09babf012fc86331a", + "content": " ['LabelsAPI', 'LabelsQuery', 'Tokens', '_CanApplyResult', '__MFB_FULL_PACKAGE_NAME', '__builtins__', '__cached__', '__doc__', '__file__', '__loader__', '__name__', '__package__', '__path__', '__spec__']\n\tlibembree4.so.4 (libc6,x86-64) => /lib/x86_64-linux-gnu/libembree4.so.4\n\tlibGLdispatch.so.0 (libc6,x86-64) => /lib/x86_64-linux-gnu/libGLdispatch.so.0\n\tlibGLX_mesa.so.0 (libc6,x86-64) => /lib/x86_64-linux-gnu/libGLX_mesa.so.0\n\tlibGLX.so.0 (libc6,x86-64) => /lib/x86_64-linux-gnu/libGLX.so.0\n\tlibGL.so.1 (libc6,x86-64) => /lib/x86_64-linux-gnu/libGL.so.1\nCache generated by: ldconfig (Ubuntu GLIBC 2.39-0ubuntu8.9) stable release version 2.39", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 25167, + "completion_tokens": 152, + "cached_tokens": 22216, + "extra": { + "cache_write_tokens": 2948, + "reasoning_tokens": 61, + "pi_total_tokens": 25319 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "3fbc8afe", + "pi_parent_id": "430931a8", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad827dfaa5487d08eee5aa8ffc253e3", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 17, + "timestamp": "2026-10-21T02:48:08.868Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Exploring pathtracer options**\n\nI'm considering using the Embree Ctypes pathtracer to achieve realistic rendering! It seems like I wouldn't need a massive amount of work, but I might need a C++ compiler and the appropriate headers. I'm curious about how feasible this is and what it all entails, but I believe it\u2019s worth exploring further. Let\u2019s see if I can figure out the next steps in setting this up!", + "tool_calls": [ + { + "tool_call_id": "call_jLZ3i8JV8txu2f4Bgjz26eN2|fc_00d48b7a1a8dc8ea016ad827e8690c87d09847dfb40692436c", + "function_name": "bash", + "arguments": { + "command": "ls /usr/include/embree* 2>/dev/null; which g++ || true; ls /usr/include | grep -E 'GL|vulkan'; find /usr/local/lib/python3.12/dist-packages -maxdepth 1 -type d | head -40", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_jLZ3i8JV8txu2f4Bgjz26eN2|fc_00d48b7a1a8dc8ea016ad827e8690c87d09847dfb40692436c", + "content": "/usr/local/lib/python3.12/dist-packages\n/usr/local/lib/python3.12/dist-packages/PIL\n/usr/local/lib/python3.12/dist-packages/bin\n/usr/local/lib/python3.12/dist-packages/numpy\n/usr/local/lib/python3.12/dist-packages/numpy-2.2.6.dist-info\n/usr/local/lib/python3.12/dist-packages/numpy.libs\n/usr/local/lib/python3.12/dist-packages/pillow-13.0.0.dist-info\n/usr/local/lib/python3.12/dist-packages/pillow.libs\n/usr/local/lib/python3.12/dist-packages/pip\n/usr/local/lib/python3.12/dist-packages/pip-24.0.dist-info\n/usr/local/lib/python3.12/dist-packages/pxr\n/usr/local/lib/python3.12/dist-packages/usd_core-26.8.dist-info\n/usr/local/lib/python3.12/dist-packages/usd_core.libs", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 25622, + "completion_tokens": 110, + "cached_tokens": 25164, + "extra": { + "cache_write_tokens": 455, + "reasoning_tokens": 29, + "pi_total_tokens": 25732 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "72fd0a35", + "pi_parent_id": "506828a9", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad827e591bc87d093b68783453f6c59", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 18, + "timestamp": "2026-10-21T02:48:29.709Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "The first NVIDIA validation passed 42 of 46 mandatory checks. The remaining findings are semantic labels, material labels, asset metadata, and a thumbnail. The physics, collisions, geometry, units, and material bindings passed. I\u2019ll add the missing information and inspect a rendered view before revalidating.", + "reasoning_content": "**Considering shading models**\n\nI'm thinking about a shading model with a white sky and diffuse key lighting, along with a black floor to highlight a high metal red shape. It might not be as accurate, but it would emphasize the shape effectively. Before diving into that, I need to focus on repairing the metadata labels in the script first. It's essential to get that right to ensure everything flows smoothly.", + "tool_calls": [ + { + "tool_call_id": "call_9lTX8yqFy2t7UxdO6g4pqzmH|fc_00d48b7a1a8dc8ea016ad827f630b087d0b8ea97378d6664fd", + "function_name": "edit", + "arguments": { + "path": "/tmp/build_asset.py", + "edits": [ + { + "oldText": "from pxr import Usd, UsdGeom, UsdShade, UsdPhysics, Sdf, Gf, Vt, Kind", + "newText": "from pxr import Usd, UsdGeom, UsdShade, UsdPhysics, UsdSemantics, Sdf, Gf, Vt, Kind" + }, + { + "oldText": " prim.AddAppliedSchema('SemanticsAPI:class')\n prim.CreateAttribute('semantics:class:semanticType',Sdf.ValueTypeNames.String).Set('class')\n prim.CreateAttribute('semantics:class:semanticData',Sdf.ValueTypeNames.String).Set(label)\n if material:\n prim.AddAppliedSchema('SemanticsAPI:material')\n prim.CreateAttribute('semantics:material:semanticType',Sdf.ValueTypeNames.String).Set('material')\n prim.CreateAttribute('semantics:material:semanticData',Sdf.ValueTypeNames.String).Set(material)", + "newText": " UsdSemantics.LabelsAPI.Apply(prim,'class').CreateLabelsAttr([label])\n if material:\n UsdSemantics.LabelsAPI.Apply(prim,'material').CreateLabelsAttr([material])" + }, + { + "oldText": " return m\nred=mat('RubyRedEnamel'", + "newText": " labels={'RubyRedEnamel':'red_enamel_on_aluminum','SpeckledNonstick':'mineral_speckled_nonstick_coating','ExposedAluminiumRim':'aluminum','BrushedSteelNeck':'stainless_steel','TexturedBlackPhenolic':'phenolic_resin','UndersideMetal':'aluminum'}\n UsdSemantics.LabelsAPI.Apply(m.GetPrim(),'material').CreateLabelsAttr([labels[name]])\n return m\nred=mat('RubyRedEnamel'" + }, + { + "oldText": "stage.GetRootLayer().Save()\nprint('Saved',stage.GetRootLayer().identifier)", + "newText": "stage.GetRootLayer().customLayerData={'SimReady_Metadata':{'author':'OpenAI','asset_name':'Red nonstick frying pan','asset_type':'prop','asset_license':'CC0-1.0','category':'kitchenware/cookware/frying_pan','source_file':'procedurally authored from supplied reference','usd_date_generated':'2026-06-20','qcode':'Q232896','rigid_body_count':2,'asset_extents':Gf.Vec3d(.1964910328388214,.3779798746109009,.033470655034761876),'mass':.475}}\nstage.GetRootLayer().Save()\nprint('Saved',stage.GetRootLayer().identifier)" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_9lTX8yqFy2t7UxdO6g4pqzmH|fc_00d48b7a1a8dc8ea016ad827f630b087d0b8ea97378d6664fd", + "content": "Successfully replaced 4 block(s) in /tmp/build_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 25943, + "completion_tokens": 1017, + "cached_tokens": 25619, + "extra": { + "cache_write_tokens": 321, + "reasoning_tokens": 357, + "pi_total_tokens": 26960 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "d898ac6a", + "pi_parent_id": "55caade2", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad827e9f1d087d0bc1a160137a3d289", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 19, + "timestamp": "2026-10-21T02:49:02.521Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_NV7GjGZ3iPnmzS3l2hnKBwWv|fc_00d48b7a1a8dc8ea016ad828008cb087d087a6389b1ea4b61e", + "function_name": "write", + "arguments": { + "path": "/tmp/render_asset.py", + "content": "import numpy as np, math, os\nfrom PIL import Image, ImageFilter\nfrom pxr import Usd,UsdGeom,UsdShade,Gf\ns=Usd.Stage.Open('/output/asset.usd'); W=H=1000\ncam=np.array([-.68,-.74,1.0]); cam/=np.linalg.norm(cam)\nright=np.cross([0,0,1],cam); right/=np.linalg.norm(right); up=np.cross(cam,right)\nview=np.array([right,up,cam])\nmeshes=[]; allp=[]; mats={}\ndef getmat(prim):\n m=UsdShade.MaterialBindingAPI(prim).ComputeBoundMaterial()[0]\n if not m:return None\n path=str(m.GetPath())\n if path in mats:return path\n sh=UsdShade.Shader(s.GetPrimAtPath(m.GetPath().AppendChild('Surface')))\n color=np.array(sh.GetInput('diffuseColor').Get() or [.3,.3,.3]); metal=sh.GetInput('metallic').Get() or 0; rough=sh.GetInput('roughness').Get() or .5\n tx=s.GetPrimAtPath(m.GetPath().AppendChild('ColorTexture'))\n tex=None\n if tx:\n asset=UsdShade.Shader(tx).GetInput('file').Get(); tex=np.array(Image.open('/output/'+asset.path).convert('RGB'))/255.\n tex=np.where(tex<=.04045,tex/12.92,((tex+.055)/1.055)**2.4)\n mats[path]=(color,metal,rough,tex)\n return path\nfor prim in s.Traverse():\n if not prim.IsA(UsdGeom.Mesh):continue\n m=UsdGeom.Mesh(prim)\n if m.ComputeVisibility()=='invisible':continue\n P=np.array(m.GetPointsAttr().Get(),dtype=float); mat=UsdGeom.XformCache().GetLocalToWorldTransform(prim)\n P=np.array([mat.Transform(Gf.Vec3d(*p)) for p in P]); N=np.array(m.GetNormalsAttr().Get(),dtype=float)\n uv=np.array(UsdGeom.PrimvarsAPI(m).GetPrimvar('st').Get(),dtype=float)\n inds=list(m.GetFaceVertexIndicesAttr().Get()); counts=list(m.GetFaceVertexCountsAttr().Get()); face_m=[getmat(prim)]*len(counts)\n for sub in UsdGeom.Subset.GetGeomSubsets(m):\n sm=getmat(sub.GetPrim())\n for i in sub.GetIndicesAttr().Get():face_m[i]=sm\n faces=[]; at=0\n for fi,c in enumerate(counts):\n f=inds[at:at+c]; at+=c\n for j in range(1,c-1):faces.append((np.array([f[0],f[j],f[j+1]]),fi,face_m[fi]))\n meshes.append((P,N,uv,faces,m.GetNormalsInterpolation())); allp.extend(P)\nP=np.array(allp); proj=P@view.T\nbmin=proj[:,:2].min(0); bmax=proj[:,:2].max(0); center=(bmin+bmax)/2; scale=.88*W/max(bmax-bmin)\nprint('View bbox',bmin,bmax,'scale',scale)\nzbuf=np.ones((H,W))*-1e10; rgb=np.zeros((H,W,3)); normbuf=np.zeros((H,W,3)); pointbuf=np.zeros((H,W,3)); colbuf=np.zeros((H,W,3)); mbuf=np.zeros((H,W)); rbuf=np.ones((H,W)); mask=np.zeros((H,W),bool)\nfor P,N,uv,faces,interp in meshes:\n Q=P@view.T; X=(Q[:,0]-center[0])*scale+W/2; Y=H/2-(Q[:,1]-center[1])*scale\n for f,fi,mp in faces:\n x=X[f]; y=Y[f]; dep=Q[f,2]\n minx=max(0,math.floor(min(x)));maxx=min(W-1,math.ceil(max(x)));miny=max(0,math.floor(min(y)));maxy=min(H-1,math.ceil(max(y)))\n if minx>=maxx or miny>=maxy:continue\n den=(y[1]-y[2])*(x[0]-x[2])+(x[2]-x[1])*(y[0]-y[2])\n if den>=-1e-9:continue # backface cull; screen Y is downward\n xx,yy=np.meshgrid(np.arange(minx,maxx+1)+.5,np.arange(miny,maxy+1)+.5)\n a=((y[1]-y[2])*(xx-x[2])+(x[2]-x[1])*(yy-y[2]))/den\n b=((y[2]-y[0])*(xx-x[2])+(x[0]-x[2])*(yy-y[2]))/den;c=1-a-b\n z=a*dep[0]+b*dep[1]+c*dep[2]\n roi=np.s_[miny:maxy+1,minx:maxx+1]; inside=(a>=-1e-6)&(b>=-1e-6)&(c>=-1e-6)&(z>zbuf[roi])\n if not inside.any():continue\n wt=np.stack([a[inside],b[inside],c[inside]],axis=1)\n nn=wt@N[f] if interp=='vertex' else np.broadcast_to(N[fi],(len(wt),3))\n nn/=np.maximum(np.linalg.norm(nn,axis=1)[:,None],1e-10)\n pp=wt@P[f]; uu=wt@uv[f]; color,metal,rough,tex=mats[mp]\n if tex is not None:\n uu=uu%1; tx=np.minimum((uu[:,0]*tex.shape[1]).astype(int),tex.shape[1]-1);ty=np.minimum(((1-uu[:,1])*tex.shape[0]).astype(int),tex.shape[0]-1); cc=tex[ty,tx]\n else:cc=np.broadcast_to(color,(len(wt),3))\n zbuf[roi][inside]=z[inside]; normbuf[roi][inside]=nn; pointbuf[roi][inside]=pp; colbuf[roi][inside]=cc; mbuf[roi][inside]=metal; rbuf[roi][inside]=rough; mask[roi][inside]=True\nprint('Rasterized',int(mask.sum()))\nN=normbuf[mask]; P=pointbuf[mask]; C=colbuf[mask]; M=mbuf[mask,None]; rough=rbuf[mask,None]\nV=cam; ndv=np.clip(N@V,0.001,1)[:,None]\n# Environment plus broad studio-area illumination. A conservative preview, not part of authored scene.\nL=np.array([-.6,-.5,1.6]);L/=np.linalg.norm(L)\nL2=np.array([1,.2,1]);L2/=np.linalg.norm(L2)\nndotl=np.maximum(N@L,0)[:,None]; ndotl2=np.maximum(N@L2,0)[:,None]\namb=.22+.24*np.maximum(N[:,2],0)[:,None]\ndiff=C*(1-M*.65)*(amb+.62*ndotl+.15*ndotl2)\nF0=.04*(1-M)+M*C\nspec=np.zeros_like(C)\nfor l,power in [(L,1.15),(L2,.38)]:\n h=l+V;h/=np.linalg.norm(h); ndh=np.maximum(N@h,0)[:,None]; ndl=np.maximum(N@l,0)[:,None]\n a=rough**2; a2=a*a\n D=a2/(math.pi*((ndh**2)*(a2-1)+1)**2)\n k=(rough+1)**2/8\n G=(ndv/(ndv*(1-k)+k))*(ndl/(ndl*(1-k)+k))\n F=F0+(1-F0)*(1-np.clip(V@h,0,1))**5\n spec+=F*D*G/(4*ndv*ndl+1e-5)*ndl*power\n# Broad sky reflection on rounded surfaces\nR=2*(N@V)[:,None]*N-V\nsky=(.12+.19*np.clip(R[:,2],0,1))[:,None]\nreflection=F0*sky\nlinear=np.maximum(diff+spec+reflection,0)\n# very mild cavity occlusion near inner back wall\nrad=np.sqrt(P[:,0]**2+(P[:,1]+.090744420886)**2)\nao=np.ones(len(P)); interior=(rad<.0965)&(P[:,2]>.003)&(P[:,2]<.023)\nao[interior]=.86+.14*np.clip((.0965-rad[interior])/.014,0,1)\nlinear*=ao[:,None]\ncolor=np.where(linear<=.0031308,linear*12.92,1.055*linear**(1/2.4)-.055)\n# background and a soft shadow projected onto the floor below object\nbg=np.zeros((H,W,3))+np.array([.205,.198,.199])\nshadow=Image.fromarray(np.uint8(mask*140)).filter(ImageFilter.GaussianBlur(17))\nsh=np.array(shadow)/255.\nsh=np.roll(sh,14,axis=0);sh=np.roll(sh,8,axis=1)\nbg*=1-.62*sh[:,:,None];bg[mask]=color\nImage.fromarray(np.uint8(np.clip(bg,0,1)*255)).save('/tmp/asset_preview.png')\nos.makedirs('/output/.thumbs/256x256',exist_ok=True)\nImage.fromarray(np.uint8(np.clip(bg,0,1)*255)).resize((256,256),Image.Resampling.LANCZOS).save('/output/.thumbs/256x256/asset.usd.png')\n" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_NV7GjGZ3iPnmzS3l2hnKBwWv|fc_00d48b7a1a8dc8ea016ad828008cb087d087a6389b1ea4b61e", + "content": "Successfully wrote to /tmp/render_asset.py", + "extra": { + "tool_name": "write", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 26984, + "completion_tokens": 2281, + "cached_tokens": 25940, + "extra": { + "cache_write_tokens": 1041, + "reasoning_tokens": 23, + "pi_total_tokens": 29265 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "b64986a8", + "pi_parent_id": "3842ac9a", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad827fe88b487d08b2d5a8a697e83b1", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 20, + "timestamp": "2026-10-21T02:49:05.148Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_J2Q1ZFpQ0RYoHh93ElsixgpE|fc_00d48b7a1a8dc8ea016ad82820820887d0a21d544f0dada1b1", + "function_name": "bash", + "arguments": { + "command": "python /tmp/build_asset.py && python /tmp/render_asset.py", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_J2Q1ZFpQ0RYoHh93ElsixgpE|fc_00d48b7a1a8dc8ea016ad82820820887d0a21d544f0dada1b1", + "content": "Saved /output/asset.usd\nVisual bbox: [(-0.0982455164194107, -0.18898993730545044, 0)...(0.0982455164194107, 0.18898931765556334, 0.03347065465152264)] size (0.1964910328388214, 0.3779792549610138, 0.03347065465152264)\nView bbox [-0.13205241 -0.10748412] [0.15964317 0.12353481] scale 3016.8437959690764\nTraceback (most recent call last):\n File \"/tmp/render_asset.py\", line 59, in \n nn/=np.maximum(np.linalg.norm(nn,axis=1)[:,None],1e-10)\nValueError: output array is read-only\n\n\nCommand exited with code 1", + "extra": { + "tool_name": "bash", + "is_error": true + } + } + ] + }, + "metrics": { + "prompt_tokens": 29283, + "completion_tokens": 34, + "cached_tokens": 26981, + "extra": { + "cache_write_tokens": 2299, + "reasoning_tokens": 0, + "pi_total_tokens": 29317 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "83e906c3", + "pi_parent_id": "0ba5558c", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad8281f608487d094a0effe3734d1c5", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 21, + "timestamp": "2026-10-21T02:49:14.563Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_9I7z2BleNftovT8Mhk24KiYw|fc_00d48b7a1a8dc8ea016ad82829685887d08b8a00223b08b38a", + "function_name": "edit", + "arguments": { + "path": "/tmp/render_asset.py", + "edits": [ + { + "oldText": "nn=wt@N[f] if interp=='vertex' else np.broadcast_to(N[fi],(len(wt),3))", + "newText": "nn=wt@N[f] if interp=='vertex' else np.broadcast_to(N[fi],(len(wt),3)).copy()" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_9I7z2BleNftovT8Mhk24KiYw|fc_00d48b7a1a8dc8ea016ad82829685887d08b8a00223b08b38a", + "content": "Successfully replaced 1 block(s) in /tmp/render_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 29524, + "completion_tokens": 101, + "cached_tokens": 29280, + "extra": { + "cache_write_tokens": 241, + "reasoning_tokens": 9, + "pi_total_tokens": 29625 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "53ee384f", + "pi_parent_id": "437c883c", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad82827708487d0bc50b89393facfff", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 22, + "timestamp": "2026-10-21T02:49:17.189Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_13qNksqbNUq7vjGNWJYUYq3c|fc_00d48b7a1a8dc8ea016ad8282cad3087d0aa117dddd1d4e819", + "function_name": "bash", + "arguments": { + "command": "python /tmp/render_asset.py", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_13qNksqbNUq7vjGNWJYUYq3c|fc_00d48b7a1a8dc8ea016ad8282cad3087d0aa117dddd1d4e819", + "content": "View bbox [-0.13205241 -0.10748412] [0.15964317 0.12353481] scale 3016.8437959690764\nRasterized 236534", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 29649, + "completion_tokens": 27, + "cached_tokens": 29521, + "extra": { + "cache_write_tokens": 125, + "reasoning_tokens": 0, + "pi_total_tokens": 29676 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "8cbb9459", + "pi_parent_id": "bda45d64", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad8282b726487d0953ee8f316c32b7a", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 23, + "timestamp": "2026-10-21T02:49:23.060Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_kWBLYpf0ao42CUdJ5LDExvfk|fc_00d48b7a1a8dc8ea016ad828328d1887d08b5ddcf78f613b20", + "function_name": "read", + "arguments": { + "path": "/tmp/asset_preview.png", + "offset": 1, + "limit": 1 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_kWBLYpf0ao42CUdJ5LDExvfk|fc_00d48b7a1a8dc8ea016ad828328d1887d08b5ddcf78f613b20", + "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": 29732, + "completion_tokens": 30, + "cached_tokens": 29646, + "extra": { + "cache_write_tokens": 83, + "reasoning_tokens": 0, + "pi_total_tokens": 29762 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "f70e8f35", + "pi_parent_id": "c73f8b10", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad82831737487d094b4ddf4ff383eee", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 24, + "timestamp": "2026-10-21T02:50:04.555Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Analyzing geometry adjustments**\n\nI\u2019m looking at the geometry and noticing it\u2019s closer but needs to be more angular at the root and less smooth at the tip. The rim reference is a thin smooth silver, so that\u2019s okay for the renderer without anti-aliasing. There's an issue with the tang extending into the inside bowl, and it should terminate at the back wall, making it mostly invisible except for the rivets. I want to set the tang range to ensure it fits well without issues.\n\n**Examining rivet details**\n\nI'm noticing the rivets below the shelf look strange, possibly due to the orientation of the normals. I think the rivet center should be adjusted inward slightly for better alignment. The rivets might also be affected by how they rest off the inner wall, creating a small gap. I need to ensure correct placement of the rivets and adjust accordingly. Additionally, it seems like the pan depth might be larger than it should be when compared to the reference, which is interesting!\n\n**Assessing ring dimensions**\n\nI\u2019m examining the 31 ring sections, which are approximately 0.004 in dimensions. They seem to work well, providing a smooth approximation across 10 exterior rings. However, I notice that the red exterior has angular, faceted bands that might be due to the material and shader settings. The normals look interpolated smoothly, but the outer shading appears a bit off, possibly from the way the quads are weighted per ring. There's a matching line where the red begins that I need to double-check.\n**Evaluating texture and orientation**\n\nI\u2019m considering the texture scale, opting for .54 instead of .5, which means I need to wrap the seams at the far edges, but the texture tile noise edges are fine. I want to maintain consistency in center map orientation. It looks like the color texture is repeated throughout. I also need to handle the root shape \u2014 it\u2019s a vertical rectangular flat compared to the rounded block. The .001 bevel seems too tight on the x-axis; maybe I should try .003 instead.\n**Evaluating root shape adjustments**\n\nI'm considering whether to make the root narrower. It seems like the corner is hard due to a poor radial sample. Increasing the density of angular rays in the root region might help. Using H512 covers the root well, while H384 can manage the smoothness. Building ray directions from boundary endpoints could provide more angles, generating a better finish. I also want to keep an eye on the tool calls and remaining tokens. Let's improve our approach!", + "tool_calls": [ + { + "tool_call_id": "call_RPergqNx8LIADZwDe6MPIL9k|fc_00d48b7a1a8dc8ea016ad82854a6f887d089b407badb28e7f1", + "function_name": "edit", + "arguments": { + "path": "/tmp/build_asset.py", + "edits": [ + { + "oldText": "for i in range(33500):\n x,y=rng.uniform(0,S,2)\n r=rng.uniform(.45,1.1) if i<19500 else rng.uniform(1.0,2.8)", + "newText": "for i in range(23500):\n x,y=rng.uniform(0,S,2)\n r=rng.uniform(.55,1.25) if i<9500 else rng.uniform(1.35,3.65)" + }, + { + "oldText": "uv=[(.5+x/(2*R),.5+y/(2*R)) for x,y,z in pts]\nm=mesh('/FryingPan/Pan/Bowl',pts,faces,red,uv)", + "newText": "uv=[(.5+x/(2*R),.5+y/(2*R)) for x,y,z in pts]\n# Preserve approximately isotropic mineral grain even where the bowl turns steeply upward.\ngeodesic=0.\nfor j in range(len(profile)-2,18,-1):\n r,z=profile[j]; r0,z0=profile[j+1]; geodesic+=math.hypot(r-r0,z-z0)\n for idx in rings[j]:\n x,y,zz=pts[idx]; uv[idx]=(.5+x/r*geodesic/(2*R),.5+y/r*geodesic/(2*R))\nm=mesh('/FryingPan/Pan/Bowl',pts,faces,red,uv)" + }, + { + "oldText": "H=256; angles=np.linspace(0,2*math.pi,H,endpoint=False)", + "newText": "H=512; angles=np.linspace(0,2*math.pi,H,endpoint=False)" + }, + { + "oldText": "OT=O-.0010*on; IT=I+.0007*inn", + "newText": "OT=O-.0016*on; IT=I+.00095*inn" + }, + { + "oldText": "return .027+.0067*(P[:,1]-.018)/(YEND-.018)-.00055*(P[:,0]/.012)**2", + "newText": "return .027+.0067*(P[:,1]-.018)/(YEND-.018)-.00135*(P[:,0]/.012)**2" + }, + { + "oldText": "tang=bevel_box('/FryingPan/Pan/SteelTang',(0,.105,.0225),(.0145,.025,.0030),.0010,steel)", + "newText": "tang=bevel_box('/FryingPan/Pan/SteelTang',(0,.1084,.0225),(.0145,.021,.0030),.0010,steel)" + }, + { + "oldText": "(x,.0945,.0182),(.0018,.0018,.00065)", + "newText": "(x,.0952,.0182),(.0018,.0018,.00065)" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_RPergqNx8LIADZwDe6MPIL9k|fc_00d48b7a1a8dc8ea016ad82854a6f887d089b407badb28e7f1", + "content": "Successfully replaced 7 block(s) in /tmp/build_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 31008, + "completion_tokens": 2027, + "cached_tokens": 29729, + "extra": { + "cache_write_tokens": 1276, + "reasoning_tokens": 1380, + "pi_total_tokens": 33035 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "c459c248", + "pi_parent_id": "ad3de7ca", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad82834090887d09b9e5ad68beb7821", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 25, + "timestamp": "2026-10-21T02:50:11.151Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_vwIvmrJcCXnL9sCshOKCvLpX|fc_00d48b7a1a8dc8ea016ad82862a1a887d09fa5993b7d2b116a", + "function_name": "bash", + "arguments": { + "command": "python /tmp/build_asset.py && python /tmp/render_asset.py", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_vwIvmrJcCXnL9sCshOKCvLpX|fc_00d48b7a1a8dc8ea016ad82862a1a887d09fa5993b7d2b116a", + "content": "Saved /output/asset.usd\nVisual bbox: [(-0.0982455164194107, -0.18898993730545044, 0)...(0.0982455164194107, 0.18898931765556334, 0.03347065465152264)] size (0.1964910328388214, 0.3779792549610138, 0.03347065465152264)\nView bbox [-0.13205854 -0.10748412] [0.15964317 0.12298064] scale 3016.7803314995444\nRasterized 236500", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 33059, + "completion_tokens": 243, + "cached_tokens": 31005, + "extra": { + "cache_write_tokens": 2051, + "reasoning_tokens": 207, + "pi_total_tokens": 33302 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "aca47844", + "pi_parent_id": "b42a8b72", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad8285d687c87d0b7026a33a7a6791d", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 26, + "timestamp": "2026-10-21T02:50:21.622Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_rUsju1Krw4tc8wwf0IYCYJYz|fc_00d48b7a1a8dc8ea016ad8286cf7ac87d0b51b5617d345e01c", + "function_name": "read", + "arguments": { + "path": "/tmp/asset_preview.png", + "offset": 1, + "limit": 1 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_rUsju1Krw4tc8wwf0IYCYJYz|fc_00d48b7a1a8dc8ea016ad8286cf7ac87d0b51b5617d345e01c", + "content": [ + { + "type": "text", + "text": "Read image file [image/png]" + }, + { + "type": "image", + "source": { + "media_type": "image/png", + "path": "images/pi_image_3.png" + } + } + ], + "extra": { + "tool_name": "read", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 33454, + "completion_tokens": 30, + "cached_tokens": 33056, + "extra": { + "cache_write_tokens": 395, + "reasoning_tokens": 0, + "pi_total_tokens": 33484 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "e580ebd6", + "pi_parent_id": "40949b7e", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad8286be56c87d094a3b577e9912862", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 27, + "timestamp": "2026-10-21T02:50:31.168Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Analyzing handle design differences**\n\nI'm comparing a reference handle format to ours. The curvature and dimensions are slightly different\u2014ours has a straight line while the reference shows a curve at the root. I notice that the reference width at the handle tip is 40px, and it fits closely with ours. There's a subtle color difference in speckles; the reference is more pronounced. Now, I need to validate the color adjustments for accuracy, especially the mauve tones compared to the reference.", + "tool_calls": [ + { + "tool_call_id": "call_5LanKsoxHl1QmYJzQcwnpaMR|fc_00d48b7a1a8dc8ea016ad828769cc487d089cb71ce9e369ee3", + "function_name": "mcp", + "arguments": { + "tool": "benchmark_validate_candidate", + "args": { + "request_id": "check-2" + } + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_5LanKsoxHl1QmYJzQcwnpaMR|fc_00d48b7a1a8dc8ea016ad828769cc487d089cb71ce9e369ee3", + "content": "{\"request_id\":\"check-2\",\"snapshot_sha256\":\"a6af83cd22aef72416deabb9d6ef779102f17d8136772874c340f8d0d7239a19\",\"validation_calls_used\":2,\"validation_calls_remaining\":3,\"feedback\":{\"schema_version\":\"simready-validator-feedback-v1\",\"snapshot_sha256\":\"a6af83cd22aef72416deabb9d6ef779102f17d8136772874c340f8d0d7239a19\",\"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\":\"a06a829b2031bd2b7398a432bead37b79d2face9da8d2eb14d1ab4e661f02931\",\"sha256\":\"a06a829b2031bd2b7398a432bead37b79d2face9da8d2eb14d1ab4e661f02931\",\"bytes\":262045,\"total_characters\":262045,\"issue_counts\":{\"issues\":0,\"soft_issues\":148,\"warnings\":0,\"infos\":0},\"complete_report_available\":true,\"delivery\":\"agent_file\",\"file_path\":\"/tmp/simready-validation-reports/a06a829b2031bd2b7398a432bead37b79d2face9da8d2eb14d1ab4e661f02931.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": 34730, + "completion_tokens": 254, + "cached_tokens": 33451, + "extra": { + "cache_write_tokens": 1276, + "reasoning_tokens": 223, + "pi_total_tokens": 34984 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "cbf2987e", + "pi_parent_id": "1b8475b1", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad8286f601c87d0b212fd8bd60d3dec", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 28, + "timestamp": "2026-10-21T02:50:38.968Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Inspecting NVIDIA findings**\n\nI need to take a close look at the NVIDIA findings and finalize them as requested. It\u2019s crucial to carefully inspect the report for any issues and optional warnings. I want to ensure that I address important aspects related to actual physics and any possible collider extent. I\u2019ll make sure I cover everything thoroughly to provide the most accurate and useful information. Let\u2019s get started on this!", + "tool_calls": [ + { + "tool_call_id": "call_sxVJ8k3oJhzisl9PuWV4YlGr|fc_00d48b7a1a8dc8ea016ad8287da30087d092954536695716e9", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport json,collections\nj=json.load(open('/tmp/simready-validation-reports/a06a829b2031bd2b7398a432bead37b79d2face9da8d2eb14d1ab4e661f02931.json'))\nprint('Mandatory issues:',len(j['issues']),'Warnings:',len(j['warnings']))\nby=collections.defaultdict(list)\nfor i in j['soft_issues']:by[i['rule_id']].append(i)\nfor rid,items in by.items():\n print('\\n',rid,len(items)); print(items[0]['message'])\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_sxVJ8k3oJhzisl9PuWV4YlGr|fc_00d48b7a1a8dc8ea016ad8287da30087d092954536695716e9", + "content": "Mandatory issues: 0 Warnings: 0\n\n com.nvidia.simready.SR.001 1\nRequired metadata fields are missing: asset_name, asset_type, source_file, usd_date_generated. Fields must be authored directly in the root layer's customLayerData.\n\n com.nvidia.simready.NVM.002 4\nRequired attribute \"omni:simready:nonvisual:base\" for nonvisual material doesn't exist.\n\n com.nvidia.simready.NVM.003 4\nRequired attribute \"omni:simready:nonvisual:coating\" for nonvisual material doesn't exist.\n\n com.nvidia.simready.NVM.001 4\nRequired attribute \"omni:simready:nonvisual:attributes\" for nonvisual material doesn't exist.\n\n com.nvidia.simready.GSP.001 1\nAsset must have at least one grasp vector prim.\n\n com.nvidia.simready.DISP.001 5\nGPrim '/FryingPan/Pan/Bowl' does not resolve a 'primvars:displayColor', authored on the prim or inherited from an ancestor\n\n com.nvidia.simready.VM.PBR.003 2\ninput 'varname' on '/FryingPan/Looks/SpeckledNonstick/UV' has type token, nodedef declares string\n\n com.nvidia.simready.VM.BIND.002 2\nType mismatch for: inputs:varname\texpected: string\tactual: token\n\n com.nvidia.simready.VM.PBR.001 6\nmaterial '/FryingPan/Looks/RubyRedEnamel' is bound for rendering but connects no OpenPBR final surface: it connects outputs:surface, and not 'outputs:mtlx:surface'\n\n com.nvidia.simready.VM.MDL.003 6\nmaterial '/FryingPan/Looks/RubyRedEnamel' is bound for rendering and connects no 'outputs:mdl:surface', so the asset does not have an MDL final surface on the geometry it renders: it connects outputs:surface\n\n com.nvidia.simready.PMT.001 1\nPrim has a collision API but no material binding through material:binding:physics.\n\n com.nvidia.simready.ISA.001 1\nIncomplete Isaac Sim composition: performance robot layout; missing layers: base, geometries, instances, materials.\n\n com.nvidia.simready.MUJOCO.COL.001 54\nMuJoCo collider '/FryingPan/Pan/Colliders/Base' must apply MjcCollisionAPI.\n\n com.nvidia.simready.RV.007 1\nDefault prim must declare a 'MuJoCo' physics runtime variant set.\n\n com.nvidia.simready.NEWTON.COL.001 54\nNewton mesh collider '/FryingPan/Pan/Colliders/Base' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.\n\n com.nvidia.simready.RV.004 1\nDefault prim must declare a 'Newton' physics runtime variant set.\n\n com.nvidia.simready.RV.001 1\nDefault prim must declare a 'PhysX' physics runtime variant set.", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 36612, + "completion_tokens": 195, + "cached_tokens": 34727, + "extra": { + "cache_write_tokens": 1882, + "reasoning_tokens": 30, + "pi_total_tokens": 36807 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "b646f854", + "pi_parent_id": "47018ae6", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad8287b1e3c87d0b3cd9a13dd13d26e", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 29, + "timestamp": "2026-10-21T02:51:11.545Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Adjusting body handle dimensions**\n\nI'm figuring out the overall body handle, which is essentially cuboid-shaped. I want to make sure the center is adjusted properly; the z-coordinate seems to shift from .024 to .028 after recalibration. For the center, I'm setting it to coordinates (0, .070, .004). The size measurements are .0218 in x, .14 in y, and .0085 in z. I'm also considering the lower section near the root and ensuring everything fits well. I think I\u2019ve got a good handle on it!\n**Reviewing physics script**\n\nI'm focusing on the physics script, which seems to need modifications. It's important to ensure that there are no hidden elements or duplicates. I should make some adjustments and then validate the final version. I want to check everything thoroughly to make sure it runs smoothly. Okay, let\u2019s get those modifications made so I can confirm it\u2019s all ready to go!", + "tool_calls": [ + { + "tool_call_id": "call_ZNLyHHlPF8tXUtpAQsbenPEF|fc_00d48b7a1a8dc8ea016ad82898b7e487d0ab25bcd187b816fb", + "function_name": "edit", + "arguments": { + "path": "/tmp/build_asset.py", + "edits": [ + { + "oldText": "reader.CreateInput('varname',Sdf.ValueTypeNames.Token).Set('st')", + "newText": "reader.CreateInput('varname',Sdf.ValueTypeNames.String).Set('st')" + }, + { + "oldText": " if material: UsdShade.MaterialBindingAPI.Apply(m.GetPrim()).Bind(material)\n return m", + "newText": " if material:\n UsdShade.MaterialBindingAPI.Apply(m.GetPrim()).Bind(material)\n c=UsdShade.Shader(stage.GetPrimAtPath(material.GetPath().AppendChild('Surface'))).GetInput('diffuseColor').Get()\n m.CreateDisplayColorAttr([c])\n return m" + }, + { + "oldText": "# Grip's proxies leave the hanging eye unfilled.\nfor name,c,s in [('GripMain',(0,.070-.019,.0265-.024),(.0218,.102,.008)),", + "newText": "collider(bevel_box('/FryingPan/Pan/Colliders/Tang',(0,.1084,.0225),(.0145,.021,.0030),.0010,under))\n# Grip's proxies leave the hanging eye unfilled.\nfor name,c,s in [('GripMain',(0,.089-.019,.0256-.024),(.0218,.140,.0082))," + }, + { + "oldText": " cm=bevel_box('/FryingPan/Handle/Colliders/'+name,c,s,.0008,under); collider(cm)", + "newText": " cm=bevel_box('/FryingPan/Handle/Colliders/'+name,c,s,.0008,under)\n if name=='GripMain':\n points=cm.GetPointsAttr().Get(); slope=.0067/(YEND-.018)\n points=[Gf.Vec3f(p[0],p[1],p[2]+slope*(p[1]-c[1])) for p in points]\n cm.GetPointsAttr().Set(points)\n pp=np.array(points); cm.GetExtentAttr().Set([Gf.Vec3f(*pp.min(0)),Gf.Vec3f(*pp.max(0))])\n collider(cm)" + }, + { + "oldText": "stage.GetRootLayer().customLayerData={'SimReady_Metadata':{'author'", + "newText": "stage.GetRootLayer().customLayerData={'asset_name':'Red nonstick frying pan','asset_type':'prop','source_file':'procedural reconstruction','usd_date_generated':'2026-06-20','SimReady_Metadata':{'author'" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_ZNLyHHlPF8tXUtpAQsbenPEF|fc_00d48b7a1a8dc8ea016ad82898b7e487d0ab25bcd187b816fb", + "content": "Successfully replaced 5 block(s) in /tmp/build_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 37465, + "completion_tokens": 1555, + "cached_tokens": 36609, + "extra": { + "cache_write_tokens": 853, + "reasoning_tokens": 998, + "pi_total_tokens": 39020 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "e66443d5", + "pi_parent_id": "c4ed5359", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad82880419887d0a18ecd675fa0a815", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 30, + "timestamp": "2026-10-21T02:51:18.439Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Verifying type conversion**\n\nI\u2019m having trouble with the type conversion of normals while trying to change the collider points without affecting the slope. It seems like I\u2019ve got a slope of .04 and I want to keep the hidden irrelevant convex hull exact. That's good to know! Now, I just need to validate this one last time to make sure everything is correct before moving on. Let\u2019s see if I can get this sorted out properly!", + "tool_calls": [ + { + "tool_call_id": "call_t9R6uJCyVOGHTRj7nnu3GZuv|fc_00d48b7a1a8dc8ea016ad828a3aacc87d0a47641ca4c35eb65", + "function_name": "bash", + "arguments": { + "command": "python /tmp/build_asset.py && python /tmp/render_asset.py && python - <<'PY'\nfrom pxr import Usd, UsdGeom, UsdPhysics, Gf\ns=Usd.Stage.Open('/output/asset.usd'); cache=UsdGeom.XformCache()\nj=UsdPhysics.FixedJoint(s.GetPrimAtPath('/FryingPan/Joints/HandleMount'))\na=cache.GetLocalToWorldTransform(s.GetPrimAtPath(j.GetBody0Rel().GetTargets()[0])).Transform(Gf.Vec3d(j.GetLocalPos0Attr().Get()))\nb=cache.GetLocalToWorldTransform(s.GetPrimAtPath(j.GetBody1Rel().GetTargets()[0])).Transform(Gf.Vec3d(j.GetLocalPos1Attr().Get()))\nprint('Joint frame world positions:',a,b,'error metres:',(a-b).GetLength())\nprint('Rigid bodies:',[str(p.GetPath()) for p in s.Traverse() if p.HasAPI(UsdPhysics.RigidBodyAPI)])\nprint('Collider count:',sum(p.HasAPI(UsdPhysics.CollisionAPI) for p in s.Traverse()))\nprint('All assets:',s.GetUsedLayers())\nPY", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_t9R6uJCyVOGHTRj7nnu3GZuv|fc_00d48b7a1a8dc8ea016ad828a3aacc87d0a47641ca4c35eb65", + "content": "Traceback (most recent call last):\n File \"/tmp/build_asset.py\", line 283, in \n pp=np.array(points); cm.GetExtentAttr().Set([Gf.Vec3f(*pp.min(0)),Gf.Vec3f(*pp.max(0))])\n ^^^^^^^^^^^^^^^^^^^^\nBoost.Python.ArgumentError: Python argument types in\n Vec3f.__init__(Vec3f, numpy.float32, numpy.float32, numpy.float32)\ndid not match C++ signature:\n __init__(_object*, float, float, float)\n __init__(_object*, float)\n __init__(_object*, pxrInternal_v0_26_8__pxrReserved__::GfVec3f)\n __init__(_object*, pxrInternal_v0_26_8__pxrReserved__::GfVec3i)\n __init__(_object*, pxrInternal_v0_26_8__pxrReserved__::GfVec3h)\n __init__(_object*, pxrInternal_v0_26_8__pxrReserved__::GfVec3d)\n __init__(pxrInternal_v0_26_8__pxrReserved__::pxr_boost::python::api::object)\n\n\nCommand exited with code 1", + "extra": { + "tool_name": "bash", + "is_error": true + } + } + ] + }, + "metrics": { + "prompt_tokens": 39044, + "completion_tokens": 317, + "cached_tokens": 37462, + "extra": { + "cache_write_tokens": 1579, + "reasoning_tokens": 38, + "pi_total_tokens": 39361 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "27ab4357", + "pi_parent_id": "eb788297", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad828a0873c87d084496b62d3b268ed", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 31, + "timestamp": "2026-10-21T02:51:26.417Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_DQYvDESvQ5WpXVeB7XblAPi4|fc_00d48b7a1a8dc8ea016ad828acbb5c87d0a15dae4e42ba1044", + "function_name": "edit", + "arguments": { + "path": "/tmp/build_asset.py", + "edits": [ + { + "oldText": "pp=np.array(points); cm.GetExtentAttr().Set([Gf.Vec3f(*pp.min(0)),Gf.Vec3f(*pp.max(0))])", + "newText": "pp=np.array(points,dtype=float); cm.GetExtentAttr().Set([Gf.Vec3f(*pp.min(0)),Gf.Vec3f(*pp.max(0))])" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_DQYvDESvQ5WpXVeB7XblAPi4|fc_00d48b7a1a8dc8ea016ad828acbb5c87d0a15dae4e42ba1044", + "content": "Successfully replaced 1 block(s) in /tmp/build_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 39652, + "completion_tokens": 129, + "cached_tokens": 39041, + "extra": { + "cache_write_tokens": 608, + "reasoning_tokens": 16, + "pi_total_tokens": 39781 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "0d1d1271", + "pi_parent_id": "7f766fd3", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad828aae8e887d09ad0144194e5e622", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 32, + "timestamp": "2026-10-21T02:51:31.870Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_ov7PVMYvMMtlswEYBjicjnal|fc_00d48b7a1a8dc8ea016ad828b099b887d0b83eecb7499958bc", + "function_name": "bash", + "arguments": { + "command": "python /tmp/build_asset.py && python /tmp/render_asset.py && python - <<'PY'\nfrom pxr import Usd, UsdGeom, UsdPhysics, Gf\ns=Usd.Stage.Open('/output/asset.usd'); cache=UsdGeom.XformCache()\nj=UsdPhysics.FixedJoint(s.GetPrimAtPath('/FryingPan/Joints/HandleMount'))\na=cache.GetLocalToWorldTransform(s.GetPrimAtPath(j.GetBody0Rel().GetTargets()[0])).Transform(Gf.Vec3d(j.GetLocalPos0Attr().Get()))\nb=cache.GetLocalToWorldTransform(s.GetPrimAtPath(j.GetBody1Rel().GetTargets()[0])).Transform(Gf.Vec3d(j.GetLocalPos1Attr().Get()))\nprint('Joint frame world positions:',a,b,'error metres:',(a-b).GetLength())\nprint('Rigid bodies:',[str(p.GetPath()) for p in s.Traverse() if p.HasAPI(UsdPhysics.RigidBodyAPI)])\nprint('Collider count:',sum(p.HasAPI(UsdPhysics.CollisionAPI) for p in s.Traverse()))\nprint('All assets:',s.GetUsedLayers())\nPY", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_ov7PVMYvMMtlswEYBjicjnal|fc_00d48b7a1a8dc8ea016ad828b099b887d0b83eecb7499958bc", + "content": "Saved /output/asset.usd\nVisual bbox: [(-0.0982455164194107, -0.18898993730545044, 0)...(0.0982455164194107, 0.18898931765556334, 0.03347065465152264)] size (0.1964910328388214, 0.3779792549610138, 0.03347065465152264)\nView bbox [-0.13205854 -0.10748412] [0.15964317 0.12298064] scale 3016.7803314995444\nRasterized 236500\nJoint frame world positions: (0, 0.01900000125169754, 0.024000000208616257) (0, 0.019, 0.024) error metres: 1.2689631499334768e-09\nRigid bodies: ['/FryingPan/Pan', '/FryingPan/Handle']\nCollider count: 55\nAll assets: [Sdf.Find('/output/asset.usd'), Sdf.Find('anon:0x10215cc0:asset-session.usda')]", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 39805, + "completion_tokens": 277, + "cached_tokens": 39649, + "extra": { + "cache_write_tokens": 153, + "reasoning_tokens": 0, + "pi_total_tokens": 40082 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "8c7ed015", + "pi_parent_id": "568a6b4d", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad828af7f2887d0a2d6ec52aad06ebe", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 33, + "timestamp": "2026-10-21T02:51:46.135Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "The rendered view has been inspected, and the fixed-joint frames agree to within 2 nanometres. The asset includes the real hanging hole, two rivets, baked non-stick speckles, and collision proxies that preserve the open bowl and handle eye. The second NVIDIA validation passed all 46 mandatory checks; I\u2019m running a final check after a shader-type correction and collision-proxy refinement.", + "tool_calls": [ + { + "tool_call_id": "call_zO0H2nyKvtCMezcN2CNkxYyU|fc_00d48b7a1a8dc8ea016ad828c18c9c87d09bc6175025c4c43a", + "function_name": "mcp", + "arguments": { + "tool": "benchmark_validate_candidate", + "args": { + "request_id": "check-final" + } + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_zO0H2nyKvtCMezcN2CNkxYyU|fc_00d48b7a1a8dc8ea016ad828c18c9c87d09bc6175025c4c43a", + "content": "{\"request_id\":\"check-final\",\"snapshot_sha256\":\"05fae6a9b4ea4046cc6a3f850a8da867bd5c1d3e8da17df34f23c267355dc328\",\"validation_calls_used\":3,\"validation_calls_remaining\":2,\"feedback\":{\"schema_version\":\"simready-validator-feedback-v1\",\"snapshot_sha256\":\"05fae6a9b4ea4046cc6a3f850a8da867bd5c1d3e8da17df34f23c267355dc328\",\"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\":\"432fb9f3e931036c3484b2eea90591e2814f5f729cf00922515b469d8b3ce927\",\"sha256\":\"432fb9f3e931036c3484b2eea90591e2814f5f729cf00922515b469d8b3ce927\",\"bytes\":255858,\"total_characters\":255858,\"issue_counts\":{\"issues\":0,\"soft_issues\":140,\"warnings\":0,\"infos\":0},\"complete_report_available\":true,\"delivery\":\"agent_file\",\"file_path\":\"/tmp/simready-validation-reports/432fb9f3e931036c3484b2eea90591e2814f5f729cf00922515b469d8b3ce927.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": 40346, + "completion_tokens": 181, + "cached_tokens": 39802, + "extra": { + "cache_write_tokens": 541, + "reasoning_tokens": 64, + "pi_total_tokens": 40527 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "36eeda97", + "pi_parent_id": "04844d77", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad828bd176c87d0a8ef665ecdfb4bec", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 34, + "timestamp": "2026-10-21T02:51:54.769Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_yw4lR33jfKobbdeb1eubk8LT|fc_00d48b7a1a8dc8ea016ad828c8b00887d08f6c918d246fc25f", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport json, os\nj=json.load(open('/tmp/simready-validation-reports/432fb9f3e931036c3484b2eea90591e2814f5f729cf00922515b469d8b3ce927.json'))\nprint('Final NVIDIA mandatory issues:',j['issues'])\nprint('Final warnings:',j['warnings'])\nprint('Shader type mismatch findings:',[i['message'] for i in j['soft_issues'] if i['rule_id'] in ['com.nvidia.simready.VM.BIND.002','com.nvidia.simready.VM.PBR.003']])\nfor root,ds,fs in os.walk('/output'):\n for f in fs:\n p=os.path.join(root,f); print(p,os.path.getsize(p))\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_yw4lR33jfKobbdeb1eubk8LT|fc_00d48b7a1a8dc8ea016ad828c8b00887d08f6c918d246fc25f", + "content": "Final NVIDIA mandatory issues: []\nFinal warnings: []\nShader type mismatch findings: []\n/output/asset.usd 792815\n/output/.thumbs/256x256/asset.usd.png 28882\n/output/textures/handle_grain.png 158211\n/output/textures/nonstick_color.png 2746419", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 42157, + "completion_tokens": 220, + "cached_tokens": 40343, + "extra": { + "cache_write_tokens": 1811, + "reasoning_tokens": 12, + "pi_total_tokens": 42377 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "d14a93ab", + "pi_parent_id": "a1c1aaa7", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad828c68b5487d0a82ea528208d68bc", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 35, + "timestamp": "2026-10-21T02:51:58.599Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_lfH57uttDOuqouLrM0lZqyvA|fc_00d48b7a1a8dc8ea016ad828cde63487d0b62fdd8441f03a85", + "function_name": "mcp", + "arguments": { + "tool": "benchmark_submit_asset", + "args": { + "request_id": "final" + } + } + } + ], + "observation": { + "results": [] + }, + "metrics": { + "prompt_tokens": 42455, + "completion_tokens": 27, + "cached_tokens": 42154, + "extra": { + "cache_write_tokens": 298, + "reasoning_tokens": 0, + "pi_total_tokens": 42482 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "b6a1ba50", + "pi_parent_id": "37d68d51", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_00d48b7a1a8dc8ea016ad828cbdf4487d09cdee9ffb6e1bc9f", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + } + ], + "final_metrics": { + "total_prompt_tokens": 798299, + "total_completion_tokens": 19654, + "total_cached_tokens": 755745, + "total_steps": 35, + "extra": { + "cache_write_tokens": 42452, + "reasoning_tokens": 7199, + "pi_total_tokens": 817953 + } + } +} \ No newline at end of file diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/kitchenware_pan_j01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/kitchenware_pan_j01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png new file mode 100644 index 0000000000000000000000000000000000000000..cc424ee280aece906b5ec682a97bb0ca53fd684b --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/kitchenware_pan_j01/reconstruction-4/matched-reference-reconstruction-contact-sheet-1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e4b6e0d8229e3b441926b74db670f2a1ee62bda116c11912d2cfae30f2d5a40 +size 36605 diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/kitchenware_pan_j01/reconstruction-4/nvidia-validator.json b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/kitchenware_pan_j01/reconstruction-4/nvidia-validator.json new file mode 100644 index 0000000000000000000000000000000000000000..388390945a5c1c8eca2a32139fd45d52c3ec7025 --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/kitchenware_pan_j01/reconstruction-4/nvidia-validator.json @@ -0,0 +1,5294 @@ +{ + "asset_path": "/output/asset.usd", + "asset_sha256": "3ab18d0bd35a666861551f1c03f5d38af8d90b157503b0784a38a45734d3b6e7", + "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', 'com.nvidia.simready.PMT.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", + "version": "0.1.0" + }, + { + "code": "com.nvidia.simready.NP.008", + "rule": "simready.foundation.tier_core.capabilities.core.naming_paths.validation.PathsExistChecker", + "version": "0.1.0" + }, + { + "code": "com.nvidia.simready.RB.001", + "rule": "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.RigidBodyCapabilityChecker", + "version": "0.1.0" + }, + { + "code": "com.nvidia.simready.RB.007", + "rule": "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.RigidBodyMassChecker", + "version": "0.1.0" + }, + { + "code": "com.nvidia.simready.RB.010", + "rule": "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.InvisibleCollisionMeshHasPurposeGuide", + "version": "0.1.0" + }, + { + "code": "com.nvidia.simready.RB.COL.001", + "rule": "simready.foundation.tier_core.capabilities.physics_bodies.physics_rigid_bodies.validation.RigidBodyColliderCapabilityChecker", + "version": "0.1.0" + }, + { + "code": "com.nvidia.simready.RB.COL.002", + "rule": 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/opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_003_PHYSX-0.3.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_003_PHYSX' version '0.4.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_003_PHYSX-0.4.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_003_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_003_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_003_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_003_STANDARD-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_MUJOCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_MUJOCO-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_NEWTON' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_NEWTON-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_PHYSX' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_PHYSX-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_PHYSX' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_PHYSX-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_PHYSX' version '0.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_PHYSX-0.3.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_PHYSX' version '0.4.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_PHYSX-0.4.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_ROBOT_MUJOCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_ROBOT_MUJOCO-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_ROBOT_NEWTON' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_ROBOT_NEWTON-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_ROBOT_PHYSX' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_ROBOT_PHYSX-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_ROBOT_PHYSX' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_ROBOT_PHYSX-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_ROBOT_PHYSX' version '0.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_ROBOT_PHYSX-0.3.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_ROBOT_PHYSX' version '0.4.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_ROBOT_PHYSX-0.4.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_004_STANDARD-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_005_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_005_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_006_MDL' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_006_MDL-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_006_MDL' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_006_MDL-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_006_OPENPBR' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_006_OPENPBR-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_006_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_006_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_006_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_006_STANDARD-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_007_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_007_STANDARD-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_010_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_010_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_011_RTX' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_011_RTX-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_011_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_011_STANDARD-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_021_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_021_ISAAC-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_021_ISAAC' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_021_ISAAC-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_021_ISAAC' version '0.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_021_ISAAC-0.3.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_022_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_ISAAC-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_022_ISAAC' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_ISAAC-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_022_MUJOCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_MUJOCO-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_022_NEWTON' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_NEWTON-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_022_PHYSX' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_PHYSX-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_022_PHYSX' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_PHYSX-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_022_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_022_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_022_STANDARD-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_023_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_023_ISAAC-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_024_MUJOCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_024_MUJOCO-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_024_NEWTON' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_024_NEWTON-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_024_PHYSX' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_024_PHYSX-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_024_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_024_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_025_ROS' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_025_ROS-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_028_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_028_ISAAC-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_028_MUJOCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_028_MUJOCO-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_028_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_028_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_030_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_030_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_031_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_031_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_032_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_032_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_033_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_033_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_033_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_033_STANDARD-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_033_STANDARD' version '0.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_033_STANDARD-0.3.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_033_STANDARD' version '0.4.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_033_STANDARD-0.4.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_040_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_040_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_041_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_041_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_042_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_042_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_043_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_043_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_044_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_044_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_045_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_045_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_046_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_046_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_100_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_100_ISAAC-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_100_ISAAC' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_100_ISAAC-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_100_ISAAC' version '0.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_100_ISAAC-0.3.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_100_ISAAC' version '0.4.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_100_ISAAC-0.4.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_101_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_101_ISAAC-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Open-Taxonomy-COCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Open-Taxonomy-Cityscapes' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Open-Taxonomy-ADE20K' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Open-Taxonomy-PascalVOC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Open-Taxonomy-SUNRGBD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Open-Taxonomy-ImageNet1K' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package' version '1.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package-NoBOM' version '1.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package-Candidate' version '1.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package-Candidate' version '1.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package-Candidate' version '1.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package-Candidate' version '1.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Body' version '2.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_body.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Body' version '2.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_body.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Body' version '2.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_body.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Body' version '2.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_body.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Body' version '3.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_body.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Gripper' version '2.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_gripper.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Gripper' version '2.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_gripper.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Gripper' version '2.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_gripper.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Gripper' version '3.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_gripper.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robotics-Prop' version '3.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robotics_prop.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robotics-Prop' version '3.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robotics_prop.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robotics-Prop' version '3.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robotics_prop.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robotics-Prop' version '3.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robotics_prop.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robotics-Prop' version '4.0.0' from 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sha256:c69898eb5c8bbbf2e301ab7a39bbd31eaca3d2cbc66f25b503511a2686c14477 +size 10142 diff --git 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 index a4d256b656c4cfe745095a20d97502a97ed6f27a..cb34d24f585e95722f701c9dc5970d420db131e0 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.

96 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_beverage_coffeeCup_a01gpt-6.1-solpinone4completed100% (46/46)73.14% (1.46271/2)66.67% (0.666667/1)76.47% (39/51)95.78% (0.957761/1)66.67% (1.33333/2)77.78% (7/9)46.67% (9558/20480)3830605.09549.331120313220251142338Not 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-solpinone2completed100% (46/46)52.5% (1.04996/2)N/A74.51% (38/51)69.73% (0.697265/1)69.73% (0.697265/1)N/A36.74% (7525/20480)3930731.69545.151023670234681047138Not 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_prepared_croissant_a01gpt-6.1-solpinone4completed100% (46/46)49.91% (0.998201/2)N/A74.51% (38/51)64.86% (0.648645/1)64.86% (0.648645/1)N/A42.72% (8750/20480)3630537.72438.3670562717033722660Not 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-solpinone2completed100% (46/46)40.26% (0.80513/2)N/A70.59% (36/51)65.62% (0.656246/1)65.62% (0.656246/1)N/A28.83% (5905/20480)3330553.73464.09Not measuredNot measuredNot measuredNot 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-solpinone2completed100% (46/46)0% (0/2)16.67% (0.166689/1)68.63% (35/51)91.88% (0.918831/1)87.04% (2.61109/3)90.48% (19/21)12.98% (1861/14342)3430946.13589.4996266027727990387Not 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_kettle_a01gpt-6.1-solpinone4completed100% (46/46)67.74% (1.35473/2)0% (0/2)76.47% (39/51)83.23% (0.832303/1)62.53% (2.50119/4)58.06% (18/31)30.92% (6332/20480)3630684.58609.1287326226585899847Not 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-solpinone2completed100% (46/46)74.44% (1.48878/2)0% (0/1)72.55% (37/51)99.85% (0.998533/1)50% (0.5/1)N/A32.17% (6588/20480)3230443.26371.5465646618454674920Not 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-solpinone2completed100% (46/46)100% (2/2)N/A72.55% (37/51)100% (1/1)100% (1/1)N/A57.14% (8192/14336)3030483.99377.1766953916690686229Not 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
pallet_wood_recycled_a05gpt-6.1-solpinone4completed100% (46/46)0% (0/2)N/A76.47% (39/51)95.87% (0.958726/1)95.87% (0.958726/1)N/A40.93% (5868/14336)3930604.94433.841052873194601072333Not measuredNot measuredNot measured
powerTool_drill_b01gpt-6.1-solpinone1completed100% (46/46)0% (0/2)0% (0/2)76.47% (39/51)56.26% (0.562628/1)44.04% (3.08281/7)64.41% (38/59)9.75% (1398/14336)3630889.13724.351251387379091289296Not measuredNot measuredNot measured
powerTool_drill_b01gpt-6.1-solpinone2completed100% (46/46)0% (0/2)0% (0/2)76.47% (39/51)53.73% (0.537314/1)26.48% (1.85341/7)64.41% (38/59)24.91% (3571/14336)3230844.1750.5185057831712882290Not 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
powerTool_drill_b01gpt-6.1-solpinone4completed100% (46/46)0% (0/2)0% (0/2)76.47% (39/51)56.43% (0.564298/1)36.05% (2.52333/7)66.1% (39/59)9.3% (1333/14336)3730698.15633.291096019267881122807Not 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-solpinone2completed100% (46/46)0% (0/2)0.29% (0.00290334/1)78.43% (40/51)89.64% (0.896445/1)86.99% (1.73977/2)72.73% (8/11)13.96% (2001/14336)3830732.15680.921301076297151330791Not 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
sign_wetFloor_a01gpt-6.1-solpinone4completed100% (46/46)93.73% (1.87453/2)1.04% (0.0103524/1)76.47% (39/51)89.86% (0.89865/1)86.53% (1.73058/2)72.73% (8/11)33.11% (4747/14336)3330476.94424.5872878719581748368Not 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-solpinone2completed100% (46/46)13.75% (0.274976/2)0% (0/2)68.63% (35/51)84.16% (0.841593/1)40.79% (1.63149/4)55.17% (16/29)10.11% (2054/20314)3730665.86621.91976539281651004704Not 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
tools_fireExtinguisher_CO2_a01gpt-6.1-solpinone4completed100% (46/46)12.44% (0.248802/2)5.76% (0.115144/2)76.47% (39/51)81.79% (0.817911/1)47.2% (1.88818/4)51.72% (15/29)25.89% (5259/20314)3130644.3611.5396582228473994295Not 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-solpinone2completed100% (46/46)66.66% (1.33321/2)0% (0/1)74.51% (38/51)93.58% (0.935789/1)50% (1.5/3)0% (0/21)75.21% (15404/20480)3630552.98487.16Not measuredNot measuredNot measuredNot 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
utensils_scissors_a01gpt-6.1-solpinone4completed100% (46/46)74.1% (1.48206/2)0% (0/1)76.47% (39/51)90.8% (0.908039/1)50% (1.5/3)0% (0/21)61.01% (12494/20480)3330523.05464.674296321760764723Not 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-solpinone2completed100% (46/46)0% (0/2)N/A62.75% (32/51)56.54% (0.5654/1)56.54% (0.5654/1)N/A23.71% (3399/14336)2630687.03584.1466063127196687827Not 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
wheelAssembly_wheel_rim_a01gpt-6.1-solpinone4completed100% (46/46)65.68% (1.31365/2)0% (0/1)66.67% (34/51)66.53% (0.66532/1)50% (0.5/1)N/A18.53% (2656/14336)4230739.3606.791363165252431388408Not 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_beverage_coffeeCup_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)73.14% (1.46271/2)66.67% (0.666667/1)76.47% (39/51)95.78% (0.957761/1)66.67% (1.33333/2)77.78% (7/9)46.67% (9558/20480)

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)
3830605.09549.331120313220251142338Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape95.780.957761/111100
Rigid parts66.671.33333/222100
Joints77.787/999100
Materials46.679558/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
55.851143.75/2048measured

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/SnapFitLid1000measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
95.9595.6120482.681.312.31

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_body_obj_00/CoffeeCup/PaperCup92.06
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_lid_obj_00/CoffeeCup/DrinkingLid94.27

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:assignment1552/204875.78
physics:density0/20480
physics:dynamicFriction1027/204850.15
physics:restitution0/20480
physics:staticFriction446/204821.78
visual:assignment1958/204895.61
visual:diffuseColor659/204832.18
visual:metallic1958/204895.61
visual:opacity1958/204895.61
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 4
food_beverage_coffeeCup_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
food_beverage_coffeeCup_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
food_beverage_coffeeCup_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
food_beverage_coffeeCup_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
food_beverage_coffeeCup_a01: Reference: side
Reference: side | pi | none | repetition 4
food_beverage_coffeeCup_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

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 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)52.5% (1.04996/2)N/A74.51% (38/51)69.73% (0.697265/1)69.73% (0.697265/1)N/A36.74% (7525/20480)

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)
3930731.69545.151023670234681047138Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape69.730.697265/111100
Rigid parts69.730.697265/111100
JointsNot applicable0/0000
Materials36.747525/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
39.53809.5/2048measured

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)
69.6869.7820482.612.544.62

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_prepared_croissant_a01_obj_00/Croissant69.73

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:assignment1429/204869.78
physics:density0/20480
physics:dynamicFriction1429/204869.78
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1429/204869.78
visual:diffuseColor33/20481.61
visual:metallic1429/204869.78
visual:opacity1429/204869.78
visual:roughness347/204816.94

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

Matched captures

food_prepared_croissant_a01: Reference: front
Reference: front | pi | none | repetition 2
food_prepared_croissant_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
food_prepared_croissant_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
food_prepared_croissant_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
food_prepared_croissant_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
food_prepared_croissant_a01: Reference: side
Reference: side | pi | none | repetition 2
food_prepared_croissant_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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_prepared_croissant_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)49.91% (0.998201/2)N/A74.51% (38/51)64.86% (0.648645/1)64.86% (0.648645/1)N/A42.72% (8750/20480)

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)
3630537.72438.3670562717033722660Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape64.860.648645/111100
Rigid parts64.860.648645/111100
JointsNot applicable0/0000
Materials42.728750/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
38.4786.5/2048measured

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)
61.6768.4120482.612.695.08

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_prepared_croissant_a01_obj_00/Croissant64.86

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:assignment1401/204868.41
physics:density0/20480
physics:dynamicFriction1401/204868.41
physics:restitution0/20480
physics:staticFriction1401/204868.41
visual:assignment1401/204868.41
visual:diffuseColor63/20483.08
visual:metallic1401/204868.41
visual:opacity1401/204868.41
visual:roughness281/204813.72

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

Matched captures

food_prepared_croissant_a01: Reference: front
Reference: front | pi | none | repetition 4
food_prepared_croissant_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
food_prepared_croissant_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
food_prepared_croissant_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
food_prepared_croissant_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
food_prepared_croissant_a01: Reference: side
Reference: side | pi | none | repetition 4
food_prepared_croissant_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

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 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)40.26% (0.80513/2)N/A70.59% (36/51)65.62% (0.656246/1)65.62% (0.656246/1)N/A28.83% (5905/20480)

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)
3330553.73464.09Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape65.620.656246/111100
Rigid parts65.620.656246/111100
JointsNot applicable0/0000
Materials28.835905/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
24.69505.75/2048measured

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)
68.2663.1820483.023.516.77

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_produce_banana_a01_obj_00/Banana65.62

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:assignment1294/204863.18
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction1294/204863.18
visual:assignment1294/204863.18
visual:diffuseColor0/20480
visual:metallic1294/204863.18
visual:opacity0/20480
visual:roughness729/204835.6

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

Matched captures

food_produce_banana_a01: Reference: front
Reference: front | pi | none | repetition 2
food_produce_banana_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
food_produce_banana_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
food_produce_banana_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
food_produce_banana_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
food_produce_banana_a01: Reference: side
Reference: side | pi | none | repetition 2
food_produce_banana_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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 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)16.67% (0.166689/1)68.63% (35/51)91.88% (0.918831/1)87.04% (2.61109/3)90.48% (19/21)12.98% (1861/14342)

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)
3430946.13589.4996266027727990387Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape91.880.918831/111100
Rigid parts87.042.61109/333100
Joints90.4819/212121100
Materials12.981861/14342143421434258.36

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints16.670.666756/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_knurl_01_joint_00/Wrench/Joints/WormRotation32.394.59measured_motion
/RootNode/Joints/joint_jaw_01_joint_00/Wrench/Joints/JawSlide0.947.93measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
92.9290.8720483.171.84.03

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Wrench/Body88.51
/RootNode/Geometry/jaw_01_obj_00/Wrench/SlidingJaw85.23
/RootNode/Geometry/knurl_01_obj_00/Wrench/WormScrew87.37

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
2219/21

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
anchors1/22/2
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:assignment1861/204890.87
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 2
handTool_wrench_adjustable_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
handTool_wrench_adjustable_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
handTool_wrench_adjustable_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
handTool_wrench_adjustable_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
handTool_wrench_adjustable_a01: Reference: side
Reference: side | pi | none | repetition 2
handTool_wrench_adjustable_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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_kettle_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)67.74% (1.35473/2)0% (0/2)76.47% (39/51)83.23% (0.832303/1)62.53% (2.50119/4)58.06% (18/31)30.92% (6332/20480)

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)
3630684.58609.1287326226585899847Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape83.230.832303/111100
Rigid parts62.532.50119/444100
Joints58.0618/313131100
Materials30.926332/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
55.131129/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints4.670.280312/66/6100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_switch_joint_00/Kettle/Joints/PowerSwitchPivot14.015.68measured_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/LidHinge093.18measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
78.4288.6720484.75.2414.38

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_kitchenware_kettle_a01_body_obj_01/Kettle/Vessel79.55
/RootNode/Geometry/sm_kitchenware_kettle_a01_button_obj_00/Kettle/LidRelease24.55
/RootNode/Geometry/sm_kitchenware_kettle_a01_lid_obj_01/Kettle/Lid81.12
/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00/Kettle/PowerSwitch64.9

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3418/31

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
anchors1/33/3
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:assignment1816/204888.67
visual:diffuseColor477/204823.29
visual:metallic1523/204874.37
visual:opacity1816/204888.67
visual:roughness700/204834.18

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

Matched captures

kitchenware_kettle_a01: Reference: front
Reference: front | pi | none | repetition 4
kitchenware_kettle_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
kitchenware_kettle_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
kitchenware_kettle_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
kitchenware_kettle_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
kitchenware_kettle_a01: Reference: side
Reference: side | pi | none | repetition 4
kitchenware_kettle_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

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 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)74.44% (1.48878/2)0% (0/1)72.55% (37/51)99.85% (0.998533/1)50% (0.5/1)N/A32.17% (6588/20480)

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)
3230443.26371.5465646618454674920Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape99.850.998533/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials32.176588/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
55.491136.5/2048measured

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)
10099.7120485.271.292.84

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_kitchenware_pan_j01_obj_00/FryingPan/PanBody94.49

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:assignment2042/204899.71
visual:diffuseColor986/204848.14
visual:metallic230/204811.23
visual:opacity2042/204899.71
visual:roughness1288/204862.89

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

Matched captures

kitchenware_pan_j01: Reference: front
Reference: front | pi | none | repetition 2
kitchenware_pan_j01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
kitchenware_pan_j01: Reference: isometric
Reference: isometric | pi | none | repetition 2
kitchenware_pan_j01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
kitchenware_pan_j01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
kitchenware_pan_j01: Reference: side
Reference: side | pi | none | repetition 2
kitchenware_pan_j01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)100% (2/2)N/A72.55% (37/51)100% (1/1)100% (1/1)N/A57.14% (8192/14336)

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)
3030483.99377.1766953916690686229Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape1001/111100
Rigid parts1001/111100
JointsNot applicable0/0000
Materials57.148192/14336143361433658.33

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)
100100204816.032.173.97

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:opacity2048/2048100

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

Matched captures

pallet_wood_recycled_a05: Reference: front
Reference: front | pi | none | repetition 2
pallet_wood_recycled_a05: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
pallet_wood_recycled_a05: Reference: isometric
Reference: isometric | pi | none | repetition 2
pallet_wood_recycled_a05: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
pallet_wood_recycled_a05: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
pallet_wood_recycled_a05: Reference: side
Reference: side | pi | none | repetition 2
pallet_wood_recycled_a05: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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

pallet_wood_recycled_a05 / 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/A76.47% (39/51)95.87% (0.958726/1)95.87% (0.958726/1)N/A40.93% (5868/14336)

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)
3930604.94433.841052873194601072333Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape95.870.958726/111100
Rigid parts95.870.958726/111100
JointsNot applicable0/0000
Materials40.935868/14336143361433658.33

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)
96.2495.51204816.037.4512.81

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_pallet_wood_recycled_a05_obj_00/Pallet95.87

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:assignment1956/204895.51
physics:density0/20480
physics:dynamicFriction1956/204895.51
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1956/204895.51
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 4
pallet_wood_recycled_a05: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
pallet_wood_recycled_a05: Reference: isometric
Reference: isometric | pi | none | repetition 4
pallet_wood_recycled_a05: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
pallet_wood_recycled_a05: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
pallet_wood_recycled_a05: Reference: side
Reference: side | pi | none | repetition 4
pallet_wood_recycled_a05: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

powerTool_drill_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)0% (0/2)0% (0/2)76.47% (39/51)56.26% (0.562628/1)44.04% (3.08281/7)64.41% (38/59)9.75% (1398/14336)

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)
3630889.13724.351251387379091289296Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape56.260.562628/111100
Rigid parts44.043.08281/777100
Joints64.4138/595959100
Materials9.751398/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints15.972.55481/1616/16100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_chuck_01_joint_00/Drill/Joints/ClutchAdjustment0.02174.63measured_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/TwoSpeedSlide36.751.96measured_motion
/RootNode/Joints/joint_button_01_joint_00/Drill/Joints/TriggerTravel90.970.8measured_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)
47.8568.2620484.385.711.47

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/battery_01_obj_00/Drill/Battery69.51
/RootNode/Geometry/body_01_obj_00/Drill/Housing45.14
/RootNode/Geometry/button_01_obj_00/Drill/Trigger48.85
/RootNode/Geometry/button_02_obj_00/Drill/BatteryRelease19.96
/RootNode/Geometry/chuck_01_obj_00/Drill/ClutchCollar27.77
/RootNode/Geometry/jaws_01_obj_00/Drill/ChuckJaw133.77
/RootNode/Geometry/selector_01_obj_00/Drill/SpeedSelector63.28

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:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1398/204868.26
visual:opacity0/20480

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

Matched captures

powerTool_drill_b01: Reference: front
Reference: front | pi | none | repetition 1
powerTool_drill_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
powerTool_drill_b01: Reference: isometric
Reference: isometric | pi | none | repetition 1
powerTool_drill_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
powerTool_drill_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
powerTool_drill_b01: Reference: side
Reference: side | pi | none | repetition 1
powerTool_drill_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

powerTool_drill_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)53.73% (0.537314/1)26.48% (1.85341/7)64.41% (38/59)24.91% (3571/14336)

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)
3230844.1750.5185057831712882290Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape53.730.537314/111100
Rigid parts26.481.85341/777100
Joints64.4138/595959100
Materials24.913571/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints26.213.14533/1212/12100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_chuck_01_joint_00/Drill/Joints/ClutchAdjustment0.632.42measured_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/SpeedSelection57.31.35measured_motion
/RootNode/Joints/joint_button_01_joint_00/Drill/Joints/TriggerTravel99.370.21measured_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)
48.3960.420484.386.0912.42

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/battery_01_obj_00/Drill/Battery40.79
/RootNode/Geometry/body_01_obj_00/Drill/Housing54.07
/RootNode/Geometry/button_01_obj_00/Drill/Trigger39.08
/RootNode/Geometry/button_02_obj_00/Drill/BatteryLatch0
/RootNode/Geometry/chuck_01_obj_00/Drill/TorqueCollar32.69
/RootNode/Geometry/jaws_01_obj_00/Drill/Chuck18.71
/RootNode/Geometry/selector_01_obj_00/Drill/SpeedSwitch0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
6738/59

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:assignment1237/204860.4
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1097/204853.56
physics:staticFriction0/20480
visual:assignment1237/204860.4
visual:opacity0/20480

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

Matched captures

powerTool_drill_b01: Reference: front
Reference: front | pi | none | repetition 2
powerTool_drill_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
powerTool_drill_b01: Reference: isometric
Reference: isometric | pi | none | repetition 2
powerTool_drill_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
powerTool_drill_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
powerTool_drill_b01: Reference: side
Reference: side | pi | none | repetition 2
powerTool_drill_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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

powerTool_drill_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)0% (0/2)0% (0/2)76.47% (39/51)56.43% (0.564298/1)36.05% (2.52333/7)66.1% (39/59)9.3% (1333/14336)

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)
3730698.15633.291096019267881122807Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape56.430.564298/111100
Rigid parts36.052.52333/777100
Joints66.139/595959100
Materials9.31333/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints25.533.57351/1414/14100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_chuck_01_joint_00/Drill/Joints/SpindleRotation24.927.6measured_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/LowHighGear57.421.34measured_motion
/RootNode/Joints/joint_button_01_joint_00/Drill/Joints/TriggerTravel96.330.5measured_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)
49.865.0920484.385.8212.04

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/battery_01_obj_00/Drill/Battery60.37
/RootNode/Geometry/body_01_obj_00/Drill/Housing45.74
/RootNode/Geometry/button_01_obj_00/Drill/Trigger57.84
/RootNode/Geometry/button_02_obj_00/Drill/ReverseSelector0
/RootNode/Geometry/chuck_01_obj_00/Drill/Chuck48.21
/RootNode/Geometry/jaws_01_obj_00/Drill/Jaw035.57
/RootNode/Geometry/selector_01_obj_00/Drill/GearSelector4.6

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
6939/59

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
limits3/55/5
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1333/204865.09
visual:opacity0/20480

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

Matched captures

powerTool_drill_b01: Reference: front
Reference: front | pi | none | repetition 4
powerTool_drill_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
powerTool_drill_b01: Reference: isometric
Reference: isometric | pi | none | repetition 4
powerTool_drill_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
powerTool_drill_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
powerTool_drill_b01: Reference: side
Reference: side | pi | none | repetition 4
powerTool_drill_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

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 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)0.29% (0.00290334/1)78.43% (40/51)89.64% (0.896445/1)86.99% (1.73977/2)72.73% (8/11)13.96% (2001/14336)

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)
3830732.15680.921301076297151330791Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape89.640.896445/111100
Rigid parts86.991.73977/222100
Joints72.738/111111100
Materials13.962001/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints0.290.00580667/22/2100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_frontpanel_a01_joint_00/CautionSign/Joints/TopFoldingHinge0.2968.67measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
82.8197.7120488.374.6310.95

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_backpanel_a01_obj_00/CautionSign/RearLeaf88.22
/RootNode/Geometry/sm_frontpanel_a01_obj_00/CautionSign/FrontLeaf85.76

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:assignment2001/204897.71
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 2
sign_wetFloor_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
sign_wetFloor_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
sign_wetFloor_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
sign_wetFloor_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
sign_wetFloor_a01: Reference: side
Reference: side | pi | none | repetition 2
sign_wetFloor_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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

sign_wetFloor_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)93.73% (1.87453/2)1.04% (0.0103524/1)76.47% (39/51)89.86% (0.89865/1)86.53% (1.73058/2)72.73% (8/11)33.11% (4747/14336)

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)
3330476.94424.5872878719581748368Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape89.860.89865/111100
Rigid parts86.531.73058/222100
Joints72.738/111111100
Materials33.114747/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
97.752002/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints1.040.0207047/22/2100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_frontpanel_a01_joint_00/CautionSign/Joints/TopFoldingHinge1.0441.73measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
83.1597.7520488.375.2813.33

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_backpanel_a01_obj_00/CautionSign/RearPanel88.03
/RootNode/Geometry/sm_frontpanel_a01_obj_00/CautionSign/FrontPanel85.03

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:assignment743/204836.28
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment2002/204897.75
visual:opacity2002/204897.75

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

Matched captures

sign_wetFloor_a01: Reference: front
Reference: front | pi | none | repetition 4
sign_wetFloor_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
sign_wetFloor_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
sign_wetFloor_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
sign_wetFloor_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
sign_wetFloor_a01: Reference: side
Reference: side | pi | none | repetition 4
sign_wetFloor_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

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 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)13.75% (0.274976/2)0% (0/2)68.63% (35/51)84.16% (0.841593/1)40.79% (1.63149/4)55.17% (16/29)10.11% (2054/20314)

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)
3730665.86621.91976539281651004704Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape84.160.841593/111100
Rigid parts40.791.63149/444100
Joints55.1716/292929100
Materials10.112054/20314203142031482.66

Appearance materials

Score (%)Earned/eligibleStatus
2.2546/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/33/3100
Moving joints0.560.028172/55/5100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_handle_01_joint_00/FireExtinguisher/Joints/Operating_lever_hinge0.7146.53measured_motion
/RootNode/Joints/joint_pin_01_joint_00/FireExtinguisher/Joints/Safety_pin_extraction0.724.17measured_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)
77.2592.4320489.413.633.05

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/FireExtinguisher/Vessel84.45
/RootNode/Geometry/glass_01_obj_00/FireExtinguisher/PullRing0
/RootNode/Geometry/handle_01_obj_00/FireExtinguisher/OperatingLever78.7
/RootNode/Geometry/pin_01_obj_00/FireExtinguisher/SafetyPin0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3516/29

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_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_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1893/204892.43
visual:diffuseColor27/20481.32
visual:metallic45/19652.29
visual:opacity0/20480
visual:roughness89/19654.53

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

Matched captures

tools_fireExtinguisher_CO2_a01: Reference: front
Reference: front | pi | none | repetition 2
tools_fireExtinguisher_CO2_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
tools_fireExtinguisher_CO2_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
tools_fireExtinguisher_CO2_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
tools_fireExtinguisher_CO2_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
tools_fireExtinguisher_CO2_a01: Reference: side
Reference: side | pi | none | repetition 2
tools_fireExtinguisher_CO2_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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

tools_fireExtinguisher_CO2_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)12.44% (0.248802/2)5.76% (0.115144/2)76.47% (39/51)81.79% (0.817911/1)47.2% (1.88818/4)51.72% (15/29)25.89% (5259/20314)

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)
3130644.3611.5396582228473994295Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape81.790.817911/111100
Rigid parts47.21.88818/444100
Joints51.7215/292929100
Materials25.895259/20314203142031482.66

Appearance materials

Score (%)Earned/eligibleStatus
1.8938.75/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints66.672/33/3100
Moving joints0.50.0198871/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_handle_01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_pin_01_joint_00/FireExtinguisher/Joints/SafetyPinRemoval0.9921.93measured_motion
/RootNode/Joints/joint_glass_01_joint_00/FireExtinguisher/Joints/CarryHandleAttachment1000measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
80.5283.1120489.48.8922.91

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/FireExtinguisher/TankAssembly83.18
/RootNode/Geometry/glass_01_obj_00/FireExtinguisher/CarryHandle1.98
/RootNode/Geometry/handle_01_obj_00/FireExtinguisher/SqueezeLever55.85
/RootNode/Geometry/pin_01_obj_00/FireExtinguisher/SafetyPin47.8

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3415/29

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_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
axes1/22/2
relative_orientation2/33/3
limits0/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1702/204883.11
physics:density0/20480
physics:dynamicFriction1635/204879.83
physics:restitution73/20483.56
physics:staticFriction0/20480
visual:assignment1702/204883.11
visual:diffuseColor30/20481.46
visual:metallic44/19652.24
visual:opacity0/20480
visual:roughness73/19653.72

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

Matched captures

tools_fireExtinguisher_CO2_a01: Reference: front
Reference: front | pi | none | repetition 4
tools_fireExtinguisher_CO2_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
tools_fireExtinguisher_CO2_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
tools_fireExtinguisher_CO2_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
tools_fireExtinguisher_CO2_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
tools_fireExtinguisher_CO2_a01: Reference: side
Reference: side | pi | none | repetition 4
tools_fireExtinguisher_CO2_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

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 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)66.66% (1.33321/2)0% (0/1)74.51% (38/51)93.58% (0.935789/1)50% (1.5/3)0% (0/21)75.21% (15404/20480)

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)
3630552.98487.16Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape93.580.935789/111100
Rigid parts501.5/333100
Joints00/212121100
Materials75.2115404/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
47.49972.5/2048measured

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)
93.4693.720483.111.483.65

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_utensils_scissors_a01_left_handel_obj_00/Scissors/RightHalf89.91
/RootNode/Geometry/sm_utensils_scissors_a01_reveat_obj_00Not measured0
/RootNode/Geometry/sm_utensils_scissors_a01_right_handel_obj_00/Scissors/LeftHalf94.26

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:assignment1919/204893.7
physics:density1919/204893.7
physics:dynamicFriction1919/204893.7
physics:restitution1919/204893.7
physics:staticFriction1919/204893.7
visual:assignment1919/204893.7
visual:diffuseColor250/204812.21
visual:metallic1908/204893.16
visual:opacity0/20480
visual:roughness1732/204884.57

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

Matched captures

utensils_scissors_a01: Reference: front
Reference: front | pi | none | repetition 2
utensils_scissors_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
utensils_scissors_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
utensils_scissors_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
utensils_scissors_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
utensils_scissors_a01: Reference: side
Reference: side | pi | none | repetition 2
utensils_scissors_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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

utensils_scissors_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)74.1% (1.48206/2)0% (0/1)76.47% (39/51)90.8% (0.908039/1)50% (1.5/3)0% (0/21)61.01% (12494/20480)

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)
3330523.05464.674296321760764723Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape90.80.908039/111100
Rigid parts501.5/333100
Joints00/212121100
Materials61.0112494/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
60.471238.5/2048measured

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)
89.692.0420483.112.114.68

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_utensils_scissors_a01_left_handel_obj_00/Scissors/RightHandleLowerBlade79.22
/RootNode/Geometry/sm_utensils_scissors_a01_reveat_obj_00Not measured0
/RootNode/Geometry/sm_utensils_scissors_a01_right_handel_obj_00/Scissors/LeftHandleUpperBlade97.25

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:assignment1885/204892.04
physics:density0/20480
physics:dynamicFriction1885/204892.04
physics:restitution1885/204892.04
physics:staticFriction0/20480
visual:assignment1885/204892.04
visual:diffuseColor205/204810.01
visual:metallic1338/204865.33
visual:opacity1885/204892.04
visual:roughness1526/204874.51

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

Matched captures

utensils_scissors_a01: Reference: front
Reference: front | pi | none | repetition 4
utensils_scissors_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
utensils_scissors_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
utensils_scissors_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
utensils_scissors_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
utensils_scissors_a01: Reference: side
Reference: side | pi | none | repetition 4
utensils_scissors_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

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 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/A62.75% (32/51)56.54% (0.5654/1)56.54% (0.5654/1)N/A23.71% (3399/14336)

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)
2630687.03584.1466063127196687827Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape56.540.5654/111100
Rigid parts56.540.5654/111100
JointsNot applicable0/0000
Materials23.713399/14336143361433658.33

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)
57.8155.3220488.5911.5122.99

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/wheelRim_01_obj_00/Wheel56.54

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:assignment1133/204855.32
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1133/204855.32
physics:staticFriction0/20480
visual:assignment1133/204855.32
visual:opacity0/20480

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

Matched captures

wheelAssembly_wheel_rim_a01: Reference: front
Reference: front | pi | none | repetition 2
wheelAssembly_wheel_rim_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
wheelAssembly_wheel_rim_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
wheelAssembly_wheel_rim_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
wheelAssembly_wheel_rim_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
wheelAssembly_wheel_rim_a01: Reference: side
Reference: side | pi | none | repetition 2
wheelAssembly_wheel_rim_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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

wheelAssembly_wheel_rim_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)65.68% (1.31365/2)0% (0/1)66.67% (34/51)66.53% (0.66532/1)50% (0.5/1)N/A18.53% (2656/14336)

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)
4230739.3606.791363165252431388408Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape66.530.66532/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials18.532656/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
64.841328/2048measured

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)
68.3164.8420488.5910.1921.38

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/wheelRim_01_obj_00/Wheel/Alloy67.45

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:assignment1328/204864.84
visual:opacity1328/204864.84

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

Matched captures

wheelAssembly_wheel_rim_a01: Reference: front
Reference: front | pi | none | repetition 4
wheelAssembly_wheel_rim_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
wheelAssembly_wheel_rim_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
wheelAssembly_wheel_rim_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
wheelAssembly_wheel_rim_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
wheelAssembly_wheel_rim_a01: Reference: side
Reference: side | pi | none | repetition 4
wheelAssembly_wheel_rim_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4
\ 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.

97 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_beverage_coffeeCup_a01gpt-6.1-solpinone4completed100% (46/46)73.14% (1.46271/2)66.67% (0.666667/1)76.47% (39/51)95.78% (0.957761/1)66.67% (1.33333/2)77.78% (7/9)46.67% (9558/20480)3830605.09549.331120313220251142338Not 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-solpinone2completed100% (46/46)52.5% (1.04996/2)N/A74.51% (38/51)69.73% (0.697265/1)69.73% (0.697265/1)N/A36.74% (7525/20480)3930731.69545.151023670234681047138Not 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_prepared_croissant_a01gpt-6.1-solpinone4completed100% (46/46)49.91% (0.998201/2)N/A74.51% (38/51)64.86% (0.648645/1)64.86% (0.648645/1)N/A42.72% (8750/20480)3630537.72438.3670562717033722660Not 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-solpinone2completed100% (46/46)40.26% (0.80513/2)N/A70.59% (36/51)65.62% (0.656246/1)65.62% (0.656246/1)N/A28.83% (5905/20480)3330553.73464.09Not measuredNot measuredNot measuredNot 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-solpinone2completed100% (46/46)0% (0/2)16.67% (0.166689/1)68.63% (35/51)91.88% (0.918831/1)87.04% (2.61109/3)90.48% (19/21)12.98% (1861/14342)3430946.13589.4996266027727990387Not 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_kettle_a01gpt-6.1-solpinone4completed100% (46/46)67.74% (1.35473/2)0% (0/2)76.47% (39/51)83.23% (0.832303/1)62.53% (2.50119/4)58.06% (18/31)30.92% (6332/20480)3630684.58609.1287326226585899847Not 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-solpinone2completed100% (46/46)74.44% (1.48878/2)0% (0/1)72.55% (37/51)99.85% (0.998533/1)50% (0.5/1)N/A32.17% (6588/20480)3230443.26371.5465646618454674920Not 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
kitchenware_pan_j01gpt-6.1-solpinone4completed100% (46/46)74.61% (1.49213/2)0% (0/1)74.51% (38/51)99.95% (0.999511/1)50% (0.5/1)N/A32.28% (6610/20480)3430498.95425.4279829919654817953Not 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-solpinone2completed100% (46/46)100% (2/2)N/A72.55% (37/51)100% (1/1)100% (1/1)N/A57.14% (8192/14336)3030483.99377.1766953916690686229Not 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
pallet_wood_recycled_a05gpt-6.1-solpinone4completed100% (46/46)0% (0/2)N/A76.47% (39/51)95.87% (0.958726/1)95.87% (0.958726/1)N/A40.93% (5868/14336)3930604.94433.841052873194601072333Not measuredNot measuredNot measured
powerTool_drill_b01gpt-6.1-solpinone1completed100% (46/46)0% (0/2)0% (0/2)76.47% (39/51)56.26% (0.562628/1)44.04% (3.08281/7)64.41% (38/59)9.75% (1398/14336)3630889.13724.351251387379091289296Not measuredNot measuredNot measured
powerTool_drill_b01gpt-6.1-solpinone2completed100% (46/46)0% (0/2)0% (0/2)76.47% (39/51)53.73% (0.537314/1)26.48% (1.85341/7)64.41% (38/59)24.91% (3571/14336)3230844.1750.5185057831712882290Not 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
powerTool_drill_b01gpt-6.1-solpinone4completed100% (46/46)0% (0/2)0% (0/2)76.47% (39/51)56.43% (0.564298/1)36.05% (2.52333/7)66.1% (39/59)9.3% (1333/14336)3730698.15633.291096019267881122807Not 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-solpinone2completed100% (46/46)0% (0/2)0.29% (0.00290334/1)78.43% (40/51)89.64% (0.896445/1)86.99% (1.73977/2)72.73% (8/11)13.96% (2001/14336)3830732.15680.921301076297151330791Not 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
sign_wetFloor_a01gpt-6.1-solpinone4completed100% (46/46)93.73% (1.87453/2)1.04% (0.0103524/1)76.47% (39/51)89.86% (0.89865/1)86.53% (1.73058/2)72.73% (8/11)33.11% (4747/14336)3330476.94424.5872878719581748368Not 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-solpinone2completed100% (46/46)13.75% (0.274976/2)0% (0/2)68.63% (35/51)84.16% (0.841593/1)40.79% (1.63149/4)55.17% (16/29)10.11% (2054/20314)3730665.86621.91976539281651004704Not 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
tools_fireExtinguisher_CO2_a01gpt-6.1-solpinone4completed100% (46/46)12.44% (0.248802/2)5.76% (0.115144/2)76.47% (39/51)81.79% (0.817911/1)47.2% (1.88818/4)51.72% (15/29)25.89% (5259/20314)3130644.3611.5396582228473994295Not 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-solpinone2completed100% (46/46)66.66% (1.33321/2)0% (0/1)74.51% (38/51)93.58% (0.935789/1)50% (1.5/3)0% (0/21)75.21% (15404/20480)3630552.98487.16Not measuredNot measuredNot measuredNot 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
utensils_scissors_a01gpt-6.1-solpinone4completed100% (46/46)74.1% (1.48206/2)0% (0/1)76.47% (39/51)90.8% (0.908039/1)50% (1.5/3)0% (0/21)61.01% (12494/20480)3330523.05464.674296321760764723Not 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-solpinone2completed100% (46/46)0% (0/2)N/A62.75% (32/51)56.54% (0.5654/1)56.54% (0.5654/1)N/A23.71% (3399/14336)2630687.03584.1466063127196687827Not 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
wheelAssembly_wheel_rim_a01gpt-6.1-solpinone4completed100% (46/46)65.68% (1.31365/2)0% (0/1)66.67% (34/51)66.53% (0.66532/1)50% (0.5/1)N/A18.53% (2656/14336)4230739.3606.791363165252431388408Not 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_beverage_coffeeCup_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)73.14% (1.46271/2)66.67% (0.666667/1)76.47% (39/51)95.78% (0.957761/1)66.67% (1.33333/2)77.78% (7/9)46.67% (9558/20480)

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)
3830605.09549.331120313220251142338Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape95.780.957761/111100
Rigid parts66.671.33333/222100
Joints77.787/999100
Materials46.679558/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
55.851143.75/2048measured

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/SnapFitLid1000measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
95.9595.6120482.681.312.31

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_body_obj_00/CoffeeCup/PaperCup92.06
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_lid_obj_00/CoffeeCup/DrinkingLid94.27

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:assignment1552/204875.78
physics:density0/20480
physics:dynamicFriction1027/204850.15
physics:restitution0/20480
physics:staticFriction446/204821.78
visual:assignment1958/204895.61
visual:diffuseColor659/204832.18
visual:metallic1958/204895.61
visual:opacity1958/204895.61
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 4
food_beverage_coffeeCup_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
food_beverage_coffeeCup_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
food_beverage_coffeeCup_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
food_beverage_coffeeCup_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
food_beverage_coffeeCup_a01: Reference: side
Reference: side | pi | none | repetition 4
food_beverage_coffeeCup_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

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 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)52.5% (1.04996/2)N/A74.51% (38/51)69.73% (0.697265/1)69.73% (0.697265/1)N/A36.74% (7525/20480)

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)
3930731.69545.151023670234681047138Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape69.730.697265/111100
Rigid parts69.730.697265/111100
JointsNot applicable0/0000
Materials36.747525/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
39.53809.5/2048measured

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)
69.6869.7820482.612.544.62

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_prepared_croissant_a01_obj_00/Croissant69.73

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:assignment1429/204869.78
physics:density0/20480
physics:dynamicFriction1429/204869.78
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1429/204869.78
visual:diffuseColor33/20481.61
visual:metallic1429/204869.78
visual:opacity1429/204869.78
visual:roughness347/204816.94

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

Matched captures

food_prepared_croissant_a01: Reference: front
Reference: front | pi | none | repetition 2
food_prepared_croissant_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
food_prepared_croissant_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
food_prepared_croissant_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
food_prepared_croissant_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
food_prepared_croissant_a01: Reference: side
Reference: side | pi | none | repetition 2
food_prepared_croissant_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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_prepared_croissant_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)49.91% (0.998201/2)N/A74.51% (38/51)64.86% (0.648645/1)64.86% (0.648645/1)N/A42.72% (8750/20480)

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)
3630537.72438.3670562717033722660Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape64.860.648645/111100
Rigid parts64.860.648645/111100
JointsNot applicable0/0000
Materials42.728750/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
38.4786.5/2048measured

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)
61.6768.4120482.612.695.08

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_prepared_croissant_a01_obj_00/Croissant64.86

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:assignment1401/204868.41
physics:density0/20480
physics:dynamicFriction1401/204868.41
physics:restitution0/20480
physics:staticFriction1401/204868.41
visual:assignment1401/204868.41
visual:diffuseColor63/20483.08
visual:metallic1401/204868.41
visual:opacity1401/204868.41
visual:roughness281/204813.72

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

Matched captures

food_prepared_croissant_a01: Reference: front
Reference: front | pi | none | repetition 4
food_prepared_croissant_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
food_prepared_croissant_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
food_prepared_croissant_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
food_prepared_croissant_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
food_prepared_croissant_a01: Reference: side
Reference: side | pi | none | repetition 4
food_prepared_croissant_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

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 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)40.26% (0.80513/2)N/A70.59% (36/51)65.62% (0.656246/1)65.62% (0.656246/1)N/A28.83% (5905/20480)

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)
3330553.73464.09Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape65.620.656246/111100
Rigid parts65.620.656246/111100
JointsNot applicable0/0000
Materials28.835905/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
24.69505.75/2048measured

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)
68.2663.1820483.023.516.77

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_produce_banana_a01_obj_00/Banana65.62

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:assignment1294/204863.18
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction1294/204863.18
visual:assignment1294/204863.18
visual:diffuseColor0/20480
visual:metallic1294/204863.18
visual:opacity0/20480
visual:roughness729/204835.6

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

Matched captures

food_produce_banana_a01: Reference: front
Reference: front | pi | none | repetition 2
food_produce_banana_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
food_produce_banana_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
food_produce_banana_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
food_produce_banana_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
food_produce_banana_a01: Reference: side
Reference: side | pi | none | repetition 2
food_produce_banana_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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 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)16.67% (0.166689/1)68.63% (35/51)91.88% (0.918831/1)87.04% (2.61109/3)90.48% (19/21)12.98% (1861/14342)

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)
3430946.13589.4996266027727990387Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape91.880.918831/111100
Rigid parts87.042.61109/333100
Joints90.4819/212121100
Materials12.981861/14342143421434258.36

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints16.670.666756/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_knurl_01_joint_00/Wrench/Joints/WormRotation32.394.59measured_motion
/RootNode/Joints/joint_jaw_01_joint_00/Wrench/Joints/JawSlide0.947.93measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
92.9290.8720483.171.84.03

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/Wrench/Body88.51
/RootNode/Geometry/jaw_01_obj_00/Wrench/SlidingJaw85.23
/RootNode/Geometry/knurl_01_obj_00/Wrench/WormScrew87.37

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
2219/21

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
anchors1/22/2
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:assignment1861/204890.87
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 2
handTool_wrench_adjustable_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
handTool_wrench_adjustable_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
handTool_wrench_adjustable_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
handTool_wrench_adjustable_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
handTool_wrench_adjustable_a01: Reference: side
Reference: side | pi | none | repetition 2
handTool_wrench_adjustable_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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_kettle_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)67.74% (1.35473/2)0% (0/2)76.47% (39/51)83.23% (0.832303/1)62.53% (2.50119/4)58.06% (18/31)30.92% (6332/20480)

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)
3630684.58609.1287326226585899847Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape83.230.832303/111100
Rigid parts62.532.50119/444100
Joints58.0618/313131100
Materials30.926332/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
55.131129/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints4.670.280312/66/6100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_kitchenware_kettle_a01_switch_joint_00/Kettle/Joints/PowerSwitchPivot14.015.68measured_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/LidHinge093.18measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
78.4288.6720484.75.2414.38

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_kitchenware_kettle_a01_body_obj_01/Kettle/Vessel79.55
/RootNode/Geometry/sm_kitchenware_kettle_a01_button_obj_00/Kettle/LidRelease24.55
/RootNode/Geometry/sm_kitchenware_kettle_a01_lid_obj_01/Kettle/Lid81.12
/RootNode/Geometry/sm_kitchenware_kettle_a01_switch_obj_00/Kettle/PowerSwitch64.9

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3418/31

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
anchors1/33/3
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:assignment1816/204888.67
visual:diffuseColor477/204823.29
visual:metallic1523/204874.37
visual:opacity1816/204888.67
visual:roughness700/204834.18

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

Matched captures

kitchenware_kettle_a01: Reference: front
Reference: front | pi | none | repetition 4
kitchenware_kettle_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
kitchenware_kettle_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
kitchenware_kettle_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
kitchenware_kettle_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
kitchenware_kettle_a01: Reference: side
Reference: side | pi | none | repetition 4
kitchenware_kettle_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

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 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)74.44% (1.48878/2)0% (0/1)72.55% (37/51)99.85% (0.998533/1)50% (0.5/1)N/A32.17% (6588/20480)

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)
3230443.26371.5465646618454674920Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape99.850.998533/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials32.176588/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
55.491136.5/2048measured

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)
10099.7120485.271.292.84

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_kitchenware_pan_j01_obj_00/FryingPan/PanBody94.49

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:assignment2042/204899.71
visual:diffuseColor986/204848.14
visual:metallic230/204811.23
visual:opacity2042/204899.71
visual:roughness1288/204862.89

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

Matched captures

kitchenware_pan_j01: Reference: front
Reference: front | pi | none | repetition 2
kitchenware_pan_j01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
kitchenware_pan_j01: Reference: isometric
Reference: isometric | pi | none | repetition 2
kitchenware_pan_j01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
kitchenware_pan_j01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
kitchenware_pan_j01: Reference: side
Reference: side | pi | none | repetition 2
kitchenware_pan_j01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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

kitchenware_pan_j01 / 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)74.61% (1.49213/2)0% (0/1)74.51% (38/51)99.95% (0.999511/1)50% (0.5/1)N/A32.28% (6610/20480)

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)
3430498.95425.4279829919654817953Not 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
Materials32.286610/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
55.691140.5/2048measured

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)
99.910020485.271.272.22

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_kitchenware_pan_j01_obj_00/FryingPan/Pan95.32

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:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment2048/2048100
visual:diffuseColor993/204848.49
visual:metallic646/204831.54
visual:opacity2048/2048100
visual:roughness875/204842.72

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

Matched captures

kitchenware_pan_j01: Reference: front
Reference: front | pi | none | repetition 4
kitchenware_pan_j01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
kitchenware_pan_j01: Reference: isometric
Reference: isometric | pi | none | repetition 4
kitchenware_pan_j01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
kitchenware_pan_j01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
kitchenware_pan_j01: Reference: side
Reference: side | pi | none | repetition 4
kitchenware_pan_j01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

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 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)100% (2/2)N/A72.55% (37/51)100% (1/1)100% (1/1)N/A57.14% (8192/14336)

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)
3030483.99377.1766953916690686229Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape1001/111100
Rigid parts1001/111100
JointsNot applicable0/0000
Materials57.148192/14336143361433658.33

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)
100100204816.032.173.97

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:opacity2048/2048100

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

Matched captures

pallet_wood_recycled_a05: Reference: front
Reference: front | pi | none | repetition 2
pallet_wood_recycled_a05: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
pallet_wood_recycled_a05: Reference: isometric
Reference: isometric | pi | none | repetition 2
pallet_wood_recycled_a05: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
pallet_wood_recycled_a05: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
pallet_wood_recycled_a05: Reference: side
Reference: side | pi | none | repetition 2
pallet_wood_recycled_a05: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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

pallet_wood_recycled_a05 / 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/A76.47% (39/51)95.87% (0.958726/1)95.87% (0.958726/1)N/A40.93% (5868/14336)

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)
3930604.94433.841052873194601072333Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape95.870.958726/111100
Rigid parts95.870.958726/111100
JointsNot applicable0/0000
Materials40.935868/14336143361433658.33

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)
96.2495.51204816.037.4512.81

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_pallet_wood_recycled_a05_obj_00/Pallet95.87

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:assignment1956/204895.51
physics:density0/20480
physics:dynamicFriction1956/204895.51
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1956/204895.51
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 4
pallet_wood_recycled_a05: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
pallet_wood_recycled_a05: Reference: isometric
Reference: isometric | pi | none | repetition 4
pallet_wood_recycled_a05: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
pallet_wood_recycled_a05: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
pallet_wood_recycled_a05: Reference: side
Reference: side | pi | none | repetition 4
pallet_wood_recycled_a05: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

powerTool_drill_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)0% (0/2)0% (0/2)76.47% (39/51)56.26% (0.562628/1)44.04% (3.08281/7)64.41% (38/59)9.75% (1398/14336)

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)
3630889.13724.351251387379091289296Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape56.260.562628/111100
Rigid parts44.043.08281/777100
Joints64.4138/595959100
Materials9.751398/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints15.972.55481/1616/16100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_chuck_01_joint_00/Drill/Joints/ClutchAdjustment0.02174.63measured_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/TwoSpeedSlide36.751.96measured_motion
/RootNode/Joints/joint_button_01_joint_00/Drill/Joints/TriggerTravel90.970.8measured_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)
47.8568.2620484.385.711.47

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/battery_01_obj_00/Drill/Battery69.51
/RootNode/Geometry/body_01_obj_00/Drill/Housing45.14
/RootNode/Geometry/button_01_obj_00/Drill/Trigger48.85
/RootNode/Geometry/button_02_obj_00/Drill/BatteryRelease19.96
/RootNode/Geometry/chuck_01_obj_00/Drill/ClutchCollar27.77
/RootNode/Geometry/jaws_01_obj_00/Drill/ChuckJaw133.77
/RootNode/Geometry/selector_01_obj_00/Drill/SpeedSelector63.28

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:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1398/204868.26
visual:opacity0/20480

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

Matched captures

powerTool_drill_b01: Reference: front
Reference: front | pi | none | repetition 1
powerTool_drill_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
powerTool_drill_b01: Reference: isometric
Reference: isometric | pi | none | repetition 1
powerTool_drill_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
powerTool_drill_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
powerTool_drill_b01: Reference: side
Reference: side | pi | none | repetition 1
powerTool_drill_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

powerTool_drill_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)53.73% (0.537314/1)26.48% (1.85341/7)64.41% (38/59)24.91% (3571/14336)

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)
3230844.1750.5185057831712882290Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape53.730.537314/111100
Rigid parts26.481.85341/777100
Joints64.4138/595959100
Materials24.913571/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints26.213.14533/1212/12100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_chuck_01_joint_00/Drill/Joints/ClutchAdjustment0.632.42measured_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/SpeedSelection57.31.35measured_motion
/RootNode/Joints/joint_button_01_joint_00/Drill/Joints/TriggerTravel99.370.21measured_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)
48.3960.420484.386.0912.42

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/battery_01_obj_00/Drill/Battery40.79
/RootNode/Geometry/body_01_obj_00/Drill/Housing54.07
/RootNode/Geometry/button_01_obj_00/Drill/Trigger39.08
/RootNode/Geometry/button_02_obj_00/Drill/BatteryLatch0
/RootNode/Geometry/chuck_01_obj_00/Drill/TorqueCollar32.69
/RootNode/Geometry/jaws_01_obj_00/Drill/Chuck18.71
/RootNode/Geometry/selector_01_obj_00/Drill/SpeedSwitch0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
6738/59

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:assignment1237/204860.4
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1097/204853.56
physics:staticFriction0/20480
visual:assignment1237/204860.4
visual:opacity0/20480

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

Matched captures

powerTool_drill_b01: Reference: front
Reference: front | pi | none | repetition 2
powerTool_drill_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
powerTool_drill_b01: Reference: isometric
Reference: isometric | pi | none | repetition 2
powerTool_drill_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
powerTool_drill_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
powerTool_drill_b01: Reference: side
Reference: side | pi | none | repetition 2
powerTool_drill_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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

powerTool_drill_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)0% (0/2)0% (0/2)76.47% (39/51)56.43% (0.564298/1)36.05% (2.52333/7)66.1% (39/59)9.3% (1333/14336)

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)
3730698.15633.291096019267881122807Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape56.430.564298/111100
Rigid parts36.052.52333/777100
Joints66.139/595959100
Materials9.31333/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints25.533.57351/1414/14100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_chuck_01_joint_00/Drill/Joints/SpindleRotation24.927.6measured_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/LowHighGear57.421.34measured_motion
/RootNode/Joints/joint_button_01_joint_00/Drill/Joints/TriggerTravel96.330.5measured_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)
49.865.0920484.385.8212.04

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/battery_01_obj_00/Drill/Battery60.37
/RootNode/Geometry/body_01_obj_00/Drill/Housing45.74
/RootNode/Geometry/button_01_obj_00/Drill/Trigger57.84
/RootNode/Geometry/button_02_obj_00/Drill/ReverseSelector0
/RootNode/Geometry/chuck_01_obj_00/Drill/Chuck48.21
/RootNode/Geometry/jaws_01_obj_00/Drill/Jaw035.57
/RootNode/Geometry/selector_01_obj_00/Drill/GearSelector4.6

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
6939/59

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
limits3/55/5
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1333/204865.09
visual:opacity0/20480

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

Matched captures

powerTool_drill_b01: Reference: front
Reference: front | pi | none | repetition 4
powerTool_drill_b01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
powerTool_drill_b01: Reference: isometric
Reference: isometric | pi | none | repetition 4
powerTool_drill_b01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
powerTool_drill_b01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
powerTool_drill_b01: Reference: side
Reference: side | pi | none | repetition 4
powerTool_drill_b01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

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 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)0.29% (0.00290334/1)78.43% (40/51)89.64% (0.896445/1)86.99% (1.73977/2)72.73% (8/11)13.96% (2001/14336)

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)
3830732.15680.921301076297151330791Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape89.640.896445/111100
Rigid parts86.991.73977/222100
Joints72.738/111111100
Materials13.962001/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints0.290.00580667/22/2100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_frontpanel_a01_joint_00/CautionSign/Joints/TopFoldingHinge0.2968.67measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
82.8197.7120488.374.6310.95

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_backpanel_a01_obj_00/CautionSign/RearLeaf88.22
/RootNode/Geometry/sm_frontpanel_a01_obj_00/CautionSign/FrontLeaf85.76

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:assignment2001/204897.71
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 2
sign_wetFloor_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
sign_wetFloor_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
sign_wetFloor_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
sign_wetFloor_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
sign_wetFloor_a01: Reference: side
Reference: side | pi | none | repetition 2
sign_wetFloor_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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

sign_wetFloor_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)93.73% (1.87453/2)1.04% (0.0103524/1)76.47% (39/51)89.86% (0.89865/1)86.53% (1.73058/2)72.73% (8/11)33.11% (4747/14336)

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)
3330476.94424.5872878719581748368Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape89.860.89865/111100
Rigid parts86.531.73058/222100
Joints72.738/111111100
Materials33.114747/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
97.752002/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints1.040.0207047/22/2100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_frontpanel_a01_joint_00/CautionSign/Joints/TopFoldingHinge1.0441.73measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
83.1597.7520488.375.2813.33

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_backpanel_a01_obj_00/CautionSign/RearPanel88.03
/RootNode/Geometry/sm_frontpanel_a01_obj_00/CautionSign/FrontPanel85.03

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:assignment743/204836.28
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment2002/204897.75
visual:opacity2002/204897.75

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

Matched captures

sign_wetFloor_a01: Reference: front
Reference: front | pi | none | repetition 4
sign_wetFloor_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
sign_wetFloor_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
sign_wetFloor_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
sign_wetFloor_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
sign_wetFloor_a01: Reference: side
Reference: side | pi | none | repetition 4
sign_wetFloor_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

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 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)13.75% (0.274976/2)0% (0/2)68.63% (35/51)84.16% (0.841593/1)40.79% (1.63149/4)55.17% (16/29)10.11% (2054/20314)

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)
3730665.86621.91976539281651004704Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape84.160.841593/111100
Rigid parts40.791.63149/444100
Joints55.1716/292929100
Materials10.112054/20314203142031482.66

Appearance materials

Score (%)Earned/eligibleStatus
2.2546/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/33/3100
Moving joints0.560.028172/55/5100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_handle_01_joint_00/FireExtinguisher/Joints/Operating_lever_hinge0.7146.53measured_motion
/RootNode/Joints/joint_pin_01_joint_00/FireExtinguisher/Joints/Safety_pin_extraction0.724.17measured_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)
77.2592.4320489.413.633.05

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/FireExtinguisher/Vessel84.45
/RootNode/Geometry/glass_01_obj_00/FireExtinguisher/PullRing0
/RootNode/Geometry/handle_01_obj_00/FireExtinguisher/OperatingLever78.7
/RootNode/Geometry/pin_01_obj_00/FireExtinguisher/SafetyPin0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3516/29

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_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_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1893/204892.43
visual:diffuseColor27/20481.32
visual:metallic45/19652.29
visual:opacity0/20480
visual:roughness89/19654.53

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

Matched captures

tools_fireExtinguisher_CO2_a01: Reference: front
Reference: front | pi | none | repetition 2
tools_fireExtinguisher_CO2_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
tools_fireExtinguisher_CO2_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
tools_fireExtinguisher_CO2_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
tools_fireExtinguisher_CO2_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
tools_fireExtinguisher_CO2_a01: Reference: side
Reference: side | pi | none | repetition 2
tools_fireExtinguisher_CO2_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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

tools_fireExtinguisher_CO2_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)12.44% (0.248802/2)5.76% (0.115144/2)76.47% (39/51)81.79% (0.817911/1)47.2% (1.88818/4)51.72% (15/29)25.89% (5259/20314)

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)
3130644.3611.5396582228473994295Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape81.790.817911/111100
Rigid parts47.21.88818/444100
Joints51.7215/292929100
Materials25.895259/20314203142031482.66

Appearance materials

Score (%)Earned/eligibleStatus
1.8938.75/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints66.672/33/3100
Moving joints0.50.0198871/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_handle_01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_pin_01_joint_00/FireExtinguisher/Joints/SafetyPinRemoval0.9921.93measured_motion
/RootNode/Joints/joint_glass_01_joint_00/FireExtinguisher/Joints/CarryHandleAttachment1000measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
80.5283.1120489.48.8922.91

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/body_01_obj_00/FireExtinguisher/TankAssembly83.18
/RootNode/Geometry/glass_01_obj_00/FireExtinguisher/CarryHandle1.98
/RootNode/Geometry/handle_01_obj_00/FireExtinguisher/SqueezeLever55.85
/RootNode/Geometry/pin_01_obj_00/FireExtinguisher/SafetyPin47.8

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3415/29

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_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
axes1/22/2
relative_orientation2/33/3
limits0/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment1702/204883.11
physics:density0/20480
physics:dynamicFriction1635/204879.83
physics:restitution73/20483.56
physics:staticFriction0/20480
visual:assignment1702/204883.11
visual:diffuseColor30/20481.46
visual:metallic44/19652.24
visual:opacity0/20480
visual:roughness73/19653.72

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

Matched captures

tools_fireExtinguisher_CO2_a01: Reference: front
Reference: front | pi | none | repetition 4
tools_fireExtinguisher_CO2_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
tools_fireExtinguisher_CO2_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
tools_fireExtinguisher_CO2_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
tools_fireExtinguisher_CO2_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
tools_fireExtinguisher_CO2_a01: Reference: side
Reference: side | pi | none | repetition 4
tools_fireExtinguisher_CO2_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

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 2

ModelHarnessSkillsRepetitionStatus
gpt-6.1-solpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)66.66% (1.33321/2)0% (0/1)74.51% (38/51)93.58% (0.935789/1)50% (1.5/3)0% (0/21)75.21% (15404/20480)

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)
3630552.98487.16Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape93.580.935789/111100
Rigid parts501.5/333100
Joints00/212121100
Materials75.2115404/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
47.49972.5/2048measured

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)
93.4693.720483.111.483.65

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_utensils_scissors_a01_left_handel_obj_00/Scissors/RightHalf89.91
/RootNode/Geometry/sm_utensils_scissors_a01_reveat_obj_00Not measured0
/RootNode/Geometry/sm_utensils_scissors_a01_right_handel_obj_00/Scissors/LeftHalf94.26

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:assignment1919/204893.7
physics:density1919/204893.7
physics:dynamicFriction1919/204893.7
physics:restitution1919/204893.7
physics:staticFriction1919/204893.7
visual:assignment1919/204893.7
visual:diffuseColor250/204812.21
visual:metallic1908/204893.16
visual:opacity0/20480
visual:roughness1732/204884.57

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

Matched captures

utensils_scissors_a01: Reference: front
Reference: front | pi | none | repetition 2
utensils_scissors_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
utensils_scissors_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
utensils_scissors_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
utensils_scissors_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
utensils_scissors_a01: Reference: side
Reference: side | pi | none | repetition 2
utensils_scissors_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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

utensils_scissors_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)74.1% (1.48206/2)0% (0/1)76.47% (39/51)90.8% (0.908039/1)50% (1.5/3)0% (0/21)61.01% (12494/20480)

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)
3330523.05464.674296321760764723Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape90.80.908039/111100
Rigid parts501.5/333100
Joints00/212121100
Materials61.0112494/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
60.471238.5/2048measured

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)
89.692.0420483.112.114.68

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_utensils_scissors_a01_left_handel_obj_00/Scissors/RightHandleLowerBlade79.22
/RootNode/Geometry/sm_utensils_scissors_a01_reveat_obj_00Not measured0
/RootNode/Geometry/sm_utensils_scissors_a01_right_handel_obj_00/Scissors/LeftHandleUpperBlade97.25

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:assignment1885/204892.04
physics:density0/20480
physics:dynamicFriction1885/204892.04
physics:restitution1885/204892.04
physics:staticFriction0/20480
visual:assignment1885/204892.04
visual:diffuseColor205/204810.01
visual:metallic1338/204865.33
visual:opacity1885/204892.04
visual:roughness1526/204874.51

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

Matched captures

utensils_scissors_a01: Reference: front
Reference: front | pi | none | repetition 4
utensils_scissors_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
utensils_scissors_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
utensils_scissors_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
utensils_scissors_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
utensils_scissors_a01: Reference: side
Reference: side | pi | none | repetition 4
utensils_scissors_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

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 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/A62.75% (32/51)56.54% (0.5654/1)56.54% (0.5654/1)N/A23.71% (3399/14336)

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)
2630687.03584.1466063127196687827Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape56.540.5654/111100
Rigid parts56.540.5654/111100
JointsNot applicable0/0000
Materials23.713399/14336143361433658.33

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)
57.8155.3220488.5911.5122.99

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/wheelRim_01_obj_00/Wheel56.54

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:assignment1133/204855.32
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution1133/204855.32
physics:staticFriction0/20480
visual:assignment1133/204855.32
visual:opacity0/20480

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

Matched captures

wheelAssembly_wheel_rim_a01: Reference: front
Reference: front | pi | none | repetition 2
wheelAssembly_wheel_rim_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
wheelAssembly_wheel_rim_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
wheelAssembly_wheel_rim_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
wheelAssembly_wheel_rim_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
wheelAssembly_wheel_rim_a01: Reference: side
Reference: side | pi | none | repetition 2
wheelAssembly_wheel_rim_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

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

wheelAssembly_wheel_rim_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)65.68% (1.31365/2)0% (0/1)66.67% (34/51)66.53% (0.66532/1)50% (0.5/1)N/A18.53% (2656/14336)

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)
4230739.3606.791363165252431388408Not measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape66.530.66532/111100
Rigid parts500.5/111100
JointsNot applicable0/0000
Materials18.532656/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
64.841328/2048measured

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)
68.3164.8420488.5910.1921.38

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/wheelRim_01_obj_00/Wheel/Alloy67.45

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:assignment1328/204864.84
visual:opacity1328/204864.84

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

Matched captures

wheelAssembly_wheel_rim_a01: Reference: front
Reference: front | pi | none | repetition 4
wheelAssembly_wheel_rim_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
wheelAssembly_wheel_rim_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
wheelAssembly_wheel_rim_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
wheelAssembly_wheel_rim_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
wheelAssembly_wheel_rim_a01: Reference: side
Reference: side | pi | none | repetition 4
wheelAssembly_wheel_rim_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4
\ 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 629459d69e311f4c40da849b4d1720e99e25c766..a0a94ce427380b82d30c49d66a2dcd3f481f2564 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": 96, + "completed_conditions": 97, "partial": true, "settings": { "reference_assets": [ @@ -138260,6 +138260,2150 @@ }, "reasoning_effort": "high" }, + { + "condition_id": "condition-cc796babe2fbd3e1ba6f4d1a13c884eebbd837616945600fc410ba5b321aa991", + "asset_id": "kitchenware_pan_j01", + "requested_model": "gpt-6.1-sol", + "harness_id": "pi", + "skill_set_id": "none", + "repetition": 3, + "status": "completed", + "formal_fidelity_percent": 100.0, + "visual_fidelity_percent": 74.60648205075739, + "kinematic_fidelity_percent": 0.0, + "simready_reward": 100.0, + "mandatory_passed": 46, + "mandatory_total": 46, + "mandatory_failed": 0, + "mandatory_unknown": 0, + "mandatory_lower_bound_percent": 100.0, + "mandatory_upper_bound_percent": 100.0, + "completion_bonus": 5, + "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": 74.50980392156863, + "optional_upper_bound_percent": 74.50980392156863, + "fidelity_shape_percent": 99.95114802149487, + "fidelity_rigid_parts_percent": 50.0, + "fidelity_joints_percent": null, + "fidelity_materials_percent": 32.275390625, + "fidelity_shape_coverage": 1.0, + "fidelity_rigid_parts_coverage": 1.0, + "fidelity_joints_coverage": 0, + "fidelity_materials_coverage": 0.8333333333333334, + "fidelity_reference_geometry_status": "complete", + "formal_fidelity_status": "measured", + "formal_fidelity_earned": 46, + "formal_fidelity_eligible": 46, + "formal_fidelity_measured": 46, + "formal_fidelity_coverage": 1.0, + "formal_fidelity_lower_bound_percent": 100.0, + "formal_fidelity_upper_bound_percent": 100.0, + "visual_fidelity_status": "measured", + "visual_fidelity_earned": 1.492129641015148, + "visual_fidelity_eligible": 2, + "visual_fidelity_measured": 2, + "visual_fidelity_coverage": 1.0, + "visual_fidelity_lower_bound_percent": 74.60648205075739, + "visual_fidelity_upper_bound_percent": 74.60648205075739, + "kinematic_fidelity_status": "measured", + "kinematic_fidelity_earned": 0.0, + "kinematic_fidelity_eligible": 1, + "kinematic_fidelity_measured": 1, + "kinematic_fidelity_coverage": 1.0, + "kinematic_fidelity_lower_bound_percent": 0.0, + "kinematic_fidelity_upper_bound_percent": 0.0, + "visual_appearance_percent": 55.6884765625, + "visual_appearance_status": "measured", + "visual_appearance_earned": 1140.5, + "visual_appearance_eligible": 2048, + "visual_appearance_measured": 2048, + "visual_appearance_coverage": 1.0, + "visual_appearance_lower_bound_percent": 55.6884765625, + "visual_appearance_upper_bound_percent": 55.6884765625, + "kinematic_reference_joint_count": 0, + "kinematic_candidate_joint_count": 1, + "kinematic_matched_joint_count": 0, + "kinematic_missing_joint_count": 0, + "kinematic_extra_joint_count": 1, + "kinematic_moving_joints_percent": null, + "kinematic_moving_joints_status": "not_applicable", + "kinematic_moving_joints_earned": 0, + "kinematic_moving_joints_eligible": 0, + "kinematic_moving_joints_measured": 0, + "kinematic_moving_joints_coverage": 0, + "kinematic_moving_joints_lower_bound_percent": null, + "kinematic_moving_joints_upper_bound_percent": null, + "kinematic_fixed_constraints_percent": 0.0, + "kinematic_fixed_constraints_status": "measured", + "kinematic_fixed_constraints_earned": 0, + "kinematic_fixed_constraints_eligible": 1, + "kinematic_fixed_constraints_measured": 1, + "kinematic_fixed_constraints_coverage": 1.0, + "kinematic_fixed_constraints_lower_bound_percent": 0.0, + "kinematic_fixed_constraints_upper_bound_percent": 0.0, + "fidelity_shape_earned": 0.9995114802149487, + "fidelity_shape_eligible": 1, + "fidelity_shape_measured": 1, + "fidelity_shape_status": "measured", + "fidelity_rigid_parts_earned": 0.5, + "fidelity_rigid_parts_eligible": 1, + "fidelity_rigid_parts_measured": 1, + "fidelity_rigid_parts_status": "measured", + "fidelity_joints_earned": 0, + "fidelity_joints_eligible": 0, + "fidelity_joints_measured": 0, + "fidelity_joints_status": "not_applicable", + "fidelity_materials_earned": 6610, + "fidelity_materials_eligible": 20480, + "fidelity_materials_measured": 20480, + "fidelity_materials_status": "measured", + "fidelity_shape_precision": 0.9990234375, + "fidelity_shape_recall": 1.0, + "fidelity_shape_samples_each_direction": 2048, + "fidelity_rigid_parts_geometry_percent": 95.323281369793, + "fidelity_rigid_parts_structure_percent": 50.0, + "fidelity_rigid_parts_structure_earned": 2, + "fidelity_rigid_parts_structure_eligible": 4, + "fidelity_joints_reference_count": 0, + "fidelity_joints_candidate_count": 1, + "inference_calls_used": 34, + "validation_calls_used": 3, + "model_request_errors": 0, + "elapsed_seconds": 498.9509650580585, + "model_request_seconds": 425.4181353673339, + "input_tokens": 798299, + "output_tokens": 19654, + "total_tokens": 817953, + "inference_cost_usd": null, + "compute_cost_usd": null, + "total_cost_usd": null, + "seed": 1297224921, + "scoring_policy_id": "NVIDIA-Robotics-Prop-4.0.0-mandatory-95-plus-5-v1", + "official_conformance_passed": true, + "simready": { + "schema": "simready-validator-score-v1", + "policy_id": "NVIDIA-Robotics-Prop-4.0.0-mandatory-95-plus-5-v1", + "policy_sha256": "fa544262f43e2e3ebd2656a335fd8fb21438553074b0535d25a250ddfa3dae77", + "status": "scored", + "score_percent": 100.0, + "score_fraction": 1.0, + "score_lower_bound": 100.0, + "score_upper_bound": 100.0, + "passed_count": 46, + "failed_count": 0, + "unknown_count": 0, + "applicable_count": 46, + "profile_mandatory_count": 46, + "profile_coverage_fraction": 1.0, + "completion_bonus": 5, + "categories": { + "asset_paths_and_naming": { + "applicable": 8, + "failed": 0, + "passed": 8, + "unknown": 0 + }, + "geometry_mesh": { + "applicable": 8, + "failed": 0, + "passed": 8, + "unknown": 0 + }, + "hierarchy": { + "applicable": 4, + "failed": 0, + "passed": 4, + "unknown": 0 + }, + "materials_textures": { + "applicable": 6, + "failed": 0, + "passed": 6, + "unknown": 0 + }, + "rigid_body_collision": { + "applicable": 10, + "failed": 0, + "passed": 10, + "unknown": 0 + }, + "semantics": { + "applicable": 6, + "failed": 0, + "passed": 6, + "unknown": 0 + }, + "thumbnail_metadata": { + "applicable": 2, + "failed": 0, + "passed": 2, + "unknown": 0 + }, + "units": { + "applicable": 2, + "failed": 0, + "passed": 2, + "unknown": 0 + } + }, + "checks": [ + { + "category": "hierarchy", + "mandatory": true, + "scoring": true, + "requirement_version": "0.1.0", + "requirement_id": "com.nvidia.simready.HI.010", + "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome", + "base_credit_percent": 2.0652173913043477, + "weight": 1, + "status": "pass" + }, + { + "category": "asset_paths_and_naming", + "mandatory": true, + "scoring": true, + "requirement_version": "0.1.0", + "requirement_id": "com.nvidia.simready.NP.002", + "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome", + "base_credit_percent": 2.0652173913043477, + "weight": 1, + "status": "pass" + }, + { + "category": "asset_paths_and_naming", + "mandatory": true, + "scoring": true, + "requirement_version": "0.1.0", + "requirement_id": "com.nvidia.simready.NP.003", + "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome", + "base_credit_percent": 2.0652173913043477, + "weight": 1, + "status": "pass" + }, + { + "category": "asset_paths_and_naming", + "mandatory": true, + "scoring": true, + "requirement_version": "0.1.0", + "requirement_id": "com.nvidia.simready.NP.004", + "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome", + "base_credit_percent": 2.0652173913043477, + "weight": 1, + "status": "pass" + }, + { + "category": "asset_paths_and_naming", + "mandatory": true, + "scoring": true, + "requirement_version": "0.1.0", + "requirement_id": "com.nvidia.simready.NP.005", + "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome", + "base_credit_percent": 2.0652173913043477, + "weight": 1, + "status": "pass" + }, + { + "category": "asset_paths_and_naming", + "mandatory": true, + "scoring": true, + "requirement_version": "0.1.0", + "requirement_id": "com.nvidia.simready.NP.007", + "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome", + "base_credit_percent": 2.0652173913043477, + "weight": 1, + "status": "pass" + }, + { + "category": "asset_paths_and_naming", + "mandatory": true, + "scoring": true, + "requirement_version": "0.1.0", + "requirement_id": "com.nvidia.simready.NP.008", + "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome", + "base_credit_percent": 2.0652173913043477, + "weight": 1, + "status": "pass" + }, + { + "category": "rigid_body_collision", + "mandatory": true, + "scoring": true, + "requirement_version": "0.1.0", + "requirement_id": "com.nvidia.simready.RB.001", + "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome", + "base_credit_percent": 2.0652173913043477, + "weight": 1, + "status": "pass" + }, + { + "category": "rigid_body_collision", + "mandatory": true, + "scoring": true, + "requirement_version": "0.1.0", + "requirement_id": "com.nvidia.simready.RB.007", + "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome", + "base_credit_percent": 2.0652173913043477, + "weight": 1, + "status": "pass" + }, + { + "category": "rigid_body_collision", + "mandatory": true, + "scoring": true, + "requirement_version": "0.1.0", + "requirement_id": "com.nvidia.simready.RB.010", + "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome", + "base_credit_percent": 2.0652173913043477, + "weight": 1, + "status": "pass" + }, + { + "category": "rigid_body_collision", + "mandatory": true, + "scoring": true, + "requirement_version": "0.1.0", + "requirement_id": "com.nvidia.simready.RB.COL.001", + "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome", + "base_credit_percent": 2.0652173913043477, + "weight": 1, + "status": "pass" + }, + { + "category": "rigid_body_collision", + "mandatory": true, + "scoring": true, + "requirement_version": "0.1.0", + "requirement_id": "com.nvidia.simready.RB.COL.002", + "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome", + "base_credit_percent": 2.0652173913043477, + "weight": 1, + "status": "pass" + }, + { + "category": "rigid_body_collision", + "mandatory": true, + "scoring": true, + "requirement_version": "0.1.0", 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"condition-bf2531deeddc288a90cd637b339ff8df90fd6d3b39988393b591333925cab0b7", "asset_id": "pallet_wood_recycled_a05", diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.csv b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.csv index bc2e31e3e46c4a1b87d1984fee08c64fbadb8e3c..019a528d426029d4d1f728e3d0e759f12321b4ef 100644 --- a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.csv +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.csv @@ -59,6 +59,7 @@ condition-1defde0de62387545e312894323a61902a25e7f287b6a4faaa03202b91e66ec6,kitch condition-44da9b6881abf37704ba3279460ce0dc298d9c2c6ecd75454724c5d98e6a0025,kitchenware_pan_j01,gpt-6.1-sol,pi,none,1,completed,100.0,77.61228774655721,0.0,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,99.95114802149487,50.0,,34.1064453125,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.5522457549311444,2,2,1.0,77.61228774655721,77.61228774655721,measured,0.0,1,1,1.0,0.0,0.0,60.26611328125,measured,1234.25,2048,2048,1.0,60.26611328125,60.26611328125,0,2,0,0,2,,not_applicable,0,0,0,0,,,0.0,measured,0,2,2,1.0,0.0,0.0,0.9995114802149487,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,6985,20480,20480,measured,0.9990234375,1.0,2048,94.56885456885456,50.0,2,4,0,2,28,3,0,474.6146341578569,401.2407830946613,579142,20253,599395,,, condition-d92bc0f1d07022c3cd5a8182983345a6b1264d18ca8b6b8a089cb8c37aa46848,kitchenware_pan_j01,gpt-6.1-sol,pi,none,2,completed,100.0,74.43907307178176,0.0,100.0,46,46,0,0,100.0,100.0,5,72.54901960784314,37,14,0,51,51,1.0,72.54901960784314,72.54901960784314,99.85330073349633,50.0,,32.16796875,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.4887814614356352,2,2,1.0,74.43907307178176,74.43907307178176,measured,0.0,1,1,1.0,0.0,0.0,55.4931640625,measured,1136.5,2048,2048,1.0,55.4931640625,55.4931640625,0,2,0,0,2,,not_applicable,0,0,0,0,,,0.0,measured,0,2,2,1.0,0.0,0.0,0.9985330073349633,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,6588,20480,20480,measured,1.0,0.9970703125,2048,94.48737764039154,50.0,2,4,0,2,32,3,0,443.2551597170532,371.5380076048896,656466,18454,674920,,, 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-cc796babe2fbd3e1ba6f4d1a13c884eebbd837616945600fc410ba5b321aa991,kitchenware_pan_j01,gpt-6.1-sol,pi,none,4,completed,100.0,74.60648205075739,0.0,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,99.95114802149487,50.0,,32.275390625,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.492129641015148,2,2,1.0,74.60648205075739,74.60648205075739,measured,0.0,1,1,1.0,0.0,0.0,55.6884765625,measured,1140.5,2048,2048,1.0,55.6884765625,55.6884765625,0,1,0,0,1,,not_applicable,0,0,0,0,,,0.0,measured,0,1,1,1.0,0.0,0.0,0.9995114802149487,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,6610,20480,20480,measured,0.9990234375,1.0,2048,95.323281369793,50.0,2,4,0,1,34,3,0,498.9509650580585,425.4181353673339,798299,19654,817953,,, 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-ff100a7a9bafcca40cf3bc0fec454471640918a8c464df9c2e2476bc37da2e02,pallet_wood_recycled_a05,gpt-6.1-sol,pi,none,2,completed,100.0,100.0,,100.0,46,46,0,0,100.0,100.0,5,72.54901960784314,37,14,0,51,51,1.0,72.54901960784314,72.54901960784314,100.0,100.0,,57.142857142857146,1.0,1.0,0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,2.0,2,2,1.0,100.0,100.0,not_applicable,0,0,0,0,,,100.0,measured,2048.0,2048,2048,1.0,100.0,100.0,0,0,0,0,0,,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,8192,14336,14336,measured,1.0,1.0,2048,100.0,100.0,4,4,0,0,30,3,0,483.9912848472595,377.1673767287284,669539,16690,686229,,, 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,,, diff --git a/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/kitchenware_pan_j01.csv b/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/kitchenware_pan_j01.csv index 6449c13f0b07a9e307454d3521423c75bf8ef9d1..dea676f97f51431c1aa684eb091271546dd20381 100644 --- a/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/kitchenware_pan_j01.csv +++ b/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/kitchenware_pan_j01.csv @@ -2,3 +2,4 @@ condition_id,asset_id,requested_model,harness_id,skill_set_id,repetition,status, condition-44da9b6881abf37704ba3279460ce0dc298d9c2c6ecd75454724c5d98e6a0025,kitchenware_pan_j01,gpt-6.1-sol,pi,none,1,completed,100.0,77.61228774655721,0.0,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,99.95114802149487,50.0,,34.1064453125,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.5522457549311444,2,2,1.0,77.61228774655721,77.61228774655721,measured,0.0,1,1,1.0,0.0,0.0,60.26611328125,measured,1234.25,2048,2048,1.0,60.26611328125,60.26611328125,0,2,0,0,2,,not_applicable,0,0,0,0,,,0.0,measured,0,2,2,1.0,0.0,0.0,0.9995114802149487,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,6985,20480,20480,measured,0.9990234375,1.0,2048,94.56885456885456,50.0,2,4,0,2,28,3,0,474.6146341578569,401.2407830946613,579142,20253,599395,,, condition-d92bc0f1d07022c3cd5a8182983345a6b1264d18ca8b6b8a089cb8c37aa46848,kitchenware_pan_j01,gpt-6.1-sol,pi,none,2,completed,100.0,74.43907307178176,0.0,100.0,46,46,0,0,100.0,100.0,5,72.54901960784314,37,14,0,51,51,1.0,72.54901960784314,72.54901960784314,99.85330073349633,50.0,,32.16796875,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.4887814614356352,2,2,1.0,74.43907307178176,74.43907307178176,measured,0.0,1,1,1.0,0.0,0.0,55.4931640625,measured,1136.5,2048,2048,1.0,55.4931640625,55.4931640625,0,2,0,0,2,,not_applicable,0,0,0,0,,,0.0,measured,0,2,2,1.0,0.0,0.0,0.9985330073349633,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,6588,20480,20480,measured,1.0,0.9970703125,2048,94.48737764039154,50.0,2,4,0,2,32,3,0,443.2551597170532,371.5380076048896,656466,18454,674920,,, 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-cc796babe2fbd3e1ba6f4d1a13c884eebbd837616945600fc410ba5b321aa991,kitchenware_pan_j01,gpt-6.1-sol,pi,none,4,completed,100.0,74.60648205075739,0.0,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,99.95114802149487,50.0,,32.275390625,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.492129641015148,2,2,1.0,74.60648205075739,74.60648205075739,measured,0.0,1,1,1.0,0.0,0.0,55.6884765625,measured,1140.5,2048,2048,1.0,55.6884765625,55.6884765625,0,1,0,0,1,,not_applicable,0,0,0,0,,,0.0,measured,0,1,1,1.0,0.0,0.0,0.9995114802149487,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,6610,20480,20480,measured,0.9990234375,1.0,2048,95.323281369793,50.0,2,4,0,1,34,3,0,498.9509650580585,425.4181353673339,798299,19654,817953,,, diff --git a/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.csv b/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.csv index 69c19eb905084bd4baeda90461da5c7002826c82..ec2368007f6e1bf27dc9793a9e268334dc4f6011 100644 --- a/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.csv +++ b/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.csv @@ -59,6 +59,7 @@ condition-1defde0de62387545e312894323a61902a25e7f287b6a4faaa03202b91e66ec6,kitch condition-44da9b6881abf37704ba3279460ce0dc298d9c2c6ecd75454724c5d98e6a0025,kitchenware_pan_j01,gpt-6.1-sol,pi,none,1,completed,100.0,77.61228774655721,0.0,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,99.95114802149487,50.0,,34.1064453125,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.5522457549311444,2,2,1.0,77.61228774655721,77.61228774655721,measured,0.0,1,1,1.0,0.0,0.0,60.26611328125,measured,1234.25,2048,2048,1.0,60.26611328125,60.26611328125,0,2,0,0,2,,not_applicable,0,0,0,0,,,0.0,measured,0,2,2,1.0,0.0,0.0,0.9995114802149487,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,6985,20480,20480,measured,0.9990234375,1.0,2048,94.56885456885456,50.0,2,4,0,2,28,3,0,474.6146341578569,401.2407830946613,579142,20253,599395,,, condition-d92bc0f1d07022c3cd5a8182983345a6b1264d18ca8b6b8a089cb8c37aa46848,kitchenware_pan_j01,gpt-6.1-sol,pi,none,2,completed,100.0,74.43907307178176,0.0,100.0,46,46,0,0,100.0,100.0,5,72.54901960784314,37,14,0,51,51,1.0,72.54901960784314,72.54901960784314,99.85330073349633,50.0,,32.16796875,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.4887814614356352,2,2,1.0,74.43907307178176,74.43907307178176,measured,0.0,1,1,1.0,0.0,0.0,55.4931640625,measured,1136.5,2048,2048,1.0,55.4931640625,55.4931640625,0,2,0,0,2,,not_applicable,0,0,0,0,,,0.0,measured,0,2,2,1.0,0.0,0.0,0.9985330073349633,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,6588,20480,20480,measured,1.0,0.9970703125,2048,94.48737764039154,50.0,2,4,0,2,32,3,0,443.2551597170532,371.5380076048896,656466,18454,674920,,, 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-cc796babe2fbd3e1ba6f4d1a13c884eebbd837616945600fc410ba5b321aa991,kitchenware_pan_j01,gpt-6.1-sol,pi,none,4,completed,100.0,74.60648205075739,0.0,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,99.95114802149487,50.0,,32.275390625,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.492129641015148,2,2,1.0,74.60648205075739,74.60648205075739,measured,0.0,1,1,1.0,0.0,0.0,55.6884765625,measured,1140.5,2048,2048,1.0,55.6884765625,55.6884765625,0,1,0,0,1,,not_applicable,0,0,0,0,,,0.0,measured,0,1,1,1.0,0.0,0.0,0.9995114802149487,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,6610,20480,20480,measured,0.9990234375,1.0,2048,95.323281369793,50.0,2,4,0,1,34,3,0,498.9509650580585,425.4181353673339,798299,19654,817953,,, 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-ff100a7a9bafcca40cf3bc0fec454471640918a8c464df9c2e2476bc37da2e02,pallet_wood_recycled_a05,gpt-6.1-sol,pi,none,2,completed,100.0,100.0,,100.0,46,46,0,0,100.0,100.0,5,72.54901960784314,37,14,0,51,51,1.0,72.54901960784314,72.54901960784314,100.0,100.0,,57.142857142857146,1.0,1.0,0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,2.0,2,2,1.0,100.0,100.0,not_applicable,0,0,0,0,,,100.0,measured,2048.0,2048,2048,1.0,100.0,100.0,0,0,0,0,0,,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,8192,14336,14336,measured,1.0,1.0,2048,100.0,100.0,4,4,0,0,30,3,0,483.9912848472595,377.1673767287284,669539,16690,686229,,, 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,,,