diff --git a/.gitattributes b/.gitattributes index 7e225d2a1ef7a90d57186418dd7227a8ae78e39d..98ae8db25ad2258fb62be1915bcdd8078013e4d5 100644 --- a/.gitattributes +++ b/.gitattributes @@ -141,3 +141,4 @@ runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/bucket_utility_red_a01 runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/chair_office_amf_black_a01/reconstruction-4/candidate/asset.usd filter=lfs diff=lfs merge=lfs -text runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/accessory_eyeglasses_a01/reconstruction-4/candidate/asset.usd filter=lfs diff=lfs merge=lfs -text runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/kitchenware_kettle_a01/reconstruction-1/candidate/asset.usd filter=lfs diff=lfs merge=lfs -text +runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_broccoli_b01/reconstruction-1/candidate/asset.usd filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md index 21f0e0d250e4a5e40ad2e2f02025dd38a2c5b2bd..521ef75a545fca503f1b98f96099d1f18ec41487 100644 --- a/README.md +++ b/README.md @@ -86,6 +86,9 @@ configs: - split: food_beverage_coffeecup_a01 path: - viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_beverage_coffeecup_a01.csv + - split: food_produce_broccoli_b01 + path: + - viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_produce_broccoli_b01.csv - split: handtruck_convertible_steel_red_a01 path: - viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/handtruck_convertible_steel_red_a01.csv diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_broccoli_b01/reconstruction-1/candidate/.thumbs/256x256/asset.usd.png b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_broccoli_b01/reconstruction-1/candidate/.thumbs/256x256/asset.usd.png new file mode 100644 index 0000000000000000000000000000000000000000..416c7a999c7a0cc984503d1f4f2927c20e21bfe5 --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_broccoli_b01/reconstruction-1/candidate/.thumbs/256x256/asset.usd.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8989b3b382344fc7a0103b527062888ad36eb07532afebb80d64dbcfdfff0a16 +size 61102 diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_broccoli_b01/reconstruction-1/candidate/asset.usd b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_broccoli_b01/reconstruction-1/candidate/asset.usd new file mode 100644 index 0000000000000000000000000000000000000000..3f6a54625da6f3100b946b709cc2256ad88d5550 --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_broccoli_b01/reconstruction-1/candidate/asset.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bfd8428c9d6e4d4b905f627a34639d33d89e6bed2a36c035829a03add812b98 +size 16954859 diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_broccoli_b01/reconstruction-1/candidate/manifest.json b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_broccoli_b01/reconstruction-1/candidate/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..a49ac04a5eac77fdd094fc79af3486e5bdda62d8 --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_broccoli_b01/reconstruction-1/candidate/manifest.json @@ -0,0 +1,39 @@ +{ + "copied_independently": true, + "entrypoint": "asset.usd", + "files": [ + { + "relative_path": ".thumbs/256x256/asset.usd.png", + "sha256": "8989b3b382344fc7a0103b527062888ad36eb07532afebb80d64dbcfdfff0a16", + "size_bytes": 61102 + }, + { + "relative_path": "asset.usd", + "sha256": "7bfd8428c9d6e4d4b905f627a34639d33d89e6bed2a36c035829a03add812b98", + "size_bytes": 16954859 + }, + { + "relative_path": "textures/crown_color.png", + "sha256": 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b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_broccoli_b01/reconstruction-1/candidate/textures/crown_normal.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b8e0c61e105671fd316eb797dbf067a2ae3c9379b5cf4759060a4c1055d8042 +size 10471538 diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_broccoli_b01/reconstruction-1/candidate/textures/cut_color.png b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_broccoli_b01/reconstruction-1/candidate/textures/cut_color.png new file mode 100644 index 0000000000000000000000000000000000000000..342562cd609c5aacf52aea27dd354618ab9ad641 --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_produce_broccoli_b01/reconstruction-1/candidate/textures/cut_color.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b1b02871b748123b64e697a99dffcf043b2ae556c8b437317e5f3d3ed855525 +size 586591 diff --git 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sha256:f7beed94a550b9622f43b52cb855e21a45b8d8da328e09a1cc71047a83c3977d +size 85250 diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/food_produce_broccoli_b01/reconstruction-1/candidate-side-7.png b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/food_produce_broccoli_b01/reconstruction-1/candidate-side-7.png new file mode 100644 index 0000000000000000000000000000000000000000..da6f60031c52a9614d6747292f6d03c742d9543c --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/food_produce_broccoli_b01/reconstruction-1/candidate-side-7.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7cae4446690486535b926547ef91f3cd92734d9b081aecfe6be137e60291553c +size 78268 diff --git a/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/food_produce_broccoli_b01/reconstruction-1/harbor-trajectory-4.json b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/food_produce_broccoli_b01/reconstruction-1/harbor-trajectory-4.json new file mode 100644 index 0000000000000000000000000000000000000000..368abb060ecc7236157e3e3b652ab0438476933d --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/food_produce_broccoli_b01/reconstruction-1/harbor-trajectory-4.json @@ -0,0 +1,2271 @@ +{ + "schema_version": "ATIF-v1.7", + "session_id": "01a15bcb-9902-70e8-9b5b-05fa33005035", + "agent": { + "name": "pi", + "version": "0.85.1", + "model_name": "harbor-endpoint/gpt-6.1-sol" + }, + "steps": [ + { + "step_id": 1, + "timestamp": "2026-10-21T00:10:34.184Z", + "source": "user", + "message": [ + { + "type": "text", + "text": "\nReconstruct the supplied object as /output/asset.usd.\nNominal dimensions in canonical metres XYZ: [0.1788112074136734, 0.13802482932806015, 0.14483480486524059]\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": "cdcae78b", + "pi_parent_id": "b7bdf417" + } + }, + { + "step_id": 2, + "timestamp": "2026-10-21T00:10:36.754Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_8rtYrBpfA23br8VabZr9FqEe|fc_0b06547d1795ba2b016ad802fc3d5487d28709a8106aa88ece", + "function_name": "read", + "arguments": { + "path": "/task/contract.md", + "offset": 1, + "limit": 2000 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_8rtYrBpfA23br8VabZr9FqEe|fc_0b06547d1795ba2b016ad802fc3d5487d28709a8106aa88ece", + "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": "cb99e643", + "pi_parent_id": "cdcae78b", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad802faed1087d2a34317905b33e61d", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 3, + "timestamp": "2026-10-21T00:10:40.667Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_Ty6WMTVuXuQtrGpggVm9VaCm|fc_0b06547d1795ba2b016ad803004c8087d2a45f7328b4200d3f", + "function_name": "read", + "arguments": { + "path": "/task/tool-docs.md", + "offset": 1, + "limit": 2000 + } + }, + { + "tool_call_id": "call_vwzRfpvyf30NzyWnWbCg3X7m|fc_0b06547d1795ba2b016ad803004c9c87d2974bf059ee1643ba", + "function_name": "read", + "arguments": { + "path": "/task/scoring-policy.json", + "offset": 1, + "limit": 2000 + } + }, + { + "tool_call_id": "call_s37Ow6kR7PbGaiYtY6HHnkJV|fc_0b06547d1795ba2b016ad803004ca487d2a40d594c4da6c872", + "function_name": "bash", + "arguments": { + "command": "ls -la /output && python - <<'PY'\nimport pxr\nprint('pxr available')\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_Ty6WMTVuXuQtrGpggVm9VaCm|fc_0b06547d1795ba2b016ad803004c8087d2a45f7328b4200d3f", + "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_vwzRfpvyf30NzyWnWbCg3X7m|fc_0b06547d1795ba2b016ad803004c9c87d2974bf059ee1643ba", + "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_s37Ow6kR7PbGaiYtY6HHnkJV|fc_0b06547d1795ba2b016ad803004ca487d2a40d594c4da6c872", + "content": "total 0\ndrwxrwxrwx 2 actor actor 40 Oct 21 00:10 .\ndrwxr-xr-x 1 root root 56 Oct 21 00:10 ..\npxr available", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 3036, + "completion_tokens": 117, + "cached_tokens": 2665, + "extra": { + "cache_write_tokens": 368, + "reasoning_tokens": 0, + "pi_total_tokens": 3153 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "9c3009a4", + "pi_parent_id": "e1ea5e6a", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad802fd8da887d2ba821d0eb5ce80d5", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 4, + "timestamp": "2026-10-21T00:10:46.550Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "The reference shows a broccoli head with a short, cut pale-green stalk. I\u2019ll model the crown, branching stem and cut end as one rigid object; there are no articulated parts or joints. I\u2019ll use irregular floret lobes and fine surface texture to capture the crown\u2019s bumpy appearance.", + "tool_calls": [ + { + "tool_call_id": "call_9lt20LrN8E82pyMgnb25U6jM|fc_0b06547d1795ba2b016ad80305fd9487d2b28c5ebfb3badbb7", + "function_name": "mcp", + "arguments": { + "server": "benchmark" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_9lt20LrN8E82pyMgnb25U6jM|fc_0b06547d1795ba2b016ad80305fd9487d2b28c5ebfb3badbb7", + "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": 4403, + "completion_tokens": 147, + "cached_tokens": 3033, + "extra": { + "cache_write_tokens": 1367, + "reasoning_tokens": 60, + "pi_total_tokens": 4550 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "b85d7748", + "pi_parent_id": "37aa1db9", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad803018f4087d2a101c498f06b0c39", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 5, + "timestamp": "2026-10-21T00:10:50.745Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_jmGn7l9FB3DClPiqjoVmC4DR|fc_0b06547d1795ba2b016ad80309466887d2b26d871c8773e786", + "function_name": "bash", + "arguments": { + "command": "ls -la /task; which usdrecord || true; python - <<'PY'\nimport importlib.util\nfor m in ['numpy','scipy','PIL','trimesh','matplotlib','noise','pxr.UsdImagingGL']:\n print(m,importlib.util.find_spec(m))\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_jmGn7l9FB3DClPiqjoVmC4DR|fc_0b06547d1795ba2b016ad80309466887d2b26d871c8773e786", + "content": "total 1292\ndr-xr-xr-x 2 actor actor 160 Oct 21 00:10 .\ndrwxr-xr-x 1 root root 56 Oct 21 00:10 ..\n-r--r--r-- 1 actor actor 1746 Oct 21 00:10 contract.md\n-r--r--r-- 1 actor actor 453 Oct 21 00:10 instruction.md\n-r--r--r-- 1 actor actor 3305 Oct 21 00:10 scoring-policy.json\n-r--r--r-- 1 actor actor 435 Oct 21 00:10 simready-bench-native-output-policy.ts\n-r--r--r-- 1 actor actor 1298860 Oct 21 00:10 thumbnail.png\n-r--r--r-- 1 actor actor 572 Oct 21 00:10 tool-docs.md\nnumpy ModuleSpec(name='numpy', loader=<_frozen_importlib_external.SourceFileLoader object at 0x7b932f838860>, origin='/usr/local/lib/python3.12/dist-packages/numpy/__init__.py', submodule_search_locations=['/usr/local/lib/python3.12/dist-packages/numpy'])\nscipy None\nPIL ModuleSpec(name='PIL', loader=<_frozen_importlib_external.SourceFileLoader object at 0x7b932f839460>, origin='/usr/local/lib/python3.12/dist-packages/PIL/__init__.py', submodule_search_locations=['/usr/local/lib/python3.12/dist-packages/PIL'])\ntrimesh None\nmatplotlib None\nnoise None\npxr.UsdImagingGL None", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 4624, + "completion_tokens": 103, + "cached_tokens": 4400, + "extra": { + "cache_write_tokens": 221, + "reasoning_tokens": 12, + "pi_total_tokens": 4727 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "f37c5d2f", + "pi_parent_id": "6c1e0f59", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad80307ae1087d2abb2ca8d3520d19a", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 6, + "timestamp": "2026-10-21T00:11:21.999Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Considering mesh details**\n\nI\u2019m thinking about adding multiscale noise to create a more natural look. The mesh I have in mind would have a high resolution of 512 longitude by 256 latitude, which translates to about 130,000 vertices and 260,000 faces. For UV equirectangular resolution, I\u2019m contemplating using either 2048 or 4096. This approach seems like it will help achieve the desired detail and depth in the final output!\n**Calculating broccoli structure**\n\nI'm looking at a crown that's 715x811 relative nominal with a dx of 0.179, which suggests it appears rotated with respect to the viewer. The crown's center is at (400,503) and the stalk's center is at (804,362). The crown is roundish, measuring about .13x.145, and the stalk is .05 long and thick. I estimate the mass of the broccoli to be around .38 kg based on the volume and density calculations.", + "tool_calls": [ + { + "tool_call_id": "call_ShHIPr1mkIW0Y4u5ePNBrro3|fc_0b06547d1795ba2b016ad80329936487d2af2393a79dd44f6d", + "function_name": "mcp", + "arguments": { + "describe": "benchmark_validate_candidate" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_ShHIPr1mkIW0Y4u5ePNBrro3|fc_0b06547d1795ba2b016ad80329936487d2af2393a79dd44f6d", + "content": "benchmark_validate_candidate\nServer: benchmark\n\nValidate a frozen candidate and return NVIDIA findings. Each new request consumes one validation call. Repeating a request ID returns its existing result.\n\nShape:\n{ request_id: string; }", + "extra": { + "tool_name": "mcp", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 5099, + "completion_tokens": 1056, + "cached_tokens": 4621, + "extra": { + "cache_write_tokens": 475, + "reasoning_tokens": 1034, + "pi_total_tokens": 6155 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "e0ad00a1", + "pi_parent_id": "cd087d3e", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad8030bc2ac87d2a0894025c48e32aa", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 7, + "timestamp": "2026-10-21T00:11:29.630Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Planning asset creation**\n\nI need to create an initial asset and validate the requirements for semantic labels. I\u2019m thinking about inspecting known schemas like the NVIDIA SemanticsAPI schema, but I\u2019ll also check if any custom attributes are available. It's essential to use the correct recommended metadata when validating. \n\nI'll need to build high-res meshes and textures, and for a local preview, maybe I can use a renderer like trimesh pyrender instead of Blender. I\u2019m considering pip installing scipy, scikit-image, and moderngl as alternatives. \n\nAlso, should I use a simple Lambert for checking silhouette and material across the front? Perhaps a Python rasterizer accelerated via numba could help!", + "tool_calls": [ + { + "tool_call_id": "call_BCf34jji7xhLdNGPwOyqYM9t|fc_0b06547d1795ba2b016ad803310d9087d294729d2d0908ffd2", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport importlib.util\nfor m in ['cv2','numba','torch',' OpenGL','pyglet','moderngl']:\n print(m, bool(importlib.util.find_spec(m.strip())))\nfrom pxr import Usd,UsdGeom,UsdShade,UsdPhysics,Sdf\nprint('physics',UsdPhysics)\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_BCf34jji7xhLdNGPwOyqYM9t|fc_0b06547d1795ba2b016ad803310d9087d294729d2d0908ffd2", + "content": "cv2 False\nnumba False\ntorch False\n OpenGL False\npyglet False\nmoderngl False\nphysics ", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 6210, + "completion_tokens": 236, + "cached_tokens": 5096, + "extra": { + "cache_write_tokens": 1111, + "reasoning_tokens": 135, + "pi_total_tokens": 6446 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "6ae6b165", + "pi_parent_id": "c285e7c0", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad8032acf7087d28660534f2617a052", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 8, + "timestamp": "2026-10-21T00:11:46.426Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Considering texture generation**\n\nI'm thinking about installing necessary libraries like scipy, scikit-image, or pillow, which seems essential for generating vectorized trilinear grid fractal noise. The texture I'm working on is a planar sphere UV 2048x4096, which is quite expensive but should be fine. I'm sampling colors to approximate a specific lime shade with some variations and adjustments for lighting. I want to ensure the output has a nice texture with fine details and maybe explore creating a Worley texture at a small scale with scattered seeds across the surface.\n\n**Exploring 3D Worley texture generation**\n\nI'm considering using direct continuous 3D Worley noise with hashed vector memory for grid neighbor distances, which could work for around 0.00025-1 mm noise. I want to utilize displacement geometry at a micro level, aiming for a mesh resolution of .0007 to achieve detailed wave patterns. For color, I think I'll base it on mesh position, using normal directions for consistency. It\u2019s important to generate bump normal maps and ensure proper outputs for texture mapping, especially in higher resolutions, while keeping the asset size manageable.\n\n**Considering rendering efficiency**\n\nI'm thinking about how to make my rendering software efficient. Using OpenGL through moderngl seems like a solid approach to render vertex colors or textures effectively. However, I noticed that there\u2019s a lack of built-in preview tools in NVIDIA renders, which could be a bit limiting. I should consider how to work around that or explore other options that might help with the rendering workflow. Let's see how I can implement this effectively!", + "tool_calls": [ + { + "tool_call_id": "call_E5FvjbGdZ4hLhHx8k266zrwf|fc_0b06547d1795ba2b016ad80341e25487d2a4400bd57f52f8ec", + "function_name": "bash", + "arguments": { + "command": "pip -q install scipy scikit-image moderngl", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_E5FvjbGdZ4hLhHx8k266zrwf|fc_0b06547d1795ba2b016ad80341e25487d2a4400bd57f52f8ec", + "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": 6518, + "completion_tokens": 550, + "cached_tokens": 6207, + "extra": { + "cache_write_tokens": 308, + "reasoning_tokens": 516, + "pi_total_tokens": 7068 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "94482679", + "pi_parent_id": "13e4373f", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad80332be3c87d2bc820b86224605c1", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 9, + "timestamp": "2026-10-21T00:11:48.918Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_zEu4k87CzKpb4hBvSXL1sZCr|fc_0b06547d1795ba2b016ad8034449d087d289d61728a109b377", + "function_name": "bash", + "arguments": { + "command": "python -m pip -q install scipy scikit-image moderngl", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_zEu4k87CzKpb4hBvSXL1sZCr|fc_0b06547d1795ba2b016ad8034449d087d289d61728a109b377", + "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": 7098, + "completion_tokens": 35, + "cached_tokens": 6515, + "extra": { + "cache_write_tokens": 580, + "reasoning_tokens": 0, + "pi_total_tokens": 7133 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "c8fb4c2a", + "pi_parent_id": "637174f9", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad803432c2087d2bb498e25ccf79868", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 10, + "timestamp": "2026-10-21T00:11:52.352Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_JDz987vD7OxLwtkerGQksq8b|fc_0b06547d1795ba2b016ad803478fb487d28e18bb934bb47e8f", + "function_name": "bash", + "arguments": { + "command": "python -m pip -q install --break-system-packages scipy scikit-image moderngl", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_JDz987vD7OxLwtkerGQksq8b|fc_0b06547d1795ba2b016ad803478fb487d28e18bb934bb47e8f", + "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/scipy/\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/scipy/\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/scipy/\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/scipy/\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/scipy/\nERROR: Could not find a version that satisfies the requirement scipy (from versions: none)\nERROR: No matching distribution found for scipy\n\n\nCommand exited with code 1", + "extra": { + "tool_name": "bash", + "is_error": true + } + } + ] + }, + "metrics": { + "prompt_tokens": 7387, + "completion_tokens": 40, + "cached_tokens": 7095, + "extra": { + "cache_write_tokens": 289, + "reasoning_tokens": 0, + "pi_total_tokens": 7427 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "5d3101cf", + "pi_parent_id": "c57e0856", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad8034602b887d2960976d89d4b7ae3", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 11, + "timestamp": "2026-10-21T00:12:03.656Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_WzTziPwCL2cRpjYMRNER1Wqa|fc_0b06547d1795ba2b016ad803532a4487d2a8fa48be2f49e2b7", + "function_name": "bash", + "arguments": { + "command": "ls /usr/bin | grep -E 'python|usd|render'; 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I need to reference a blunt spike protrusion and make two flattened wedge shapes that are very pale. I won't include actual green leaves. I wonder if I need open stem mesh holes; all of them should be capped. I need to ensure everyone's geometry seams are watertight. Additionally, I'm using a constant fallback texture for display color and binding materials accordingly, with semantic attributes for effective validation.\n\n**Creating collision mesh**\n\nI'm utilizing a simplified ellipsoid for the collision mesh and approximating the stalk with a convex hull for proxy purposes. I want to ensure the rigid body's mesh references are correct. I'll enable `UsdPhysics.CollisionAPI.Apply(collider)` and focus on \"convexHull.\" It's probably best to avoid dedicated colliders for the crown and stem. To meet NVIDIA's requirements, I should separate visual elements from collision meshes. I\u2019m thinking of using low-res spheres and a stalk that remains hidden for the initial hull approximations.", + "tool_calls": [ + { + "tool_call_id": "call_upcwlkrJjQRFv53ZE8JCaYgV|fc_0b06547d1795ba2b016ad80374b98487d2bc34efa007130c31", + "function_name": "write", + "arguments": { + "path": "/tmp/build_asset.py", + "content": "import os, math, json\nimport numpy as np\nfrom PIL import Image\nfrom pxr import Usd, UsdGeom, UsdShade, UsdPhysics, Sdf, Gf, Vt\nOUT='/output'; os.makedirs(OUT+'/textures',exist_ok=True)\nrng=np.random.default_rng(107)\n# Smooth deterministic multiscale three-dimensional value noise.\ndef hash3(x,y,z,seed=0):\n with np.errstate(over='ignore'):\n n=x.astype(np.uint32)*np.uint32(73856093)^y.astype(np.uint32)*np.uint32(19349663)^z.astype(np.uint32)*np.uint32(83492791)^np.uint32(seed*2654435761&0xffffffff)\n n=(n^(n>>13))*np.uint32(1274126177); n=n^(n>>16)\n return n.astype(np.float32)/4294967295.\ndef noise(p,scale=1,seed=0):\n p=np.asarray(p,np.float32)*scale; i=np.floor(p).astype(np.int32); f=p-i; f=f*f*(3-2*f)\n v=np.zeros(p.shape[:-1],np.float32)\n for x in range(2):\n for y in range(2):\n for z in range(2):\n v+=hash3(i[...,0]+x,i[...,1]+y,i[...,2]+z,seed)*(f[...,0] if x else 1-f[...,0])*(f[...,1] if y else 1-f[...,1])*(f[...,2] if z else 1-f[...,2])\n return v\n\ndef seeds(n,seed):\n r=np.random.default_rng(seed); i=np.arange(n); z=1-2*(i+.5)/n; phi=i*2.3999632297\n d=np.stack((np.sqrt(1-z*z)*np.cos(phi),np.sqrt(1-z*z)*np.sin(phi),z),-1)\n d+=r.normal(0,.045,(n,3)); d/=np.linalg.norm(d,axis=-1)[:,None]\n return d\ns1=seeds(47,90); a1=rng.uniform(.12,.26,47); w1=rng.uniform(.23,.36,47)\ns2=seeds(230,34); a2=rng.uniform(.025,.06,230); w2=rng.uniform(.075,.12,230)\ndef lobes(d,ss,aa,ww):\n # radial caps smoothly blended into each other, not separate floating florets\n out=np.empty(len(d),np.float32)\n for i in range(0,len(d),15000):\n dot=np.clip(d[i:i+15000]@ss.T,-1,1)\n b=aa[None,:]*np.exp(-(1-dot)/(ww[None,:]**2))\n # Soft max preserves the little valleys where curds meet.\n mx=b.max(axis=-1); out[i:i+15000]=mx\n return out\n\ndef crown_r(d):\n return .86+lobes(d,s1,a1,w1)+lobes(d,s2,a2,w2)+.045*(noise(d,5,13)-.5)+.024*(noise(d,15,22)-.5)+.006*(noise(d,64,5)-.5)+.002*(noise(d,140,1)-.5)\n# sphere along Z, no duplicated seam vertices; facevarying UVs\ndef sphere(nu,nv,radfunc=None):\n theta=np.arange(nu)*2*np.pi/nu\n ph=np.arange(1,nv)*np.pi/nv\n dd=np.stack(np.broadcast_arrays(np.sin(ph[:,None])*np.cos(theta), np.sin(ph[:,None])*np.sin(theta),np.cos(ph[:,None])+np.zeros_like(theta)),axis=-1).reshape(-1,3)\n d=np.concatenate([[[0,0,1]],dd,[[0,0,-1]]]).astype(np.float32)\n pts=d if radfunc is None else radfunc(d)\n faces=[]; uv=[]\n for j in range(nu):\n j1=(j+1)%nu; faces.append([0,1+j,1+j1]); uv.extend([[(j+.5)/nu,1],[j/nu,1-1/nv],[(j+1)/nu,1-1/nv]])\n for k in range(nv-2):\n for j in range(nu):\n j1=(j+1)%nu; a=1+k*nu+j; b=1+k*nu+j1; c=1+(k+1)*nu+j; e=1+(k+1)*nu+j1\n faces.extend([[a,c,b],[b,c,e]])\n uv.extend([[j/nu,1-(k+1)/nv],[j/nu,1-(k+2)/nv],[(j+1)/nu,1-(k+1)/nv],[(j+1)/nu,1-(k+1)/nv],[j/nu,1-(k+2)/nv],[(j+1)/nu,1-(k+2)/nv]])\n bot=len(d)-1\n for j in range(nu):\n j1=(j+1)%nu; faces.append([1+(nv-2)*nu+j,bot,1+(nv-2)*nu+j1]); uv.extend([[j/nu,1/nv],[(j+.5)/nu,0],[(j+1)/nu,1/nv]])\n return pts,np.array(faces,np.int32),np.array(uv,np.float32),d\n\ndef crown_position(d):\n r=crown_r(d)\n p=d*r[:,None]*np.array([.065,.067,.069])\n # Subtle taper on the stem side: the head is a dense dome, not a ball.\n p[:,1:]*=(1-.12*np.maximum(d[:,0],0)**3)[:,None]\n p+=np.array([-.024,0,.072])\n return p\nprint('Generating crown',flush=True)\ncp,cf,cu,cd=sphere(640,320,crown_position)\n\n# Stalk tubes, all belonging to the same rigid organic body.\ndef tube(centres,radii,ns=96,seed=1,flutes=.04):\n centres=np.array(centres,float); radii=np.array(radii,float); n=len(centres); verts=[]\n rr=np.random.default_rng(seed)\n # curved tube using local tangent frames\n for k,c in enumerate(centres):\n tangent=centres[min(k+1,n-1)]-centres[max(k-1,0)]; tangent/=np.linalg.norm(tangent)\n ref=np.array([0,1.,0]); e1=np.cross(tangent,ref); e1/=np.linalg.norm(e1); e2=np.cross(tangent,e1)\n for j in range(ns):\n a=2*np.pi*j/ns; r=radii[k]*(1+flutes*np.cos(5*a+.6)+.018*np.sin(9*a+k*.09)+.012*np.sin(17*a+k*.21))\n pp=c+r*(np.cos(a)*e1+np.sin(a)*e2)\n if k==n-1: pp+=tangent*(.0011*np.sin(3*a+.5)+.00065*np.cos(7*a))\n verts.append(pp)\n verts.extend([centres[0],centres[-1]])\n f=[]; uv=[]; capflags=[]\n for k in range(n-1):\n for j in range(ns):\n j1=(j+1)%ns; a=k*ns+j;b=k*ns+j1;c=(k+1)*ns+j;e=(k+1)*ns+j1\n f.extend([[a,b,c],[b,e,c]]); uv.extend([[j/ns,k/(n-1)],[(j+1)/ns,k/(n-1)],[j/ns,(k+1)/(n-1)],[(j+1)/ns,k/(n-1)],[(j+1)/ns,(k+1)/(n-1)],[j/ns,(k+1)/(n-1)]]);capflags.extend([False,False])\n for j in range(ns):\n j1=(j+1)%ns\n f.extend([[n*ns,j1,j],[n*ns+1,(n-1)*ns+j,(n-1)*ns+j1]])\n uv.extend([[.5,.5],[.5+.49*np.cos(2*np.pi*j1/ns),.5+.49*np.sin(2*np.pi*j1/ns)],[.5+.49*np.cos(2*np.pi*j/ns),.5+.49*np.sin(2*np.pi*j/ns)], [.5,.5],[.5+.49*np.cos(2*np.pi*j/ns),.5+.49*np.sin(2*np.pi*j/ns)],[.5+.49*np.cos(2*np.pi*j1/ns),.5+.49*np.sin(2*np.pi*j1/ns)]])\n capflags.extend([True,True])\n return np.array(verts,np.float32),np.array(f,np.int32),np.array(uv,np.float32),np.array(capflags)\n\nstems=[]\nt=np.linspace(0,1,40)\ncent=np.stack([.022+.067*t,.003+.001*np.sin(t*np.pi),.084+.017*t+.003*np.sin(t*np.pi)],axis=-1)\nrad=.018+.006*t+.0025*np.cos(t*2*np.pi+.8)\nstems.append(('MainStalk',)+tube(cent,rad,128,8,.075))\nbranches=[([.050,.002,.091],[.005,-.036,.109],.0115),([.050,.003,.092],[.003,.032,.116],.012),([.046,0,.085],[.007,-.019,.038],.011),([.049,.006,.087],[.009,.042,.068],.011),([.047,.002,.091],[.000,.000,.130],.012)]\nfor k,(a,b,r) in enumerate(branches):\n a=np.array(a);b=np.array(b);t=np.linspace(0,1,20);cent=a[None,:]*(1-t[:,None])+b[None,:]*t[:,None];cent[:,0]-=.007*np.sin(np.pi*t)\n stems.append(('Branch_%02d'%k,)+tube(cent,r*(1+.2*t),64,k+10,.07))\n# two pale trimmed branch stubs, an irregular skirt beside the narrow neck\nfor k,(a,b,r) in enumerate([([.054,-.003,.083],[.047,-.018,.048],.008),([.055,.011,.095],[.063,.030,.112],.007)]):\n t=np.linspace(0,1,14); a=np.array(a);b=np.array(b); cent=a[None,:]*(1-t[:,None])+b[None,:]*t[:,None]\n stems.append(('TrimmedRib_%02d'%k,)+tube(cent,r*(1-.27*t),48,99+k,.11))\n\n# Scale the combined shape to the measured SI envelope. Root remains at ground centre.\nallp=np.concatenate([cp]+[a[1] for a in stems]); mn=allp.min(axis=0);mx=allp.max(axis=0)\ndims=np.array([.1788112074136734,.13802482932806015,.14483480486524059]);scale=dims/(mx-mn); shift=np.array([-dims[0]/2,-dims[1]/2,0])-mn*scale\ncp=cp*scale+shift\nstems=[(name,p*scale+shift,f,uv,caps) for name,p,f,uv,caps in stems]\nprint('Bounds',scale,shift,flush=True)\n\n# Large, seamless textures. Microcurds are irregular cellular domes plus fine pebbled relief.\ndef srgb(x): return np.where(x<=.0031308,12.92*x,1.055*np.power(np.maximum(x,0),1/2.4)-.055)\ndef worley(p,freq=1,seed=0):\n p=np.asarray(p,np.float32)*freq; cell=np.floor(p).astype(np.int32); frac=p-cell; best=np.full(p.shape[:-1],1e8,np.float32)\n for x in [-1,0,1]:\n for y in [-1,0,1]:\n for z in [-1,0,1]:\n xx=cell[...,0]+x; yy=cell[...,1]+y; zz=cell[...,2]+z\n dx=x+.18+.64*hash3(xx,yy,zz,seed)-frac[...,0]\n dy=y+.18+.64*hash3(xx,yy,zz,seed+1)-frac[...,1]\n dz=z+.18+.64*hash3(xx,yy,zz,seed+2)-frac[...,2]\n best=np.minimum(best,dx*dx+dy*dy+dz*dz)\n return np.sqrt(best)\nW=3072;H=1536\ncolor=np.zeros((H,W,3),np.uint8);height=np.zeros((H,W),np.float32)\nprint('Crown textures',flush=True)\nfor y0 in range(0,H,48):\n yy=(np.arange(y0,min(y0+48,H))+.5)/H; xx=(np.arange(W)+.5)/W; ph=(1-yy)*np.pi; th=xx*2*np.pi\n d=np.stack(np.broadcast_arrays(np.sin(ph[:,None])*np.cos(th),np.sin(ph[:,None])*np.sin(th),np.cos(ph[:,None])+np.zeros_like(th)),axis=-1).astype(np.float32)\n n0=noise(d,3.8,7);n1=noise(d,12,8);n2=noise(d,38,9); n3=noise(d,130,8)\n # Broccoli bud texture: grains in branching groups, not a smooth material.\n warp=d+.013*np.stack([noise(d,27,1),noise(d,27,2),noise(d,27,3)],-1)\n cells=worley(warp,215,42); pebbles=1-np.clip(cells/.95,0,1)\n micro=noise(d,460,12);fine=noise(d,850,9)\n var=.62*(n0-.5)+.34*(n1-.5)+.18*(n2-.5)+.13*(n3-.5)+.14*(pebbles-.5)+.09*(micro-.5)\n base=np.array([.405,.515,.067],np.float32)\n c=base[None,None,:]*(1+var[...,None]*1.1)\n c[...,0]+=.055*(n1-.4);c[...,1]+=.013*(n2-.5);c[...,2]+=.010*(micro-.5)\n # tiny dark pits surrounding tightly clustered buds\n pits=np.clip((cells-.58)*1.4,0,.26);c*=1-pits[...,None]\n color[y0:y0+len(yy)]=np.uint8(np.clip(srgb(c),0,1)*255)\n height[y0:y0+len(yy)]=.00018*pebbles+.000065*micro+.000025*fine+.00007*n3\nImage.fromarray(color).save(OUT+'/textures/crown_color.png')\n# Normal mapped microrelief in physical units along spherical UV tangents.\nlat=(1-(np.arange(H)+.5)/H)*np.pi\nrx=.067*np.maximum(np.sin(lat),.06)\ndhdu=(np.roll(height,-1,axis=1)-np.roll(height,1,axis=1))/(4*np.pi*rx[:,None]/W)\ndhdv=(np.roll(height,-1,axis=0)-np.roll(height,1,axis=0))/(2*np.pi*.068/H)\nn=np.stack([-dhdu,dhdv,np.ones_like(dhdu)],-1);n/=np.linalg.norm(n,axis=-1)[...,None]\nImage.fromarray(np.uint8(np.clip(n*.5+.5,0,1)*255)).save(OUT+'/textures/crown_normal.png')\n# fibrous pale stalk, subtle longitudinal fibres, bruises and olive speckling\nS=1024\nv,u=np.mgrid[0:S,0:S].astype(np.float32)/S\np=np.stack([u*18,v*5,u*0+2],-1)\ncloud=noise(p,1,1); streak=noise(np.stack([u*130,v*9,v*0+3],-1),1,19); speck=noise(p,21,13)\nbruise=np.clip((noise(p,3,46)-.54)*4,0,.55)*(0.35+.65*noise(p,9,3))\nc=np.zeros((S,S,3),np.float32);c[:]=[.65,.74,.28];c+=(cloud[...,None]-.5)*np.array([.19,.18,.09]);c+=(streak[...,None]-.5)*np.array([.045,.055,.025]);c-=bruise[...,None]*np.array([.34,.38,.15]);c-=(speck[...,None]-.5)*.025\nImage.fromarray(np.uint8(np.clip(srgb(c),0,1)*255)).save(OUT+'/textures/stalk_color.png')\n# radial endgrain of the cut stalk, with subtly scalloped vascular ring\nv,u=np.mgrid[0:S,0:S].astype(np.float32)/S; px=(u-.5)*2;py=(v-.5)*2;rad=np.sqrt(px*px+py*py);ang=np.arctan2(py,px)\np=np.stack([px*12,py*12,np.zeros_like(px)+4],-1); mott=noise(p,1,18);speck=noise(p,12,15)\nring=np.exp(-((rad-(.80+.025*np.sin(5*ang)))/.045)**2)\nc=np.zeros((S,S,3),np.float32);c[:]=[.77,.81,.43];c+=(mott[...,None]-.5)*np.array([.12,.12,.10]);c-=ring[...,None]*np.array([.13,.12,.08]);c+=(speck[...,None]-.5)*.035\nImage.fromarray(np.uint8(np.clip(srgb(c),0,1)*255)).save(OUT+'/textures/cut_color.png')\n\nstage=Usd.Stage.CreateNew(OUT+'/asset.usd');UsdGeom.SetStageUpAxis(stage,UsdGeom.Tokens.z);UsdGeom.SetStageMetersPerUnit(stage,1.0);UsdPhysics.SetStageKilogramsPerUnit(stage,1)\nroot=UsdGeom.Xform.Define(stage,'/Broccoli');stage.SetDefaultPrim(root.GetPrim());root.GetPrim().SetAssetInfoByKey('name','Broccoli');root.GetPrim().SetAssetInfoByKey('identifier',Sdf.AssetPath('asset.usd'))\nroot.GetPrim().SetDocumentation('Whole compact broccoli crown with an irregular short cut stalk. Single rigid harvested vegetable; all florets, branch ribs and the stalk are naturally fixed tissue. Dimensions in metres. No articulated mechanism or movable subassemblies.')\nrb=UsdPhysics.RigidBodyAPI.Apply(root.GetPrim());rb.CreateRigidBodyEnabledAttr(True);rb.CreateKinematicEnabledAttr(False)\nmass=UsdPhysics.MassAPI.Apply(root.GetPrim());mass.CreateMassAttr(.385);mass.CreateCenterOfMassAttr(Gf.Vec3f(-.017,0,.071));mass.CreateDiagonalInertiaAttr(Gf.Vec3f(.00070,.00084,.00077));mass.CreatePrincipalAxesAttr(Gf.Quatf(1))\n# Semantic annotations are authored on the assembly and inherited by geometry.\ndef semantics(prim,label):\n prim.AddAppliedSchema('SemanticsAPI:class');prim.CreateAttribute('semantics:class:semanticType',Sdf.ValueTypeNames.String).Set('class');prim.CreateAttribute('semantics:class:semanticData',Sdf.ValueTypeNames.String).Set(label)\nsemantics(root.GetPrim(),'broccoli')\nUsdGeom.Scope.Define(stage,'/Broccoli/Looks');UsdGeom.Scope.Define(stage,'/Broccoli/Geometry')\n\ndef material(name,tex,rough=.8,normal=None,color=(.5,.6,.1)):\n path='/Broccoli/Looks/'+name;mat=UsdShade.Material.Define(stage,path); sh=UsdShade.Shader.Define(stage,path+'/Surface');sh.CreateIdAttr('UsdPreviewSurface');sh.CreateInput('diffuseColor',Sdf.ValueTypeNames.Color3f).Set(Gf.Vec3f(*color));sh.CreateInput('roughness',Sdf.ValueTypeNames.Float).Set(rough);sh.CreateInput('metallic',Sdf.ValueTypeNames.Float).Set(0);sh.CreateInput('ior',Sdf.ValueTypeNames.Float).Set(1.40);mat.CreateSurfaceOutput().ConnectToSource(sh.ConnectableAPI(),'surface')\n st=UsdShade.Shader.Define(stage,path+'/UV');st.CreateIdAttr('UsdPrimvarReader_float2');st.CreateInput('varname',Sdf.ValueTypeNames.Token).Set('st');st.CreateOutput('result',Sdf.ValueTypeNames.Float2)\n tx=UsdShade.Shader.Define(stage,path+'/Color');tx.CreateIdAttr('UsdUVTexture');tx.CreateInput('file',Sdf.ValueTypeNames.Asset).Set(Sdf.AssetPath('textures/'+tex));tx.CreateInput('sourceColorSpace',Sdf.ValueTypeNames.Token).Set('sRGB');tx.CreateInput('wrapS',Sdf.ValueTypeNames.Token).Set('repeat');tx.CreateInput('wrapT',Sdf.ValueTypeNames.Token).Set('repeat');tx.CreateInput('st',Sdf.ValueTypeNames.Float2).ConnectToSource(st.ConnectableAPI(),'result');tx.CreateOutput('rgb',Sdf.ValueTypeNames.Float3);sh.GetInput('diffuseColor').ConnectToSource(tx.ConnectableAPI(),'rgb')\n if normal:\n nt=UsdShade.Shader.Define(stage,path+'/Normal');nt.CreateIdAttr('UsdUVTexture');nt.CreateInput('file',Sdf.ValueTypeNames.Asset).Set(Sdf.AssetPath('textures/'+normal));nt.CreateInput('sourceColorSpace',Sdf.ValueTypeNames.Token).Set('raw');nt.CreateInput('scale',Sdf.ValueTypeNames.Float4).Set(Gf.Vec4f(2,2,2,1));nt.CreateInput('bias',Sdf.ValueTypeNames.Float4).Set(Gf.Vec4f(-1,-1,-1,0));nt.CreateInput('st',Sdf.ValueTypeNames.Float2).ConnectToSource(st.ConnectableAPI(),'result');nt.CreateOutput('rgb',Sdf.ValueTypeNames.Float3);sh.CreateInput('normal',Sdf.ValueTypeNames.Normal3f).ConnectToSource(nt.ConnectableAPI(),'rgb')\n return mat\ncrownmat=material('Crown','crown_color.png',.88,'crown_normal.png',(.405,.515,.067));stalkmat=material('Stalk','stalk_color.png',.78,None,(.65,.74,.28));cutmat=material('CutEnd','cut_color.png',.9,None,(.77,.81,.43))\n\ndef mesh(path,p,f,uv=None,mat=None):\n m=UsdGeom.Mesh.Define(stage,path);m.CreatePointsAttr(Vt.Vec3fArray.FromNumpy(np.asarray(p,np.float32)));m.CreateFaceVertexCountsAttr(Vt.IntArray.FromNumpy(np.full(len(f),3,np.int32)));m.CreateFaceVertexIndicesAttr(Vt.IntArray.FromNumpy(f.flatten().astype(np.int32)));m.CreateSubdivisionSchemeAttr('none');m.CreateOrientationAttr('rightHanded');m.CreateDoubleSidedAttr(False);m.CreateExtentAttr(Vt.Vec3fArray([Gf.Vec3f(*p.min(0)),Gf.Vec3f(*p.max(0))]));\n # Weighted smooth vertex normals.\n fn=np.cross(p[f[:,1]]-p[f[:,0]],p[f[:,2]]-p[f[:,0]]);vn=np.zeros_like(p)\n for i in range(3): np.add.at(vn,f[:,i],fn)\n vn/=np.maximum(np.linalg.norm(vn,axis=-1,keepdims=True),1e-20);m.CreateNormalsAttr(Vt.Vec3fArray.FromNumpy(vn.astype(np.float32)));m.SetNormalsInterpolation('vertex')\n if uv is not None: UsdGeom.PrimvarsAPI(m).CreatePrimvar('st',Sdf.ValueTypeNames.TexCoord2fArray,UsdGeom.Tokens.faceVarying).Set(Vt.Vec2fArray.FromNumpy(uv.astype(np.float32)))\n if mat:UsdShade.MaterialBindingAPI.Apply(m.GetPrim()).Bind(mat)\n return m,vn\nprint('Authoring USD',flush=True)\ncm,cn=mesh('/Broccoli/Geometry/Crown',cp,cf,cu,crownmat)\nrender=[(cp,cf,cu,'crown_color.png',cn)]\nfor name,p,f,uv,caps in stems:\n m,vn=mesh('/Broccoli/Geometry/'+name,p,f,uv,stalkmat)\n subset=UsdGeom.Subset.Define(stage,m.GetPath().AppendChild('CutSurface'));subset.CreateElementTypeAttr('face');subset.CreateFamilyNameAttr('materialBind');subset.CreateIndicesAttr(Vt.IntArray.FromNumpy(np.where(caps)[0].astype(np.int32)));UsdShade.MaterialBindingAPI.Apply(subset.GetPrim()).Bind(cutmat);UsdGeom.Subset.SetFamilyType(m,'materialBind','nonOverlapping')\n render.append((p,f,uv,'stalk_color.png',vn))\n# Separate low polygon collision proxies, all under the same dynamic body.\nUsdGeom.Scope.Define(stage,'/Broccoli/Colliders')\nproxy_p,proxy_f,_,_=sphere(32,16,lambda d: (d*np.array([.064,.066,.069])+np.array([-.024,0,.072]))*scale+shift)\nfor name,p,f in [('CrownHull',proxy_p,proxy_f),('StalkHull',stems[0][1],stems[0][2])]:\n m,_=mesh('/Broccoli/Colliders/'+name,p,f)\n m.CreatePurposeAttr('guide');m.CreateVisibilityAttr('invisible');UsdPhysics.CollisionAPI.Apply(m.GetPrim()).CreateCollisionEnabledAttr(True);UsdPhysics.MeshCollisionAPI.Apply(m.GetPrim()).CreateApproximationAttr('convexHull')\n# physical contact properties\npm=UsdShade.Material.Define(stage,'/Broccoli/Looks/Contact');phys=UsdPhysics.MaterialAPI.Apply(pm.GetPrim());phys.CreateStaticFrictionAttr(.6);phys.CreateDynamicFrictionAttr(.5);phys.CreateRestitutionAttr(.05)\nUsdShade.MaterialBindingAPI.Apply(root.GetPrim()).Bind(pm,materialPurpose='physics')\nstage.GetRootLayer().Save()\nnp.savez_compressed('/tmp/render_data.npz',**{f'{i}_{s}': v for i,item in enumerate(render) for s,v in zip(['p','f','uv','tex','n'],item)})\nprint('Done',len(cp),'crown points',len(cf),'faces',flush=True)\n" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_upcwlkrJjQRFv53ZE8JCaYgV|fc_0b06547d1795ba2b016ad80374b98487d2bc34efa007130c31", + "content": "Successfully wrote to /tmp/build_asset.py", + "extra": { + "tool_name": "write", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 8383, + "completion_tokens": 7194, + "cached_tokens": 8051, + "extra": { + "cache_write_tokens": 329, + "reasoning_tokens": 1034, + "pi_total_tokens": 15577 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "21aa43e4", + "pi_parent_id": "a46cc0cb", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad80357cc9c87d2acf7494e0902043c", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 14, + "timestamp": "2026-10-21T00:14:12.381Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_Gxtn0ObVYAUXbqHzNi0M3ich|fc_0b06547d1795ba2b016ad803d3dff487d289b6a76cc46b5f86", + "function_name": "bash", + "arguments": { + "command": "OPENBLAS_NUM_THREADS=2 python /tmp/build_asset.py", + "timeout": 600 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_Gxtn0ObVYAUXbqHzNi0M3ich|fc_0b06547d1795ba2b016ad803d3dff487d289b6a76cc46b5f86", + "content": "Generating crown\nBounds [0.95307696 0.91693878 0.99290429] [ 0.00116326 -0.00043391 -0.00025612]\nCrown textures\nAuthoring USD\nDone 204162 crown points 408320 faces", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 15595, + "completion_tokens": 52, + "cached_tokens": 8380, + "extra": { + "cache_write_tokens": 7212, + "reasoning_tokens": 16, + "pi_total_tokens": 15647 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "24498dbf", + "pi_parent_id": "05a009f5", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad803d225fc87d2b852cefc3de0d05d", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 15, + "timestamp": "2026-10-21T00:14:25.465Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_2JXbpmx0W7hBJ55SqWrkNEIw|fc_0b06547d1795ba2b016ad803e0ebcc87d298c0ac8743f44ef8", + "function_name": "mcp", + "arguments": { + "tool": "benchmark_validate_candidate", + "args": { + "request_id": "initial-1" + } + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_2JXbpmx0W7hBJ55SqWrkNEIw|fc_0b06547d1795ba2b016ad803e0ebcc87d298c0ac8743f44ef8", + "content": "{\"request_id\":\"initial-1\",\"snapshot_sha256\":\"76d4ca1c1771a5b8bf7a3166517e35fc89eac0ff337aa6d73a5f58c59a669dfd\",\"validation_calls_used\":1,\"validation_calls_remaining\":4,\"feedback\":{\"schema_version\":\"simready-validator-feedback-v1\",\"snapshot_sha256\":\"76d4ca1c1771a5b8bf7a3166517e35fc89eac0ff337aa6d73a5f58c59a669dfd\",\"reward\":84.67391304347827,\"simready\":{\"schema\":\"simready-validator-score-v1\",\"policy_id\":\"NVIDIA-Robotics-Prop-4.0.0-mandatory-95-plus-5-v1\",\"status\":\"scored\",\"score_percent\":84.67391304347827,\"base_credit_percent\":84.67391304347827,\"completion_bonus\":0,\"passed_count\":41,\"failed_count\":5,\"unknown_count\":0,\"applicable_count\":46,\"official_conformance\":{\"profile\":{\"id\":\"Robotics-Prop\",\"version\":\"4.0.0\"},\"passed\":false,\"filtered\":false},\"checks\":[{\"requirement_id\":\"com.nvidia.simready.HI.010\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.004\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.005\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.007\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.008\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.007\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.010\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.COL.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.COL.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.COL.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.001\",\"status\":\"fail\",\"finding_count\":9},{\"requirement_id\":\"com.nvidia.simready.SL.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.MAT.001\",\"status\":\"fail\",\"finding_count\":4},{\"requirement_id\":\"com.nvidia.simready.SL.QCODE.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.TIME.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SR.002\",\"status\":\"fail\",\"finding_count\":1},{\"requirement_id\":\"com.nvidia.simready.SR.004\",\"status\":\"fail\",\"finding_count\":1},{\"requirement_id\":\"com.nvidia.simready.UN.006\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.UN.007\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VG.008\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VG.025\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VG.MESH.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.MAT.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.PS.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.TEX.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.TEX.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.AA.001\",\"status\":\"fail\",\"finding_count\":5},{\"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.00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-n -m 20 -M 240 --max-columns-preview -F -e -e ; use sed -n ,p for nearby lines\",\"redactions\":\"private host paths and credential patterns only; original diagnostic wording, suggestions and candidate USD sites retained\",\"file_available\":true,\"validation_calls_consumed\":0}},\"status\":\"completed\"}", + "extra": { + "tool_name": "mcp", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 15720, + "completion_tokens": 29, + "cached_tokens": 15592, + "extra": { + "cache_write_tokens": 125, + "reasoning_tokens": 0, + "pi_total_tokens": 15749 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "469f26c5", + "pi_parent_id": "5b4a1cae", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad803def9e887d2be33f7e1513830f4", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 16, + "timestamp": "2026-10-21T00:14:36.014Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_zlOX7NXakVtaXAxefTSvHJkm|fc_0b06547d1795ba2b016ad803e92e8c87d28411ce994e06f7a4", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport json\np='/tmp/simready-validation-reports/1170df8e813346bbe60cb155a002a3d725a01efa198ca8efa1da63ae6786c189.json'\nd=json.load(open(p));print(d.keys());\ndef walk(x):\n if isinstance(x,dict):\n if 'requirement_id' in x and any(s in str(x.get('requirement_id')) for s in ['SL.001','SL.MAT','SR.002','SR.004','AA.001']):print(json.dumps(x,indent=2))\n else:\n for v in x.values():walk(v)\n elif isinstance(x,list):\n for v in x:walk(v)\nwalk(d)\nPY", + "timeout": 30 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_zlOX7NXakVtaXAxefTSvHJkm|fc_0b06547d1795ba2b016ad803e92e8c87d28411ce994e06f7a4", + "content": "dict_keys(['asset_path', 'asset_sha256', 'engine_dispatch_completed', 'features_summary', 'infos', 'infrastructure_errors', 'inventory', 'issues', 'logs', 'outcome', 'passed', 'profile_id', 'profile_version', 'rule_execution', 'soft_issues', 'warnings'])", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 17382, + "completion_tokens": 194, + "cached_tokens": 15717, + "extra": { + "cache_write_tokens": 1662, + "reasoning_tokens": 0, + "pi_total_tokens": 17576 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "90da0809", + "pi_parent_id": "ac4c8d03", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad803e7b5d087d2ad4793c62cc794e3", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 17, + "timestamp": "2026-10-21T00:14:39.520Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_Lwf9Ml4dGBnerkbU68lceq5T|fc_0b06547d1795ba2b016ad803edfff887d29b44c2d76a818101", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport json\nj=json.load(open('/tmp/simready-validation-reports/1170df8e813346bbe60cb155a002a3d725a01efa198ca8efa1da63ae6786c189.json'))\nfor i in j['issues']:print(json.dumps(i,indent=2))\nPY", + "timeout": 30 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_Lwf9Ml4dGBnerkbU68lceq5T|fc_0b06547d1795ba2b016ad803edfff887d29b44c2d76a818101", + "content": "{\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=/Broccoli/Geometry/Crown)\",\n \"message\": \"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\",\n \"prim_path\": \"/Broccoli/Geometry/Crown\",\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=/Broccoli/Geometry/MainStalk)\",\n \"message\": \"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\",\n \"prim_path\": \"/Broccoli/Geometry/MainStalk\",\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=/Broccoli/Geometry/Branch_00)\",\n \"message\": \"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\",\n \"prim_path\": \"/Broccoli/Geometry/Branch_00\",\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=/Broccoli/Geometry/Branch_01)\",\n \"message\": \"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\",\n \"prim_path\": \"/Broccoli/Geometry/Branch_01\",\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=/Broccoli/Geometry/Branch_02)\",\n \"message\": \"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\",\n \"prim_path\": \"/Broccoli/Geometry/Branch_02\",\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=/Broccoli/Geometry/Branch_03)\",\n \"message\": \"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\",\n \"prim_path\": \"/Broccoli/Geometry/Branch_03\",\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=/Broccoli/Geometry/Branch_04)\",\n \"message\": \"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\",\n \"prim_path\": \"/Broccoli/Geometry/Branch_04\",\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=/Broccoli/Geometry/TrimmedRib_00)\",\n \"message\": \"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\",\n \"prim_path\": \"/Broccoli/Geometry/TrimmedRib_00\",\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=/Broccoli/Geometry/TrimmedRib_01)\",\n \"message\": \"Unlabeled prim: no SemanticsLabelsAPI semantics found on the prim, its ancestors, its bound material, or its GeomSubsets.\",\n \"prim_path\": \"/Broccoli/Geometry/TrimmedRib_01\",\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\": \"LayerId(identifier='/output/asset.usd')\",\n \"message\": \"Dependent Reference \\\"asset.usd\\\" should begin with \\\"./\\\" or \\\"../\\\".\",\n \"prim_path\": null,\n \"requirement_version\": \"1.0.0\",\n \"rule\": \"usd_validation_nvidia.rules._atomic_asset.AnchoredAssetPathsChecker\",\n \"rule_id\": \"com.nvidia.usd.AA.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}\n{\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"LayerId(identifier='/output/asset.usd')\",\n \"message\": \"Dependent Reference \\\"textures/crown_color.png\\\" should begin with \\\"./\\\" or \\\"../\\\".\",\n \"prim_path\": null,\n \"requirement_version\": \"1.0.0\",\n \"rule\": \"usd_validation_nvidia.rules._atomic_asset.AnchoredAssetPathsChecker\",\n \"rule_id\": \"com.nvidia.usd.AA.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}\n{\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"LayerId(identifier='/output/asset.usd')\",\n \"message\": \"Dependent Reference \\\"textures/crown_normal.png\\\" should begin with \\\"./\\\" or \\\"../\\\".\",\n \"prim_path\": null,\n \"requirement_version\": \"1.0.0\",\n \"rule\": \"usd_validation_nvidia.rules._atomic_asset.AnchoredAssetPathsChecker\",\n \"rule_id\": \"com.nvidia.usd.AA.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}\n{\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"LayerId(identifier='/output/asset.usd')\",\n \"message\": \"Dependent Reference \\\"textures/cut_color.png\\\" should begin with \\\"./\\\" or \\\"../\\\".\",\n \"prim_path\": null,\n \"requirement_version\": \"1.0.0\",\n \"rule\": \"usd_validation_nvidia.rules._atomic_asset.AnchoredAssetPathsChecker\",\n \"rule_id\": \"com.nvidia.usd.AA.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}\n{\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"LayerId(identifier='/output/asset.usd')\",\n \"message\": \"Dependent Reference \\\"textures/stalk_color.png\\\" should begin with \\\"./\\\" or \\\"../\\\".\",\n \"prim_path\": null,\n \"requirement_version\": \"1.0.0\",\n \"rule\": \"usd_validation_nvidia.rules._atomic_asset.AnchoredAssetPathsChecker\",\n \"rule_id\": \"com.nvidia.usd.AA.001\",\n \"severity\": \"failure\",\n \"suggestions\": []\n}\n{\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"PrimId(stage_id=StageId(root_layer=LayerId(identifier='/output/asset.usd')), path=/Broccoli/Looks/Crown)\",\n \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n \"prim_path\": \"/Broccoli/Looks/Crown\",\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=/Broccoli/Looks/Stalk)\",\n \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n \"prim_path\": \"/Broccoli/Looks/Stalk\",\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=/Broccoli/Looks/CutEnd)\",\n \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n \"prim_path\": \"/Broccoli/Looks/CutEnd\",\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=/Broccoli/Looks/Contact)\",\n \"message\": \"Unlabeled material: a Material prim must have 'SemanticsLabelsAPI:material' applied with a non-empty 'semantics:labels:material' value.\",\n \"prim_path\": \"/Broccoli/Looks/Contact\",\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\": \"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}", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 17651, + "completion_tokens": 99, + "cached_tokens": 17379, + "extra": { + "cache_write_tokens": 269, + "reasoning_tokens": 0, + "pi_total_tokens": 17750 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "fd35dd4b", + "pi_parent_id": "4cf55287", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad803ecceb087d2a3edaa93f92ddd20", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 18, + "timestamp": "2026-10-21T00:14:43.107Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_EBjvIgAzu30XXKEvgORufef9|fc_0b06547d1795ba2b016ad803f2b5d087d29db067eb1d7e0e48", + "function_name": "bash", + "arguments": { + "command": "which g++ || which cc; python - <<'PY'\nfrom pxr import UsdSemantics\nprint(UsdSemantics)\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_EBjvIgAzu30XXKEvgORufef9|fc_0b06547d1795ba2b016ad803f2b5d087d29db067eb1d7e0e48", + "content": "", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 21015, + "completion_tokens": 77, + "cached_tokens": 17648, + "extra": { + "cache_write_tokens": 3364, + "reasoning_tokens": 23, + "pi_total_tokens": 21092 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "d31d1511", + "pi_parent_id": "b27c5967", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad803f04e1c87d2985b61043fff7eb1", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 19, + "timestamp": "2026-10-21T00:15:15.818Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_gF0oc3XtYvvtf90pcPy2qvrP|fc_0b06547d1795ba2b016ad804026f8887d2a6da5e294f525c83", + "function_name": "write", + "arguments": { + "path": "/tmp/render_asset.py", + "content": "import numpy as np, os, math\nfrom PIL import Image, ImageDraw, ImageFilter\nfrom pxr import Usd,UsdGeom,UsdShade\nstage=Usd.Stage.Open('/output/asset.usd')\nSIZE=1100\nview=np.array([.33,-.92,.43]);view/=np.linalg.norm(view)\nright=np.cross([0,0,1],view);right/=np.linalg.norm(right);up=np.cross(view,right)\nlight=np.array([-.4,-.6,1.1]);light/=np.linalg.norm(light)\nlight2=np.array([1.,.4,.3]);light2/=np.linalg.norm(light2)\nPs=[];Fs=[];UVs=[];Ns=[];Mats=[];offset=0\ntexs={k:np.asarray(Image.open('/output/textures/'+k)).astype(np.float32)/255 for k in ['crown_color.png','stalk_color.png','cut_color.png','crown_normal.png']}\ndef linear(a):return np.where(a<.04045,a/12.92,((a+.055)/1.055)**2.4)\ndef srgb(a):return np.where(a<.0031308,a*12.92,1.055*np.maximum(a,0)**(1/2.4)-.055)\nfor prim in stage.Traverse():\n if not prim.IsA(UsdGeom.Mesh) or '/Geometry/' not in str(prim.GetPath()):continue\n m=UsdGeom.Mesh(prim);p=np.asarray(m.GetPointsAttr().Get());f=np.asarray(m.GetFaceVertexIndicesAttr().Get()).reshape(-1,3);n=np.asarray(m.GetNormalsAttr().Get());uv=np.asarray(UsdGeom.PrimvarsAPI(m).GetPrimvar('st').Get()).reshape(-1,3,2)\n ps=p[f].mean(1);nn=n[f].mean(1);nn/=np.maximum(np.linalg.norm(nn,axis=1,keepdims=True),1e-6)\n visible=nn@view>-.08\n if 'Crown' in str(prim.GetPath()): texname='crown_color.png'\n else:texname='stalk_color.png'\n uvmean=uv.mean(1);tx=texs[texname];v=1-uvmean[:,1];u=uvmean[:,0];col=linear(tx[(v*tx.shape[0]).astype(int)%tx.shape[0],(u*tx.shape[1]).astype(int)%tx.shape[1]])\n if texname=='crown_color.png':\n nt=texs['crown_normal.png'];nm=nt[(v*nt.shape[0]).astype(int)%nt.shape[0],(u*nt.shape[1]).astype(int)%nt.shape[1]]*2-1\n du1=uv[:,1]-uv[:,0];du2=uv[:,2]-uv[:,0];ep1=p[f[:,1]]-p[f[:,0]];ep2=p[f[:,2]]-p[f[:,0]]\n det=du1[:,0]*du2[:,1]-du1[:,1]*du2[:,0];det=np.where(abs(det)<1e-10,1e-10,det)\n tangent=(ep1*du2[:,1,None]-ep2*du1[:,1,None])/det[:,None]; tangent-=nn*(tangent*nn).sum(1)[:,None];tangent/=np.maximum(np.linalg.norm(tangent,axis=1,keepdims=True),1e-6)\n bitangent=np.cross(nn,tangent)\n nn=nn*nm[:,2,None]+tangent*nm[:,0,None]+bitangent*nm[:,1,None];nn/=np.maximum(np.linalg.norm(nn,axis=1,keepdims=True),1e-6)\n else:\n for sub in prim.GetChildren():\n if sub.IsA(UsdGeom.Subset):\n ids=np.asarray(UsdGeom.Subset(sub).GetIndicesAttr().Get());tx=texs['cut_color.png'];col[ids]=linear(tx[(v[ids]*tx.shape[0]).astype(int)%tx.shape[0],(u[ids]*tx.shape[1]).astype(int)%tx.shape[1]])\n shade=.39+.65*np.maximum(nn@light,0)+.12*np.maximum(nn@light2,0)\n col=np.uint8(np.clip(srgb(col*shade[:,None]),0,1)*255)\n Ps.append(p);Fs.append(f[visible]+offset);Mats.append(col[visible]);offset+=len(p)\np=np.concatenate(Ps);f=np.concatenate(Fs);colors=np.concatenate(Mats)\nxy=np.stack([p@right,p@up],-1);mn=xy.min(0);mx=xy.max(0);scale=(SIZE-160)/(mx-mn).max();xy=(xy-(mn+mx)/2)*scale+SIZE/2;xy[:,1]=SIZE-xy[:,1]\nz=p@view;order=np.argsort(z[f].mean(1))\nimage=Image.new('RGB',(SIZE,SIZE),(48,46,46));shadow=Image.new('L',(SIZE,SIZE));sd=ImageDraw.Draw(shadow);sd.ellipse((170,830,950,1030),fill=140);shadow=shadow.filter(ImageFilter.GaussianBlur(32));image.paste((8,8,8),(0,0,SIZE,SIZE),shadow)\ndraw=ImageDraw.Draw(image)\nfor k in order:\n draw.polygon([tuple(x) for x in xy[f[k]]],fill=tuple(colors[k]))\nimage.resize((1024,1024),Image.Resampling.LANCZOS).save('/tmp/preview.png')\nos.makedirs('/output/.thumbs/256x256',exist_ok=True);image.resize((256,256),Image.Resampling.LANCZOS).save('/output/.thumbs/256x256/asset.usd.png')\nprint('Rendered',len(order),'triangles')\n" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_gF0oc3XtYvvtf90pcPy2qvrP|fc_0b06547d1795ba2b016ad804026f8887d2a6da5e294f525c83", + "content": "Successfully wrote to /tmp/render_asset.py", + "extra": { + "tool_name": "write", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 21142, + "completion_tokens": 1842, + "cached_tokens": 21012, + "extra": { + "cache_write_tokens": 127, + "reasoning_tokens": 516, + "pi_total_tokens": 22984 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "971200a2", + "pi_parent_id": "cf9b249a", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": 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"image", + "source": { + "media_type": "image/png", + "path": "images/pi_image_2.png" + } + } + ], + "extra": { + "tool_name": "read", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 23053, + "completion_tokens": 29, + "cached_tokens": 22999, + "extra": { + "cache_write_tokens": 51, + "reasoning_tokens": 0, + "pi_total_tokens": 23082 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "d24cb59d", + "pi_parent_id": "4a435ca5", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad80419dec087d2be943ee0145d98bf", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 22, + "timestamp": "2026-10-21T00:15:56.365Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Inspecting texture details**\n\nI\u2019m focusing on capturing the big, undulating curds with very fine stipples for texture. The current view seems okay, but I want to make sure the macro lobes are deeper without overstating them. I should inspect the image closely, maybe zoom in on the original and crop certain regions to match the texture more accurately. It\u2019s all about getting that perfect look without going overboard! Let\u2019s dive into that!", + "tool_calls": [ + { + "tool_call_id": "call_r2CyAwlslIUnOLmAUsvzwvJn|fc_0b06547d1795ba2b016ad8043bac9887d2ad2048160cc8ca6c", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nfrom PIL import Image\nim=Image.open('/task/thumbnail.png');im.crop((250,250,650,650)).save('/tmp/refcrop.png')\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_r2CyAwlslIUnOLmAUsvzwvJn|fc_0b06547d1795ba2b016ad8043bac9887d2ad2048160cc8ca6c", + "content": "(no output)", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 24328, + "completion_tokens": 1143, + "cached_tokens": 23050, + "extra": { + "cache_write_tokens": 1275, + "reasoning_tokens": 1077, + "pi_total_tokens": 25471 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "6114a486", + "pi_parent_id": "f81fa3fc", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad8041d030087d29936ac3a674056fb", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 23, + "timestamp": "2026-10-21T00:16:00.156Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_0bdW19bI7Fr8CG7gZzue6Go6|fc_0b06547d1795ba2b016ad8043f755887d28fc7c1ff94aa5266", + "function_name": "read", + "arguments": { + "path": "/tmp/refcrop.png", + "offset": 1, + "limit": 1 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_0bdW19bI7Fr8CG7gZzue6Go6|fc_0b06547d1795ba2b016ad8043f755887d28fc7c1ff94aa5266", + "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": 25485, + "completion_tokens": 29, + "cached_tokens": 24325, + "extra": { + "cache_write_tokens": 1157, + "reasoning_tokens": 0, + "pi_total_tokens": 25514 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "daf1528b", + "pi_parent_id": "4a2cf0f9", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad8043d619c87d2804b4190253b6c21", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 24, + "timestamp": "2026-10-21T00:16:10.398Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "The first NVIDIA validation passed 41 of 46 mandatory checks. The remaining findings concern semantic labels, asset metadata, relative-path formatting and a thumbnail. I also inspected a local preview and will bury the exposed branch ends inside the crown and strengthen the floret texture to better match the reference.", + "tool_calls": [ + { + "tool_call_id": "call_YqQIjvWUC3sMIfUZpyNA6D5Q|fc_0b06547d1795ba2b016ad80449479087d28f51f530b0b4bb03", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nfrom pxr import UsdSemantics\nprint(dir(UsdSemantics.LabelsAPI));print(UsdSemantics.LabelsAPI.__doc__)\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_YqQIjvWUC3sMIfUZpyNA6D5Q|fc_0b06547d1795ba2b016ad80449479087d28f51f530b0b4bb03", + "content": "['Apply', 'CanApply', 'ComputeInheritedTaxonomies', 'CreateLabelsAttr', 'Get', 'GetAll', 'GetDirectTaxonomies', 'GetLabelsAttr', 'GetPath', 'GetPrim', 'GetSchemaAttributeNames', 'GetSchemaClassPrimDefinition', 'GetSchemaKind', 'IsAPISchema', 'IsAppliedAPISchema', 'IsConcrete', 'IsMultipleApplyAPISchema', 'IsSemanticsLabelsAPIPath', 'IsTyped', '_GetStaticTfType', '__bool__', '__class__', '__delattr__', '__dict__', '__dir__', '__doc__', '__eq__', '__format__', '__ge__', '__getattribute__', '__getstate__', '__gt__', '__hash__', '__init__', '__init_subclass__', '__instance_size__', '__le__', '__lt__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__']\nNone", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 25734, + "completion_tokens": 387, + "cached_tokens": 25482, + "extra": { + "cache_write_tokens": 249, + "reasoning_tokens": 259, + "pi_total_tokens": 26121 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "24c65c02", + "pi_parent_id": "5412a373", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad804416a6087d28e2a6050729c53dd", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 25, + "timestamp": "2026-10-21T00:16:41.543Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_Wau6g2byA8P9vnvdNeoKS2bG|fc_0b06547d1795ba2b016ad8045b2edc87d2b0507664a1cec6ff", + "function_name": "edit", + "arguments": { + "path": "/tmp/build_asset.py", + "edits": [ + { + "oldText": "s1=seeds(47,90); a1=rng.uniform(.12,.26,47); w1=rng.uniform(.23,.36,47)", + "newText": "s1=seeds(40,90); a1=rng.uniform(.17,.31,40); w1=rng.uniform(.24,.38,40)" + }, + { + "oldText": "return .86+lobes(d,s1,a1,w1)+lobes(d,s2,a2,w2)+.045*(noise(d,5,13)-.5)+.024*(noise(d,15,22)-.5)+.006*(noise(d,64,5)-.5)+.002*(noise(d,140,1)-.5)", + "newText": "return .81+lobes(d,s1,a1,w1)+lobes(d,s2,a2,w2)+.060*(noise(d,5,13)-.5)+.030*(noise(d,15,22)-.5)+.006*(noise(d,64,5)-.5)+.002*(noise(d,140,1)-.5)" + }, + { + "oldText": "t=np.linspace(0,1,40)", + "newText": "t=np.linspace(0,1,80)" + }, + { + "oldText": "branches=[([.050,.002,.091],[.005,-.036,.109],.0115),([.050,.003,.092],[.003,.032,.116],.012),([.046,0,.085],[.007,-.019,.038],.011),([.049,.006,.087],[.009,.042,.068],.011),([.047,.002,.091],[.000,.000,.130],.012)]", + "newText": "branches=[([.050,.002,.091],[-.022,-.027,.103],.0115),([.050,.003,.092],[-.023,.027,.109],.012),([.046,0,.085],[-.022,-.016,.044],.011),([.049,.006,.087],[-.021,.029,.068],.011),([.047,.002,.091],[-.023,.000,.113],.012)]" + }, + { + "oldText": "stems.append(('TrimmedRib_%02d'%k,)+tube(cent,r*(1-.27*t),48,99+k,.11))", + "newText": "stems.append(('TrimmedRib_%02d'%k,)+tube(cent,r*(1-.62*t),48,99+k,.16))" + }, + { + "oldText": "cells=worley(warp,215,42); pebbles=1-np.clip(cells/.95,0,1)", + "newText": "cells=worley(warp,145,42); pebbles=1-np.clip(cells/.95,0,1)" + }, + { + "oldText": "var=.62*(n0-.5)+.34*(n1-.5)+.18*(n2-.5)+.13*(n3-.5)+.14*(pebbles-.5)+.09*(micro-.5)", + "newText": "var=.70*(n0-.5)+.48*(n1-.5)+.35*(n2-.5)+.20*(n3-.5)+.25*(pebbles-.5)+.12*(micro-.5)" + }, + { + "oldText": "pits=np.clip((cells-.58)*1.4,0,.26);c*=1-pits[...,None]", + "newText": "pits=np.clip((cells-.35)*1.1,0,.38);c*=1-pits[...,None]" + }, + { + "oldText": "height[y0:y0+len(yy)]=.00018*pebbles+.000065*micro+.000025*fine+.00007*n3", + "newText": "height[y0:y0+len(yy)]=.00028*pebbles+.000065*micro+.000025*fine+.00007*n3" + }, + { + "oldText": "m,vn=mesh('/Broccoli/Geometry/'+name,p,f,uv,stalkmat)\n subset=", + "newText": "m,vn=mesh('/Broccoli/Geometry/'+name,p,f,uv,stalkmat)\n # Crisp cut rim with a level, softly textured cut surface, without radial fan shading.\n fn=vn[f].copy()\n capids=np.where(caps)[0]\n for k in capids:\n nn=p[f[k,1]]-p[f[k,0]]; nn2=p[f[k,2]]-p[f[k,0]]; tangent=np.cross(nn,nn2);tangent/=max(np.linalg.norm(tangent),1e-12)\n # Each cut points approximately along the local stalk axis.\n if np.dot(tangent,p[-1]-p[-2])>0: tangent=p[-1]-p[-2]\n else:tangent=p[-2]-p[-1]\n tangent/=max(np.linalg.norm(tangent),1e-12);fn[k]=tangent\n m.GetNormalsAttr().Set(Vt.Vec3fArray.FromNumpy(fn.reshape(-1,3).astype(np.float32)));m.SetNormalsInterpolation('faceVarying')\n subset=" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_Wau6g2byA8P9vnvdNeoKS2bG|fc_0b06547d1795ba2b016ad8045b2edc87d2b0507664a1cec6ff", + "content": "Successfully replaced 10 block(s) in /tmp/build_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 26366, + "completion_tokens": 1662, + "cached_tokens": 25731, + "extra": { + "cache_write_tokens": 632, + "reasoning_tokens": 516, + "pi_total_tokens": 28028 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "6d87dd64", + "pi_parent_id": "92cfaeb7", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad8044b790487d2ae7cd9e3f103cb18", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 26, + "timestamp": "2026-10-21T00:16:47.410Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Considering tangent caps**\n\nI\u2019m thinking about capping normals tangent p[-1]-p[-2]. The idea is that it's the difference between endpoints at the centers, which isn\u2019t local for each branch tangent. It seems reasonable for a curve that maintains a similar shape. A good cap should feel local while ensuring smooth sides face. I also need to consider updating the varying parser and renderer. It\u2019s a bit complex, but I\u2019m getting there!", + "tool_calls": [ + { + "tool_call_id": "call_d8mGy1HZWDegT1sMoj3VCwRJ|fc_0b06547d1795ba2b016ad8046e109c87d2916eb2d453cae874", + "function_name": "edit", + "arguments": { + "path": "/tmp/render_asset.py", + "edits": [ + { + "oldText": "ps=p[f].mean(1);nn=n[f].mean(1);nn/=np.maximum(np.linalg.norm(nn,axis=1,keepdims=True),1e-6)", + "newText": "ps=p[f].mean(1);nn=(n.reshape(-1,3,3).mean(1) if m.GetNormalsInterpolation()=='faceVarying' else n[f].mean(1));nn/=np.maximum(np.linalg.norm(nn,axis=1,keepdims=True),1e-6)" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_d8mGy1HZWDegT1sMoj3VCwRJ|fc_0b06547d1795ba2b016ad8046e109c87d2916eb2d453cae874", + "content": "Successfully replaced 1 block(s) in /tmp/render_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 28052, + "completion_tokens": 185, + "cached_tokens": 26363, + "extra": { + "cache_write_tokens": 1686, + "reasoning_tokens": 46, + "pi_total_tokens": 28237 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "619b1fa5", + "pi_parent_id": "3e02ad18", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad8046aa4fc87d290c05f1d21290e65", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 27, + "timestamp": "2026-10-21T00:16:59.677Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_4jOeCXm1Lc3XPUEfC1iwBDaS|fc_0b06547d1795ba2b016ad80473667c87d2b5fea8f6f2ccbaca", + "function_name": "write", + "arguments": { + "path": "/tmp/finalize_asset.py", + "content": "from pxr import Usd, UsdGeom, UsdShade, UsdSemantics, Sdf, Gf, Vt\nimport datetime, json, os\ns=Usd.Stage.Open('/output/asset.usd');r=s.GetDefaultPrim()\nr.RemoveAppliedSchema('SemanticsAPI:class')\nfor a in ['semantics:class:semanticType','semantics:class:semanticData']:r.RemoveProperty(a)\nUsdSemantics.LabelsAPI.Apply(r,'class').CreateLabelsAttr().Set(Vt.TokenArray(['broccoli','vegetable','food']))\nfor p in s.Traverse():\n if p.IsA(UsdShade.Material):\n label='plant_tissue' if p.GetName()!='Contact' else 'vegetable'\n UsdSemantics.LabelsAPI.Apply(p,'material').CreateLabelsAttr().Set(Vt.TokenArray([label]))\n for a in p.GetAttributes():\n if a.GetTypeName()==Sdf.ValueTypeNames.Asset:\n val=a.Get()\n if val and val.path and not val.path.startswith(('./','../','/')):a.Set(Sdf.AssetPath('./'+val.path))\nr.SetAssetInfoByKey('identifier',Sdf.AssetPath('./asset.usd'))\nmetadata={'author':'OpenAI','asset_name':'Broccoli','asset_type':'rigid_prop','asset_license':'CC0-1.0','category':'food/vegetable','source_file':'reference_thumbnail','usd_date_generated':'2026-10-21','qcode':'Q47722','rigid_body_count':1,'asset_extents':Vt.DoubleArray([.1788112074136734,.13802482932806015,.14483480486524059]),'mass':.385,'description':'A compact yellow-green broccoli crown with a short cut stalk. One continuous rigid vegetable; no articulation.'}\ns.GetRootLayer().customLayerData={'SimReady_Metadata':metadata}\ns.GetRootLayer().Save()\njsonmeta={k:list(v) if isinstance(v,Vt.DoubleArray) else v for k,v in metadata.items()}\nwith open('/output/asset.json','w') as f:json.dump(jsonmeta,f,indent=2)\nprint('Applied current UsdSemantics labels, material labels, SI metadata, and anchored paths.')\n" + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_4jOeCXm1Lc3XPUEfC1iwBDaS|fc_0b06547d1795ba2b016ad80473667c87d2b5fea8f6f2ccbaca", + "content": "Successfully wrote to /tmp/finalize_asset.py", + "extra": { + "tool_name": "write", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 28261, + "completion_tokens": 522, + "cached_tokens": 28049, + "extra": { + "cache_write_tokens": 209, + "reasoning_tokens": 0, + "pi_total_tokens": 28783 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "8c2eb8ec", + "pi_parent_id": "7c87b29a", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad80470aae887d2bb34fd2ab4cafe17", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 28, + "timestamp": "2026-10-21T00:17:04.180Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_C2OoeUWsB5lbgijYaczS9GYO|fc_0b06547d1795ba2b016ad8047f2a7487d2a3985f4710248cc5", + "function_name": "bash", + "arguments": { + "command": "OPENBLAS_NUM_THREADS=2 python /tmp/build_asset.py && python /tmp/finalize_asset.py && OPENBLAS_NUM_THREADS=2 python /tmp/render_asset.py", + "timeout": 600 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_C2OoeUWsB5lbgijYaczS9GYO|fc_0b06547d1795ba2b016ad8047f2a7487d2a3985f4710248cc5", + "content": "Generating crown\nBounds [0.95481402 0.903732 0.9935717 ] [1.03737252e-03 3.20665325e-05 8.25231357e-04]\nCrown textures\nAuthoring USD\nDone 204162 crown points 408320 faces\nApplied current UsdSemantics labels, material labels, SI metadata, and anchored paths.\nRendered 234538 triangles", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 28803, + "completion_tokens": 57, + "cached_tokens": 28258, + "extra": { + "cache_write_tokens": 542, + "reasoning_tokens": 0, + "pi_total_tokens": 28860 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "5a935c9c", + "pi_parent_id": "a6883be2", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad8047cc12887d2bea5f80b9c96f317", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 29, + "timestamp": "2026-10-21T00:17:19.298Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_qjbbR6Q8kUsFztqTBe8FhKUp|fc_0b06547d1795ba2b016ad8048ea3e887d2a9fdc6af335fa57e", + "function_name": "read", + "arguments": { + "path": "/tmp/preview.png", + "offset": 1, + "limit": 1 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_qjbbR6Q8kUsFztqTBe8FhKUp|fc_0b06547d1795ba2b016ad8048ea3e887d2a9fdc6af335fa57e", + "content": [ + { + "type": "text", + "text": "Read image file [image/png]" + }, + { + "type": "image", + "source": { + "media_type": "image/png", + "path": "images/pi_image_4.png" + } + } + ], + "extra": { + "tool_name": "read", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 28965, + "completion_tokens": 29, + "cached_tokens": 28800, + "extra": { + "cache_write_tokens": 162, + "reasoning_tokens": 0, + "pi_total_tokens": 28994 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "04d27c7e", + "pi_parent_id": "c882f7ba", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad8048d3de887d29a1d0ae4e4bc2e36", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 30, + "timestamp": "2026-10-21T00:17:29.383Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_UKxZjG5uE1awo6JMn0IRC5mw|fc_0b06547d1795ba2b016ad80498bff487d28279b50f51491dba", + "function_name": "mcp", + "arguments": { + "tool": "benchmark_validate_candidate", + "args": { + "request_id": "repair-2" + } + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_UKxZjG5uE1awo6JMn0IRC5mw|fc_0b06547d1795ba2b016ad80498bff487d28279b50f51491dba", + "content": "{\"request_id\":\"repair-2\",\"snapshot_sha256\":\"95d066b630030b8a5cbfd018e6dc29c0bc90c0237c4ff8d9586dbea57713b6b9\",\"validation_calls_used\":2,\"validation_calls_remaining\":3,\"feedback\":{\"schema_version\":\"simready-validator-feedback-v1\",\"snapshot_sha256\":\"95d066b630030b8a5cbfd018e6dc29c0bc90c0237c4ff8d9586dbea57713b6b9\",\"reward\":92.93478260869566,\"simready\":{\"schema\":\"simready-validator-score-v1\",\"policy_id\":\"NVIDIA-Robotics-Prop-4.0.0-mandatory-95-plus-5-v1\",\"status\":\"scored\",\"score_percent\":92.93478260869566,\"base_credit_percent\":92.93478260869566,\"completion_bonus\":0,\"passed_count\":45,\"failed_count\":1,\"unknown_count\":0,\"applicable_count\":46,\"official_conformance\":{\"profile\":{\"id\":\"Robotics-Prop\",\"version\":\"4.0.0\"},\"passed\":false,\"filtered\":false},\"checks\":[{\"requirement_id\":\"com.nvidia.simready.HI.010\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.004\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.005\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.007\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.NP.008\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.007\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.010\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.COL.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.COL.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.RB.COL.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.SL.MAT.001\",\"status\":\"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\":\"fail\",\"finding_count\":1},{\"requirement_id\":\"com.nvidia.simready.UN.006\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.UN.007\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VG.008\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VG.025\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VG.MESH.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.MAT.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.PS.002\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.TEX.001\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.simready.VM.TEX.003\",\"status\":\"pass\",\"finding_count\":0},{\"requirement_id\":\"com.nvidia.usd.AA.001\",\"status\":\"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\":\"7f5eee028fffe94a58c044fc377074b236b4d786ab8cc540b19b59c06b843879\",\"sha256\":\"7f5eee028fffe94a58c044fc377074b236b4d786ab8cc540b19b59c06b843879\",\"bytes\":189156,\"total_characters\":189156,\"issue_counts\":{\"issues\":1,\"soft_issues\":40,\"warnings\":0,\"infos\":0},\"complete_report_available\":true,\"delivery\":\"agent_file\",\"file_path\":\"/tmp/simready-validation-reports/7f5eee028fffe94a58c044fc377074b236b4d786ab8cc540b19b59c06b843879.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": 30240, + "completion_tokens": 244, + "cached_tokens": 28962, + "extra": { + "cache_write_tokens": 1275, + "reasoning_tokens": 213, + "pi_total_tokens": 30484 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "d2d58677", + "pi_parent_id": "85dd2fae", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad80490cda887d2a0e1364c074a5969", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 31, + "timestamp": "2026-10-21T00:17:40.383Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_kHEbiZPnGyUSd6BMjciVTlo8|fc_0b06547d1795ba2b016ad804a2783c87d2a8024b3e952ab392", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport json\nj=json.load(open('/tmp/simready-validation-reports/7f5eee028fffe94a58c044fc377074b236b4d786ab8cc540b19b59c06b843879.json'))\nprint(json.dumps(j['issues'],indent=2))\nfor i in j['soft_issues']:print(i['rule_id'],i['message'])\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_kHEbiZPnGyUSd6BMjciVTlo8|fc_0b06547d1795ba2b016ad804a2783c87d2a8024b3e952ab392", + "content": "[\n {\n \"asset\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"location\": \"StageId(root_layer=LayerId(identifier='/output/asset.usd'))\",\n \"message\": \"Metadata fields are authored in both storage locations: asset_extents, asset_license, asset_name, asset_type, author, category, description, mass, qcode, rigid_body_count, source_file, usd_date_generated. Each field must be authored in root-layer customLayerData (including SimReady_Metadata) or the sibling sidecar JSON, not both.\",\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]\ncom.nvidia.simready.VM.PBR.003 input 'varname' on '/Broccoli/Looks/Crown/UV' has type token, nodedef declares string\ncom.nvidia.simready.VM.BIND.002 Type mismatch for: inputs:varname\texpected: string\tactual: token\ncom.nvidia.simready.VM.PBR.003 input 'varname' on '/Broccoli/Looks/Stalk/UV' has type token, nodedef declares string\ncom.nvidia.simready.VM.BIND.002 Type mismatch for: inputs:varname\texpected: string\tactual: token\ncom.nvidia.simready.VM.PBR.003 input 'varname' on '/Broccoli/Looks/CutEnd/UV' has type token, nodedef declares string\ncom.nvidia.simready.VM.BIND.002 Type mismatch for: inputs:varname\texpected: string\tactual: token\ncom.nvidia.simready.VM.PBR.001 material '/Broccoli/Looks/Crown' is bound for rendering but connects no OpenPBR final surface: it connects outputs:surface, and not 'outputs:mtlx:surface'\ncom.nvidia.simready.VM.MDL.003 material '/Broccoli/Looks/Crown' 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\ncom.nvidia.simready.VM.PBR.001 material '/Broccoli/Looks/Stalk' is bound for rendering but connects no OpenPBR final surface: it connects outputs:surface, and not 'outputs:mtlx:surface'\ncom.nvidia.simready.VM.PBR.001 material '/Broccoli/Looks/CutEnd' is bound for rendering but connects no OpenPBR final surface: it connects outputs:surface, and not 'outputs:mtlx:surface'\ncom.nvidia.simready.VM.MDL.003 material '/Broccoli/Looks/Stalk' 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\ncom.nvidia.simready.VM.MDL.003 material '/Broccoli/Looks/CutEnd' 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\ncom.nvidia.simready.PMT.001 Prim has a collision API but no material binding through material:binding:physics.\ncom.nvidia.simready.ISA.001 Default prim must have kind='component' for proper Isaac Sim composition.\ncom.nvidia.simready.ISA.001 Incomplete Isaac Sim composition: performance robot layout; missing layers: base, geometries, instances, materials.\ncom.nvidia.simready.SR.001 Required metadata fields are missing: asset_name, asset_type, source_file, usd_date_generated. Fields must be authored directly in the root layer's customLayerData.\ncom.nvidia.simready.NVM.002 Required attribute \"omni:simready:nonvisual:base\" for nonvisual material doesn't exist.\ncom.nvidia.simready.NVM.003 Required attribute \"omni:simready:nonvisual:coating\" for nonvisual material doesn't exist.\ncom.nvidia.simready.NVM.001 Required attribute \"omni:simready:nonvisual:attributes\" for nonvisual material doesn't exist.\ncom.nvidia.simready.NVM.002 Required attribute \"omni:simready:nonvisual:base\" for nonvisual material doesn't exist.\ncom.nvidia.simready.NVM.003 Required attribute \"omni:simready:nonvisual:coating\" for nonvisual material doesn't exist.\ncom.nvidia.simready.NVM.001 Required attribute \"omni:simready:nonvisual:attributes\" for nonvisual material doesn't exist.\ncom.nvidia.simready.RB.MB.001 Not enough physics rigid bodies found under the default prim. Found 1, expected at least 2.\ncom.nvidia.simready.GSP.001 Asset must have at least one grasp vector prim.\ncom.nvidia.simready.DISP.001 GPrim '/Broccoli/Geometry/Crown' does not resolve a 'primvars:displayColor', authored on the prim or inherited from an ancestor\ncom.nvidia.simready.DISP.001 GPrim '/Broccoli/Geometry/MainStalk' does not resolve a 'primvars:displayColor', authored on the prim or inherited from an ancestor\ncom.nvidia.simready.DISP.001 GPrim '/Broccoli/Geometry/Branch_00' does not resolve a 'primvars:displayColor', authored on the prim or inherited from an ancestor\ncom.nvidia.simready.DISP.001 GPrim '/Broccoli/Geometry/Branch_01' does not resolve a 'primvars:displayColor', authored on the prim or inherited from an ancestor\ncom.nvidia.simready.DISP.001 GPrim '/Broccoli/Geometry/Branch_02' does not resolve a 'primvars:displayColor', authored on the prim or inherited from an ancestor\ncom.nvidia.simready.DISP.001 GPrim '/Broccoli/Geometry/Branch_03' does not resolve a 'primvars:displayColor', authored on the prim or inherited from an ancestor\ncom.nvidia.simready.DISP.001 GPrim '/Broccoli/Geometry/Branch_04' does not resolve a 'primvars:displayColor', authored on the prim or inherited from an ancestor\ncom.nvidia.simready.DISP.001 GPrim '/Broccoli/Geometry/TrimmedRib_00' does not resolve a 'primvars:displayColor', authored on the prim or inherited from an ancestor\ncom.nvidia.simready.DISP.001 GPrim '/Broccoli/Geometry/TrimmedRib_01' does not resolve a 'primvars:displayColor', authored on the prim or inherited from an ancestor\ncom.nvidia.simready.MUJOCO.COL.001 MuJoCo collider '/Broccoli/Colliders/CrownHull' must apply MjcCollisionAPI.\ncom.nvidia.simready.MUJOCO.COL.001 MuJoCo collider '/Broccoli/Colliders/StalkHull' must apply MjcCollisionAPI.\ncom.nvidia.simready.RV.007 Default prim must declare a 'MuJoCo' physics runtime variant set.\ncom.nvidia.simready.RV.004 Default prim must declare a 'Newton' physics runtime variant set.\ncom.nvidia.simready.NEWTON.COL.001 Newton mesh collider '/Broccoli/Colliders/CrownHull' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.\ncom.nvidia.simready.NEWTON.COL.001 Newton mesh collider '/Broccoli/Colliders/StalkHull' must apply either NewtonMeshCollisionAPI or NewtonSDFCollisionAPI.\ncom.nvidia.simready.RV.001 Default prim must declare a 'PhysX' physics runtime variant set.", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 32119, + "completion_tokens": 117, + "cached_tokens": 30237, + "extra": { + "cache_write_tokens": 1879, + "reasoning_tokens": 0, + "pi_total_tokens": 32236 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "15ba3895", + "pi_parent_id": "04f20337", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad804a0988887d2b951d533f8c05b4b", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 32, + "timestamp": "2026-10-21T00:18:03.265Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Analyzing reference shapes**\n\nI'm comparing reference dimensions and shapes for a project. The reference stem end spans are .04 x .06, while ours measures .044 x .04. I've noticed the reference cut end shape isn't elliptical like mine; it's circular when viewed from the +X direction. I might consider flattening it to achieve a triangular cross-section with broader scallops and adding five flutes of .075, but the current design has four angular corners. Lastly, I need to adjust the tube end radius, making it larger at the top than the bottom.", + "tool_calls": [ + { + "tool_call_id": "call_ONV4poIomJbedYrJ9RDQpVid|fc_0b06547d1795ba2b016ad804ba2e4c87d290f4b6456677f886", + "function_name": "edit", + "arguments": { + "path": "/tmp/render_asset.py", + "edits": [ + { + "oldText": "view=np.array([.33,-.92,.43]);view/=np.linalg.norm(view)", + "newText": "view=np.array([-.23,-.92,.43]);view/=np.linalg.norm(view)" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_ONV4poIomJbedYrJ9RDQpVid|fc_0b06547d1795ba2b016ad804ba2e4c87d290f4b6456677f886", + "content": "Successfully replaced 1 block(s) in /tmp/render_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 33903, + "completion_tokens": 917, + "cached_tokens": 32116, + "extra": { + "cache_write_tokens": 1784, + "reasoning_tokens": 843, + "pi_total_tokens": 34820 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "d8b433d6", + "pi_parent_id": "a400f532", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad804a58ed087d29be95bba1ce2abfd", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 33, + "timestamp": "2026-10-21T00:18:07.234Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_POVZTaNQSGXkcBF9yGS0euXp|fc_0b06547d1795ba2b016ad804be378487d2aafffdd4e7ad8c1c", + "function_name": "bash", + "arguments": { + "command": "OPENBLAS_NUM_THREADS=2 python /tmp/render_asset.py", + "timeout": 200 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_POVZTaNQSGXkcBF9yGS0euXp|fc_0b06547d1795ba2b016ad804be378487d2aafffdd4e7ad8c1c", + "content": "Rendered 239237 triangles", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 34844, + "completion_tokens": 34, + "cached_tokens": 33900, + "extra": { + "cache_write_tokens": 941, + "reasoning_tokens": 0, + "pi_total_tokens": 34878 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "1e0a1a66", + "pi_parent_id": "9f5aafb3", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad804bca17087d294eca45b4db26071", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 34, + "timestamp": "2026-10-21T00:18:12.576Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_VLrrGELmcTJNETrtOyoOgLZV|fc_0b06547d1795ba2b016ad804c3c2d487d283a1dc4b9e5dc5fc", + "function_name": "read", + "arguments": { + "path": "/tmp/preview.png", + "offset": 1, + "limit": 1 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_VLrrGELmcTJNETrtOyoOgLZV|fc_0b06547d1795ba2b016ad804c3c2d487d283a1dc4b9e5dc5fc", + "content": [ + { + "type": "text", + "text": "Read image file [image/png]" + }, + { + "type": "image", + "source": { + "media_type": "image/png", + "path": "images/pi_image_5.png" + } + } + ], + "extra": { + "tool_name": "read", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 34895, + "completion_tokens": 29, + "cached_tokens": 34841, + "extra": { + "cache_write_tokens": 51, + "reasoning_tokens": 0, + "pi_total_tokens": 34924 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "2449f7b8", + "pi_parent_id": "1de6e0c6", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad804c291e487d2a26e5806c18c51f2", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 35, + "timestamp": "2026-10-21T00:18:31.648Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "reasoning_content": "**Refining textures and colors**\n\nI'm considering how to adjust the texture and color of the crown, darkening it slightly, as it's only about a 10% change, so it shouldn\u2019t be huge. I think adding crevice lines could enhance realism by about 5%. Real broccoli has variations, with some yellow high spots and dark stems, so I'll integrate this bump-based color system after variances. It needs more work, but I feel it\u2019ll be beneficial in the end. I also need to ensure that I\u2019m not duplicating efforts.", + "tool_calls": [ + { + "tool_call_id": "call_I5nRUDavuLI9Zfr80f2hcJ2K|fc_0b06547d1795ba2b016ad804d30b2087d2888a3ca5d7ac0520", + "function_name": "edit", + "arguments": { + "path": "/tmp/finalize_asset.py", + "edits": [ + { + "oldText": "s.GetRootLayer().customLayerData={'SimReady_Metadata':metadata}\ns.GetRootLayer().Save()\njsonmeta={k:list(v) if isinstance(v,Vt.DoubleArray) else v for k,v in metadata.items()}\nwith open('/output/asset.json','w') as f:json.dump(jsonmeta,f,indent=2)\nprint('Applied current UsdSemantics labels, material labels, SI metadata, and anchored paths.')", + "newText": "s.GetRootLayer().customLayerData=metadata\n# Use exactly one metadata storage location, as required by MetadataUnion.\nif os.path.exists('/output/asset.json'):os.remove('/output/asset.json')\nUsd.ModelAPI(r).SetKind('component')\nfor p in s.Traverse():\n if p.IsA(UsdGeom.Mesh):\n color=(.405,.515,.067) if p.GetName()=='Crown' else (.65,.74,.28)\n UsdGeom.Gprim(p).CreateDisplayColorAttr().Set(Vt.Vec3fArray([Gf.Vec3f(*color)]))\n if p.GetAttribute('inputs:varname'):\n p.RemoveProperty('inputs:varname');p.CreateAttribute('inputs:varname',Sdf.ValueTypeNames.String).Set('st')\n if '/Colliders/' in str(p.GetPath()):\n UsdShade.MaterialBindingAPI.Apply(p).Bind(UsdShade.Material(s.GetPrimAtPath('/Broccoli/Looks/Contact')),materialPurpose='physics')\ns.GetRootLayer().Save()\nprint('Applied current UsdSemantics labels, material labels, SI metadata, and anchored paths.')" + } + ] + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_I5nRUDavuLI9Zfr80f2hcJ2K|fc_0b06547d1795ba2b016ad804d30b2087d2888a3ca5d7ac0520", + "content": "Successfully replaced 1 block(s) in /tmp/finalize_asset.py.", + "extra": { + "tool_name": "edit", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 36170, + "completion_tokens": 852, + "cached_tokens": 34892, + "extra": { + "cache_write_tokens": 1275, + "reasoning_tokens": 461, + "pi_total_tokens": 37022 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "052dbc3d", + "pi_parent_id": "8740ba90", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad804c6302c87d2a2088050ac4ba2a7", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 36, + "timestamp": "2026-10-21T00:18:39.385Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_vo458JJ5pdMs1gua7qWuCrQR|fc_0b06547d1795ba2b016ad804dd29c887d2ac4faedcd4ac37d5", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nfrom PIL import Image\nimport numpy as np\nfor f in ['/task/thumbnail.png','/tmp/preview.png']:\n a=np.asarray(Image.open(f))[:,:,:3];mask=(a[:,:,1]>a[:,:,0]*1.06)&(a[:,:,0]>65)&(a[:,:,2] -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": 39925, + "completion_tokens": 84, + "cached_tokens": 38647, + "extra": { + "cache_write_tokens": 1275, + "reasoning_tokens": 52, + "pi_total_tokens": 40009 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "ea528e75", + "pi_parent_id": "0f6c93a5", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad8050edb5487d2bd8f93ab7b287df6", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 41, + "timestamp": "2026-10-21T00:19:46.067Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "", + "tool_calls": [ + { + "tool_call_id": "call_y6Fe45cYcoqWvigQzhMNGk7y|fc_0b06547d1795ba2b016ad8051dc7d887d2aa22f7dd1e336116", + "function_name": "bash", + "arguments": { + "command": "python - <<'PY'\nimport json\nimport numpy as np\nfrom pxr import Usd,UsdGeom,UsdPhysics\np='/tmp/simready-validation-reports/898d2f0b6cbba90f0348cd409440e2e17e58051e3221c2199e009a897940220e.json'\nj=json.load(open(p));print('Final NVIDIA findings:',len(j['issues']),'mandatory issues;',len(j['soft_issues']),'optional findings')\nprint('Optional findings:',sorted(set(i['rule_id'] for i in j['soft_issues'])))\ns=Usd.Stage.Open('/output/asset.usd');pts=[]\nfor p in s.Traverse():\n if p.IsA(UsdGeom.Mesh) and '/Geometry/' in str(p.GetPath()):pts.append(np.array(UsdGeom.Mesh(p).GetPointsAttr().Get()))\np=np.concatenate(pts);print('Measured visual XYZ in metres:',p.max(0)-p.min(0));print('Rigid bodies:',[str(p.GetPath()) for p in s.Traverse() if p.HasAPI(UsdPhysics.RigidBodyAPI)]);print('Physics joints:',[str(p.GetPath()) for p in s.Traverse() if p.IsA(UsdPhysics.Joint)])\nPY", + "timeout": 20 + } + } + ], + "observation": { + "results": [ + { + "source_call_id": "call_y6Fe45cYcoqWvigQzhMNGk7y|fc_0b06547d1795ba2b016ad8051dc7d887d2aa22f7dd1e336116", + "content": "Final NVIDIA findings: 0 mandatory issues; 24 optional findings\nOptional findings: ['com.nvidia.simready.GSP.001', 'com.nvidia.simready.ISA.001', 'com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.NP.006', 'com.nvidia.simready.NVM.001', 'com.nvidia.simready.NVM.002', 'com.nvidia.simready.NVM.003', 'com.nvidia.simready.RB.MB.001', 'com.nvidia.simready.RV.001', 'com.nvidia.simready.RV.004', 'com.nvidia.simready.RV.007', 'com.nvidia.simready.SR.001', 'com.nvidia.simready.VM.MDL.003', 'com.nvidia.simready.VM.PBR.001']\nMeasured visual XYZ in metres: [0.1788112 0.13802484 0.1448348 ]\nRigid bodies: ['/Broccoli']\nPhysics joints: []", + "extra": { + "tool_name": "bash", + "is_error": false + } + } + ] + }, + "metrics": { + "prompt_tokens": 41637, + "completion_tokens": 403, + "cached_tokens": 39922, + "extra": { + "cache_write_tokens": 1712, + "reasoning_tokens": 99, + "pi_total_tokens": 42040 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "228fe665", + "pi_parent_id": "a3854c5b", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad8051a032887d297b2e303faab055b", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + }, + { + "step_id": 42, + "timestamp": "2026-10-21T00:19:52.779Z", + "source": "agent", + "model_name": "harbor-endpoint/gpt-6.1-sol", + "message": "The asset is complete at `/output/asset.usd`, with local textures and dimensions matching the supplied measurements. It is one dynamic rigid body with no joints, consistent with the reference. I inspected the final NVIDIA report: all 46 mandatory checks pass, for a formal score of 100/100; optional findings remain.", + "tool_calls": [ + { + "tool_call_id": "call_Lckhk7NBQZRAEaRtHJ6kohqR|fc_0b06547d1795ba2b016ad80528588087d2a527bd36564c39e2", + "function_name": "mcp", + "arguments": { + "tool": "benchmark_submit_asset", + "args": { + "request_id": "final" + } + } + } + ], + "observation": { + "results": [] + }, + "metrics": { + "prompt_tokens": 42280, + "completion_tokens": 122, + "cached_tokens": 41634, + "extra": { + "cache_write_tokens": 643, + "reasoning_tokens": 21, + "pi_total_tokens": 42402 + } + }, + "llm_call_count": 1, + "extra": { + "pi_event_id": "23a733e0", + "pi_parent_id": "6bf3c6d1", + "provider": "harbor-endpoint", + "api": "openai-responses", + "response_id": "resp_0b06547d1795ba2b016ad80524e11c87d29c2354e9ff6eae42", + "response_model": null, + "stop_reason": "toolUse", + "raw_stop_reason": "completed" + } + } + ], + "final_metrics": { + 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"simready.validate", + "message": "Registering feature 'FET_024_PHYSX' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_024_PHYSX-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_024_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_024_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_025_ROS' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_025_ROS-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_028_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_028_ISAAC-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_028_MUJOCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_028_MUJOCO-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_028_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_028_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_030_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_030_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_031_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_031_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_032_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_032_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_033_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_033_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_033_STANDARD' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_033_STANDARD-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_033_STANDARD' version '0.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_033_STANDARD-0.3.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_033_STANDARD' version '0.4.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_033_STANDARD-0.4.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_040_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_040_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_041_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_041_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_042_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_042_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_043_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_043_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_044_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_044_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_045_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_045_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_046_STANDARD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_046_STANDARD-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_100_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_100_ISAAC-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_100_ISAAC' version '0.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_100_ISAAC-0.2.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_100_ISAAC' version '0.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_100_ISAAC-0.3.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_100_ISAAC' version '0.4.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_100_ISAAC-0.4.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_101_ISAAC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/features/FET_101_ISAAC-0.1.0.json" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Open-Taxonomy-COCO' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Open-Taxonomy-Cityscapes' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Open-Taxonomy-ADE20K' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Open-Taxonomy-PascalVOC' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Open-Taxonomy-SUNRGBD' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Open-Taxonomy-ImageNet1K' version '0.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/open_taxonomy_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package' version '1.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package-NoBOM' version '1.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package-Candidate' version '1.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package-Candidate' version '1.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package-Candidate' version '1.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package-Candidate' version '1.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/package_profiles.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Body' version '2.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_body.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Body' version '2.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_body.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Body' version '2.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_body.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Body' version '2.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_body.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Body' version '3.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_body.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Gripper' version '2.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_gripper.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Gripper' version '2.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_gripper.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Gripper' version '2.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_gripper.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Gripper' version '3.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robot_gripper.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robotics-Prop' version '3.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robotics_prop.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robotics-Prop' version '3.1.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robotics_prop.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robotics-Prop' version '3.2.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robotics_prop.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robotics-Prop' version '3.3.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robotics_prop.toml" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robotics-Prop' version '4.0.0' from /opt/simready/venv/lib/python3.12/site-packages/simready/foundation/tier_core/profiles/robotics_prop.toml" + }, + { + "level": "WARNING", + "logger": "root", + "message": "DeprecationWarning: Use find() instead" + }, + { + "level": "WARNING", + "logger": "root", + "message": "File /opt/simready/venv/lib/python3.12/site-packages/simready/validate/api.py, line 485, in _build_features_validation_summary" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.GSP.001'] did not pass for feature FET_005_STANDARD." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.ISA.001'] did not pass for feature FET_100_ISAAC." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.MUJOCO.COL.001'] did not pass for feature FET_003_MUJOCO." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.VM.MDL.003'] did not pass for feature FET_006_MDL." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.NEWTON.COL.001'] did not pass for feature FET_003_NEWTON." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.NP.006', 'com.nvidia.simready.RV.007', 'com.nvidia.simready.SR.001'] did not pass for feature FET_000_MUJOCO." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.NP.006', 'com.nvidia.simready.SR.001'] did not pass for feature FET_000_STANDARD." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.VM.PBR.001'] did not pass for feature FET_006_OPENPBR." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.MB.001'] did not pass for feature FET_004_MUJOCO." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.RB.MB.001'] did not pass for feature FET_004_PHYSX." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.NP.006', 'com.nvidia.simready.RV.004', 'com.nvidia.simready.SR.001'] did not pass for feature FET_000_NEWTON." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.MB.001'] did not pass for feature FET_004_NEWTON." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.RB.MB.001'] did not pass for feature FET_004_STANDARD." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.NVM.001', 'com.nvidia.simready.NVM.002', 'com.nvidia.simready.NVM.003'] did not pass for feature FET_007_STANDARD." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.NP.006', 'com.nvidia.simready.RV.001', 'com.nvidia.simready.SR.001'] did not pass for feature FET_000_PHYSX." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Clearing requirements registry" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Clearing features registry" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Clearing profiles registry" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Clearing rules registry" + } + ], + "outcome": "success", + "passed": true, + "profile_id": "Robotics-Prop", + "profile_version": "4.0.0", + "rule_execution": { + "buckets": [ + { + "bucket": "neutral", + "declared_requirement_codes": [ + "com.nvidia.simready.DISP.001", + "com.nvidia.simready.DISP.002", + "com.nvidia.simready.DISP.003", + "com.nvidia.simready.GSP.001", + "com.nvidia.simready.HI.010", + "com.nvidia.simready.ISA.001", + "com.nvidia.simready.JT.001", + "com.nvidia.simready.JT.ART.003", + "com.nvidia.simready.NP.002", + "com.nvidia.simready.NP.003", + "com.nvidia.simready.NP.004", + "com.nvidia.simready.NP.005", + "com.nvidia.simready.NP.006", + "com.nvidia.simready.NP.007", + "com.nvidia.simready.NP.008", + 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"com.nvidia.usd.VM.BIND.001", + "com.nvidia.usd.VM.MDL.002", + "com.nvidia.usd.VM.PS.001" + ], + "enabled_rules": [ + "simready.foundation.tier_core.capabilities.core.naming_paths.validation.AssetFolderStructureChecker", + "simready.foundation.tier_core.capabilities.core.naming_paths.validation.DirectoryStructureChecker", + "simready.foundation.tier_core.capabilities.core.naming_paths.validation.FileNamingConventionChecker", + "simready.foundation.tier_core.capabilities.core.naming_paths.validation.MetadataLocationChecker", + "simready.foundation.tier_core.capabilities.core.naming_paths.validation.PathLengthLimitsChecker", + "simready.foundation.tier_core.capabilities.core.naming_paths.validation.PathsExistChecker", + "simready.foundation.tier_core.capabilities.core.naming_paths.validation.RelativePathsChecker", + "simready.foundation.tier_core.capabilities.core.runtime_variants.validation.RuntimePhysicsIsolationChecker", + 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0000000000000000000000000000000000000000..6065fc277672c975261e2385c32d3aa15a024fc1 --- /dev/null +++ b/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/evidence/food_produce_broccoli_b01/reconstruction-1/reference-side-4.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35f99e83e19d239b4e2755e575be6ff82255141524f8ac602fe3067183fa16c5 +size 85696 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 ff8cc9ddf5674247cb66c9b44feb82f563cfad2c..eed57972a013b26004a19a0c2dc32a954d049f2a 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.

28 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-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
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
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
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

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 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

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

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

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
\ 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.

29 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-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
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_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
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
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

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 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

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_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

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

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
\ 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 8dd438bbe9e9be26435a975744787c1640d3d4ae..872d668141b1a7327ca0a57edc0923decf551d43 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": 28, + "completed_conditions": 29, "partial": true, "settings": { "reference_assets": [ @@ -57676,6 +57676,2169 @@ }, "reasoning_effort": "high" }, + { + "condition_id": "condition-b34e667c614e3f0fd8853140006c3d53d6d02f365408f53367972c42e9eef9f1", + "asset_id": "food_produce_broccoli_b01", + "requested_model": "gpt-6.1-sol", + "harness_id": "pi", + "skill_set_id": "none", + "repetition": 0, + "status": "completed", + "formal_fidelity_percent": 100.0, + 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"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": 0.38741341383807987, + "visual_fidelity_eligible": 2, + "visual_fidelity_measured": 2, + "visual_fidelity_coverage": 1.0, + "visual_fidelity_lower_bound_percent": 19.370670691903992, + "visual_fidelity_upper_bound_percent": 19.370670691903992, + "kinematic_fidelity_status": "not_applicable", + "kinematic_fidelity_earned": 0, + "kinematic_fidelity_eligible": 0, + "kinematic_fidelity_measured": 0, + "kinematic_fidelity_coverage": 0, + "kinematic_fidelity_lower_bound_percent": null, + "kinematic_fidelity_upper_bound_percent": null, + "visual_appearance_percent": 11.4990234375, + "visual_appearance_status": "measured", + "visual_appearance_earned": 235.5, + "visual_appearance_eligible": 2048, + "visual_appearance_measured": 2048, + "visual_appearance_coverage": 1.0, + "visual_appearance_lower_bound_percent": 11.4990234375, + "visual_appearance_upper_bound_percent": 11.4990234375, + "kinematic_reference_joint_count": 0, + "kinematic_candidate_joint_count": 0, + "kinematic_matched_joint_count": 0, + "kinematic_missing_joint_count": 0, + "kinematic_extra_joint_count": 0, + "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": null, + "kinematic_fixed_constraints_status": "not_applicable", + "kinematic_fixed_constraints_earned": 0, + "kinematic_fixed_constraints_eligible": 0, + "kinematic_fixed_constraints_measured": 0, + "kinematic_fixed_constraints_coverage": 0, + "kinematic_fixed_constraints_lower_bound_percent": null, + "kinematic_fixed_constraints_upper_bound_percent": null, + "fidelity_shape_earned": 0.32630847749255953, + "fidelity_shape_eligible": 1, + "fidelity_shape_measured": 1, + "fidelity_shape_status": "measured", + "fidelity_rigid_parts_earned": 0.32630847749255953, + "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": 4052, + "fidelity_materials_eligible": 20480, + "fidelity_materials_measured": 20480, + "fidelity_materials_status": "measured", + "fidelity_shape_precision": 0.3525390625, + "fidelity_shape_recall": 0.3037109375, + "fidelity_shape_samples_each_direction": 2048, + "fidelity_rigid_parts_geometry_percent": 32.630847749255956, + "fidelity_rigid_parts_structure_percent": 100.0, + "fidelity_rigid_parts_structure_earned": 4, + "fidelity_rigid_parts_structure_eligible": 4, + "fidelity_joints_reference_count": 0, + "fidelity_joints_candidate_count": 0, + "inference_calls_used": 41, + "validation_calls_used": 3, + "model_request_errors": 0, + "elapsed_seconds": 578.419898815453, + "model_request_seconds": 489.1102957203984, + "input_tokens": 919313, + "output_tokens": 20121, + "total_tokens": 939434, + "inference_cost_usd": null, + "compute_cost_usd": null, + "total_cost_usd": null, + "seed": 1064278322, + "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": 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"898d2f0b6cbba90f0348cd409440e2e17e58051e3221c2199e009a897940220e", + "bytes": 176723 + }, + "reasoning_effort": "high" + }, { "condition_id": "condition-e12539622db1f5c583c1f3a365065b7b03e13b02fcb5035f89452ee0f6123507", "asset_id": "handTruck_convertible_steel_red_a01", 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 5f7e82bec6e63601216abd5dae52172157a2a35f..306586ba151c9e7b0034f15331e080bd255ca774 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 @@ -25,5 +25,6 @@ condition-179b1df31ce0f36be87c55d42c605eb1f280e03cf775ebcd57b867805f159d71,engin condition-ffd7a5c5561bb6cd39bda71d3003fe80a1d4c9e5bd49a09de8b827e8d092b196,engineComponent_camshaft_a01,gpt-6.1-sol,pi,none,3,completed,100.0,94.43844214198165,0.0,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,93.90916420262542,50.0,,65.84821428571429,1.0,1.0,0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.888768842839633,2,2,1.0,94.43844214198165,94.43844214198165,measured,0.0,1,1,1.0,0.0,0.0,94.970703125,measured,1945.0,2048,2048,1.0,94.970703125,94.970703125,0,2,0,0,2,,not_applicable,0,0,0,0,,,0.0,measured,0,2,2,1.0,0.0,0.0,0.9390916420262542,1,1,measured,0.5,1,1,measured,0,0,0,not_applicable,9440,14336,14336,measured,0.9287109375,0.94970703125,2048,84.73857139016346,50.0,2,4,0,2,28,2,0,476.92183960415423,398.759111776948,631113,17682,648795,,, condition-cecd9b61f49155413f4fe815fd1eaf1db79bf30a60753e11b1d755d6e9da35b2,engineComponent_camshaft_a01,gpt-6.1-sol,pi,none,4,completed,100.0,0.0,,100.0,46,46,0,0,100.0,100.0,5,64.70588235294117,33,18,0,51,51,1.0,64.70588235294117,64.70588235294117,82.9091553806735,82.9091553806735,,12.799944196428571,1.0,1.0,0,0.5833333333333334,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,,,0.8290915538067349,1,1,measured,0.8290915538067349,1,1,measured,0,0,0,not_applicable,1835,14336,14336,measured,0.771484375,0.89599609375,2048,82.9091553806735,100.0,4,4,0,0,35,2,0,495.14448832534254,421.445948112756,861161,16684,877845,,, condition-22453487dba7523ab3a279efb632736d7544203d329c28cfd65e83631b191563,food_beverage_coffeeCup_a01,gpt-6.1-sol,pi,none,1,completed,100.0,72.53044446031988,99.99999993742968,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,95.87401722052458,95.19783193029149,88.88888888888889,31.533203125,1.0,1.0,1.0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.4506088892063977,2,2,1.0,72.53044446031988,72.53044446031988,measured,0.9999999993742967,1,1,1.0,99.99999993742968,99.99999993742968,54.87060546875,measured,1123.75,2048,2048,1.0,54.87060546875,54.87060546875,1,1,1,0,0,,not_applicable,0,0,0,0,,,99.99999993742968,measured,1.9999999987485935,2,2,1.0,99.99999993742968,99.99999993742968,0.9587401722052458,1,1,measured,1.9039566386058298,2,2,measured,8,9,9,measured,6458,20480,20480,measured,0.958984375,0.95849609375,2048,95.19783193029149,100.0,6,6,1,1,47,3,0,595.8230416737497,538.5053609590977,1221647,21670,1243317,,, 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condition-e12539622db1f5c583c1f3a365065b7b03e13b02fcb5035f89452ee0f6123507,handTruck_convertible_steel_red_a01,gpt-6.1-sol,pi,none,1,completed,100.0,11.488694598389886,1.9156562288657506,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,61.904366134751776,34.394488433236695,35.64356435643565,13.516315949984751,1.0,1.0,1.0,0.6671142578125,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.2297738919677977,2,2,1.0,11.488694598389886,11.488694598389886,measured,0.019156562288657506,1,1,1.0,1.9156562288657506,1.9156562288657506,2.132161458333333,measured,43.666666666666664,2048,2048,1.0,2.132161458333333,2.132161458333326,10,8,4,6,4,1.9156562288657506,measured,0.3448181211958351,18,18,1.0,1.9156562288657506,1.9156562288657506,,not_applicable,0,0,0,0,,,0.6190436613475178,1,1,measured,3.7833937276560365,11,11,measured,36,101,101,measured,2216,16395,16395,measured,0.6005859375,0.638671875,2048,34.394488433236695,75.0,18,24,10,8,38,3,0,702.4965718574822,625.8267327286303,1006459,28758,1035217,,, condition-9883dcb3c5c3c7e8f2c88628280b6e70c1639642b6fe7da78f537c27b5c3b5fd,kitchenware_kettle_a01,gpt-6.1-sol,pi,none,1,completed,100.0,57.2804568710457,0.0,100.0,46,46,0,0,100.0,100.0,5,76.47058823529412,39,12,0,51,51,1.0,76.47058823529412,76.47058823529412,82.67723056537103,40.14326206132092,25.806451612903224,24.6044921875,1.0,1.0,1.0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.145609137420914,2,2,1.0,57.2804568710457,57.2804568710457,measured,0.0,2,2,1.0,0.0,0.0,39.68505859375,measured,812.75,2048,2048,1.0,39.68505859375,39.68505859375,3,4,1,2,3,1.349948361205371,measured,0.08099690167232226,6,6,1.0,1.349948361205371,1.349948361205371,0.0,measured,0,1,1,1.0,0.0,0.0,0.8267723056537103,1,1,measured,1.6057304824528367,4,4,measured,8,31,31,measured,5039,20480,20480,measured,0.78515625,0.873046875,2048,40.14326206132092,80.0,8,10,3,4,38,3,0,758.2219672836363,649.5652432478964,1173908,29697,1203605,,, diff --git a/viewer-index.json b/viewer-index.json index ad70b64b7efa4c907623a0358335db8120e2d9b8..c144a882c674b399933b03edbc88cb55af8db3a2 100644 --- a/viewer-index.json +++ b/viewer-index.json @@ -131,6 +131,10 @@ "split": "food_beverage_coffeecup_a01", "path": "viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_beverage_coffeecup_a01.csv" }, + { + "split": "food_produce_broccoli_b01", + "path": "viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_produce_broccoli_b01.csv" + }, { "split": "handtruck_convertible_steel_red_a01", "path": "viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/handtruck_convertible_steel_red_a01.csv" @@ -155,7 +159,8 @@ "\"engineComponent_camshaft_a01\"": "enginecomponent_camshaft_a01", "\"cleaning_cloth_a01\"": "cleaning_cloth_a01", "\"handTruck_convertible_steel_red_a01\"": "handtruck_convertible_steel_red_a01", - "\"kitchenware_kettle_a01\"": "kitchenware_kettle_a01" + "\"kitchenware_kettle_a01\"": "kitchenware_kettle_a01", + "\"food_produce_broccoli_b01\"": "food_produce_broccoli_b01" }, "by_harness": { "\"pi\"": "pi" diff --git a/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_produce_broccoli_b01.csv b/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_produce_broccoli_b01.csv new file mode 100644 index 0000000000000000000000000000000000000000..8438caf4b333786ef34e0ce48df467adb648d2ba --- /dev/null +++ b/viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_produce_broccoli_b01.csv @@ -0,0 +1,2 @@ +condition_id,asset_id,requested_model,harness_id,skill_set_id,repetition,status,formal_fidelity_percent,visual_fidelity_percent,kinematic_fidelity_percent,simready_reward,mandatory_passed,mandatory_total,mandatory_failed,mandatory_unknown,mandatory_lower_bound_percent,mandatory_upper_bound_percent,completion_bonus,optional_score_percent,optional_passed,optional_failed,optional_unknown,optional_total,optional_measured,optional_coverage,optional_lower_bound_percent,optional_upper_bound_percent,fidelity_shape_percent,fidelity_rigid_parts_percent,fidelity_joints_percent,fidelity_materials_percent,fidelity_shape_coverage,fidelity_rigid_parts_coverage,fidelity_joints_coverage,fidelity_materials_coverage,fidelity_reference_geometry_status,formal_fidelity_status,formal_fidelity_earned,formal_fidelity_eligible,formal_fidelity_measured,formal_fidelity_coverage,formal_fidelity_lower_bound_percent,formal_fidelity_upper_bound_percent,visual_fidelity_status,visual_fidelity_earned,visual_fidelity_eligible,visual_fidelity_measured,visual_fidelity_coverage,visual_fidelity_lower_bound_percent,visual_fidelity_upper_bound_percent,kinematic_fidelity_status,kinematic_fidelity_earned,kinematic_fidelity_eligible,kinematic_fidelity_measured,kinematic_fidelity_coverage,kinematic_fidelity_lower_bound_percent,kinematic_fidelity_upper_bound_percent,visual_appearance_percent,visual_appearance_status,visual_appearance_earned,visual_appearance_eligible,visual_appearance_measured,visual_appearance_coverage,visual_appearance_lower_bound_percent,visual_appearance_upper_bound_percent,kinematic_reference_joint_count,kinematic_candidate_joint_count,kinematic_matched_joint_count,kinematic_missing_joint_count,kinematic_extra_joint_count,kinematic_moving_joints_percent,kinematic_moving_joints_status,kinematic_moving_joints_earned,kinematic_moving_joints_eligible,kinematic_moving_joints_measured,kinematic_moving_joints_coverage,kinematic_moving_joints_lower_bound_percent,kinematic_moving_joints_upper_bound_percent,kinematic_fixed_constraints_percent,kinematic_fixed_constraints_status,kinematic_fixed_constraints_earned,kinematic_fixed_constraints_eligible,kinematic_fixed_constraints_measured,kinematic_fixed_constraints_coverage,kinematic_fixed_constraints_lower_bound_percent,kinematic_fixed_constraints_upper_bound_percent,fidelity_shape_earned,fidelity_shape_eligible,fidelity_shape_measured,fidelity_shape_status,fidelity_rigid_parts_earned,fidelity_rigid_parts_eligible,fidelity_rigid_parts_measured,fidelity_rigid_parts_status,fidelity_joints_earned,fidelity_joints_eligible,fidelity_joints_measured,fidelity_joints_status,fidelity_materials_earned,fidelity_materials_eligible,fidelity_materials_measured,fidelity_materials_status,fidelity_shape_precision,fidelity_shape_recall,fidelity_shape_samples_each_direction,fidelity_rigid_parts_geometry_percent,fidelity_rigid_parts_structure_percent,fidelity_rigid_parts_structure_earned,fidelity_rigid_parts_structure_eligible,fidelity_joints_reference_count,fidelity_joints_candidate_count,inference_calls_used,validation_calls_used,model_request_errors,elapsed_seconds,model_request_seconds,input_tokens,output_tokens,total_tokens,inference_cost_usd,compute_cost_usd,total_cost_usd +condition-b34e667c614e3f0fd8853140006c3d53d6d02f365408f53367972c42e9eef9f1,food_produce_broccoli_b01,gpt-6.1-sol,pi,none,1,completed,100.0,19.370670691903992,,100.0,46,46,0,0,100.0,100.0,5,70.58823529411765,36,15,0,51,51,1.0,70.58823529411765,70.58823529411765,32.630847749255956,32.630847749255956,,19.78515625,1.0,1.0,0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,0.38741341383807987,2,2,1.0,19.370670691903992,19.370670691903992,not_applicable,0,0,0,0,,,11.4990234375,measured,235.5,2048,2048,1.0,11.4990234375,11.4990234375,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,0.32630847749255953,1,1,measured,0.32630847749255953,1,1,measured,0,0,0,not_applicable,4052,20480,20480,measured,0.3525390625,0.3037109375,2048,32.630847749255956,100.0,4,4,0,0,41,3,0,578.419898815453,489.1102957203984,919313,20121,939434,,,