diff --git a/README.md b/README.md
index 64a43a59fe2992b5961439faa9fed35a3895f1b6..412f3e9ac092a707416448fcb27447b16b7ac2df 100644
--- a/README.md
+++ b/README.md
@@ -43,7 +43,7 @@ denominator and every attempt remain under `replay/receipt/`.
 
 ```sh
 python3 -m venv .venv
-.venv/bin/python -m pip install "dvidia-training[arm] @ git+https://github.com/Dvidia-Inference/dvidia-training.git@44fa7013d2718d8b28941bd82de37806f80ddf23"
+.venv/bin/python -m pip install "dvidia-training[arm] @ git+https://github.com/Dvidia-Inference/dvidia-training.git@2a5fceaea8c2c7eeae808ea6656233d2a7f433fe"
 .venv/bin/dvidia-embodiment fetch-assets --output runs/reference-assets
 .venv/bin/dvidia-reference-task benchmark runs/reference-assets --output runs/grasp-development
 .venv/bin/dvidia-reference-task inspect runs/grasp-development
@@ -56,7 +56,7 @@ physics and learning are separate workloads; no minimum RAM or speed guarantee
 has been established for this task. WebGL2 is required only for the interactive
 browser viewer. Fetch dependencies and pinned assets once, then native simulation
 and exported replay work offline through a local HTTP server. The complete
-[local task guide](https://github.com/Dvidia-Inference/dvidia-training/blob/44fa7013d2718d8b28941bd82de37806f80ddf23/docs/native-task-benchmark.md)
+[local task guide](https://github.com/Dvidia-Inference/dvidia-training/blob/2a5fceaea8c2c7eeae808ea6656233d2a7f433fe/docs/native-task-benchmark.md)
 describes controls, scoring and measured timing boundaries.
 
 ## Hardware profiles
@@ -80,7 +80,7 @@ Frozen confirmation cohort: 9 planned attempts across 3 synthetic scenes. Counts
 - low_friction / replay_open_jaw: 0/1 completed, 1 numerically valid
 - low_friction / hold: 0/1 completed, 1 numerically valid
 
-Authored controller, synthetic scenes and privileged native simulator state. Contact is uncalibrated; no learned skill or physical robot is qualified. This is separate from the unloaded PiPER mechanics bundle; no PiPER 3D viewer is included. Every attempted episode, including failed and invalid attempts, remains under `tasks/piper/attempts/`. Inspect [the complete task report](tasks/piper/report.html), [frozen protocol](tasks/piper/protocol.json), [file hashes](tasks/piper/integrity.json), and [original MIT model license](tasks/piper/licenses/agilex_piper/LICENSE). [Local PiPER contact guide](https://github.com/Dvidia-Inference/dvidia-training/blob/44fa7013d2718d8b28941bd82de37806f80ddf23/docs/piper-contact-pilot.md).
+Authored controller, synthetic scenes and privileged native simulator state. Contact is uncalibrated; no learned skill or physical robot is qualified. This is separate from the unloaded PiPER mechanics bundle; no PiPER 3D viewer is included. Every attempted episode, including failed and invalid attempts, remains under `tasks/piper/attempts/`. Inspect [the complete task report](tasks/piper/report.html), [frozen protocol](tasks/piper/protocol.json), [file hashes](tasks/piper/integrity.json), and [original MIT model license](tasks/piper/licenses/agilex_piper/LICENSE). [Local PiPER contact guide](https://github.com/Dvidia-Inference/dvidia-training/blob/2a5fceaea8c2c7eeae808ea6656233d2a7f433fe/docs/piper-contact-pilot.md).
 
 
 ## PiPER guarded grip comparison
@@ -111,8 +111,69 @@ Frozen confirmation cohort: 30 planned attempts across six synthetic scenes. Two
 
 Baseline and guarded authored controllers use privileged native state and their own matched open-jaw replays plus a common hold control. Full qualification decisions, unresolved outcomes, absent opportunities, alarms, retries and aborts remain in the source evidence. These synthetic trials are not detector accuracy, learned competence or physical qualification.
 
-Every full attempt is stored as canonical deterministic gzip JSON under `tasks/piper-grip/attempts/`; the original seal records both compressed and decoded bytes and SHA-256. Download all files in `tasks/piper-grip/` together and run the pinned `dvidia-piper-grip inspect` command from [the local guide](https://github.com/Dvidia-Inference/dvidia-training/blob/44fa7013d2718d8b28941bd82de37806f80ddf23/docs/piper-grip-recovery.md). No archive extraction is needed. [Full comparison](tasks/piper-grip/report.html) · [Original protocol](tasks/piper-grip/protocol.json) · [Stored and decoded hashes](tasks/piper-grip/integrity.json).
-
+Every full attempt is stored as canonical deterministic gzip JSON under `tasks/piper-grip/attempts/`; the original seal records both compressed and decoded bytes and SHA-256. Download all files in `tasks/piper-grip/` together and run the pinned `dvidia-piper-grip inspect` command from [the local guide](https://github.com/Dvidia-Inference/dvidia-training/blob/2a5fceaea8c2c7eeae808ea6656233d2a7f433fe/docs/piper-grip-recovery.md). No archive extraction is needed. [Full comparison](tasks/piper-grip/report.html) · [Original protocol](tasks/piper-grip/protocol.json) · [Stored and decoded hashes](tasks/piper-grip/integrity.json).
+
+
+## PiPER contact memory v0.3
+
+Placement completion: baseline 4/12, probe-only 4/12, history 6/12.
+
+Retries, resumes and release refusals do not imply successful placement or recovery.
+
+Frozen confirmation cohort: 84 planned attempts across twelve synthetic scenes. Three frictions, two masses and two shared layouts; seven variants per scene. Every failed or invalid attempt remains in the denominator. Counts are descriptive, not physical reliability or detector accuracy.
+
+- μ=0.80, mass=0.04 kg / baseline_placement: 2/2 completed, 2 numerically valid
+- μ=0.80, mass=0.04 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.80, mass=0.04 kg / probe_only_placement: 2/2 completed, 2 numerically valid
+- μ=0.80, mass=0.04 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.80, mass=0.04 kg / history_placement: 2/2 completed, 2 numerically valid
+- μ=0.80, mass=0.04 kg / history_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.80, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid
+- μ=0.80, mass=0.06 kg / baseline_placement: 0/2 completed, 2 numerically valid
+- μ=0.80, mass=0.06 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.80, mass=0.06 kg / probe_only_placement: 0/2 completed, 2 numerically valid
+- μ=0.80, mass=0.06 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.80, mass=0.06 kg / history_placement: 2/2 completed, 2 numerically valid
+- μ=0.80, mass=0.06 kg / history_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.80, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid
+- μ=0.55, mass=0.04 kg / baseline_placement: 2/2 completed, 2 numerically valid
+- μ=0.55, mass=0.04 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.55, mass=0.04 kg / probe_only_placement: 2/2 completed, 2 numerically valid
+- μ=0.55, mass=0.04 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.55, mass=0.04 kg / history_placement: 2/2 completed, 2 numerically valid
+- μ=0.55, mass=0.04 kg / history_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.55, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid
+- μ=0.55, mass=0.06 kg / baseline_placement: 0/2 completed, 2 numerically valid
+- μ=0.55, mass=0.06 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.55, mass=0.06 kg / probe_only_placement: 0/2 completed, 2 numerically valid
+- μ=0.55, mass=0.06 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.55, mass=0.06 kg / history_placement: 0/2 completed, 2 numerically valid
+- μ=0.55, mass=0.06 kg / history_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.55, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid
+- μ=0.15, mass=0.04 kg / baseline_placement: 0/2 completed, 2 numerically valid
+- μ=0.15, mass=0.04 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.15, mass=0.04 kg / probe_only_placement: 0/2 completed, 2 numerically valid
+- μ=0.15, mass=0.04 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.15, mass=0.04 kg / history_placement: 0/2 completed, 2 numerically valid
+- μ=0.15, mass=0.04 kg / history_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.15, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid
+- μ=0.15, mass=0.06 kg / baseline_placement: 0/2 completed, 2 numerically valid
+- μ=0.15, mass=0.06 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.15, mass=0.06 kg / probe_only_placement: 0/2 completed, 2 numerically valid
+- μ=0.15, mass=0.06 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.15, mass=0.06 kg / history_placement: 0/2 completed, 2 numerically valid
+- μ=0.15, mass=0.06 kg / history_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.15, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid
+
+Baseline, probe-only and history are authored controllers with privileged native state, each with its own matched open-jaw replay and a common hold control. Full diagnostics, contact-memory decisions, refusals, retries, resumes and aborts are retained. These synthetic trials establish no learned competence, physical reliability or detector accuracy.
+
+Every attempt is canonical deterministic gzip JSON under `tasks/piper-contact-v03/attempts/`; the original seal records both stored and decoded bytes and SHA-256. Download all files in `tasks/piper-contact-v03/` together for the pinned offline inspection workflow in [the v0.3 guide](https://github.com/Dvidia-Inference/dvidia-training/blob/2a5fceaea8c2c7eeae808ea6656233d2a7f433fe/docs/piper-contact-memory-v03.md). [Full comparison](tasks/piper-contact-v03/report.html) · [Every outcome](tasks/piper-contact-v03/report.json) · [Original protocol](tasks/piper-contact-v03/protocol.json) · [Stored and decoded hashes](tasks/piper-contact-v03/integrity.json).
+
+
+The reviewed publication now permits at most **256 MiB of stored files**, so the v0.3
+comparison can retain all previous evidence alongside its 84 new full attempts.
+The **32 MiB per-file limit** and bounded single-member gzip decoding remain in place.
+This is a packaging limit, not a hardware or training memory requirement.
 
 ## Provenance and licensing
 
diff --git a/index.html b/index.html
index 0a28cb6ca7c8c7d289a87ae047af9921179040a9..0179c384ee0d595e84302d69e40a98fac8831a59 100644
--- a/index.html
+++ b/index.html
@@ -5,6 +5,6 @@
 <h1>See the motion. Inspect the evidence.</h1><p>A native six-joint arm, an articulated gripper and a free rigid object. Recorded task attempts make the simulator's behavior visible, and the complete receipts make its limits checkable.</p><p class="scope">This is recorded simulation from an authored controller with privileged simulator state. The browser does not run physics or connect to hardware. Learned skills, shoe manipulation and physical transfer remain future stages.</p>
 <div class="summary"><strong>Frozen confirmation cohort: 18 planned attempts across 6 synthetic scenes. Counts are descriptive, with no population or physical reliability claim.</strong><br>nominal / placement: 4/4 completed, 4 numerically valid<br>nominal / replay_open_jaw: 0/4 completed, 4 numerically valid<br>nominal / hold: 0/4 completed, 4 numerically valid<br>low_friction / placement: 2/2 completed, 2 numerically valid<br>low_friction / replay_open_jaw: 0/2 completed, 2 numerically valid<br>low_friction / hold: 0/2 completed, 2 numerically valid</div>
 <section aria-labelledby="replay-title"><h2 id="replay-title">Native grasp, carry and release.</h2><div class="links"><a href="replay/index.html">Open the full 3D replay ↗</a><a href="replay/receipt/report.html">Every attempted task ↗</a><a href="README.md">Install and reproduce ↗</a></div><div class="replay"><iframe src="replay/index.html" title="DVIDIA recorded native robot task replay" allow="fullscreen"></iframe></div><p class="tiny">Use orbit, zoom, recorded motion selection and the timeline inside the viewer. Replay is an excerpt; the full benchmark includes every matched control and invalid attempt. The native meshes, binary poses, complete receipts and license notices are served locally by this Space.</p></section>
-<section aria-labelledby="profiles-title"><h2 id="profiles-title">Hardware profiles and the next experiments.</h2><div class="gallery"><article class="profile"><span class="status">Recorded native contact task</span><h2>UR5e + Robotiq 2F-85</h2><p>Six arm joints, eight articulated gripper coordinates and a free rigid block. Full source outcomes and matched controls are available.</p><a href="replay/index.html">Inspect the task replay ↗</a></article><article class="profile"><span class="status">Recorded PiPER contact pilot · synthetic</span><h2>PiPER: authored grasp, carry and release</h2><p>Six arm commands in radians and one jaw command in metres. This pilot uses an authored controller and privileged native simulator state. Contact is uncalibrated; no learned skill, shoe competence or physical robot is qualified. No PiPER 3D viewer is included.</p><div class="summary"><strong>Frozen confirmation cohort: 9 planned attempts across 3 synthetic scenes. Counts are descriptive, with no population or physical reliability claim.</strong><br>nominal / placement: 2/2 completed, 2 numerically valid<br>nominal / replay_open_jaw: 0/2 completed, 2 numerically valid<br>nominal / hold: 0/2 completed, 2 numerically valid<br>low_friction / placement: 0/1 completed, 1 numerically valid<br>low_friction / replay_open_jaw: 0/1 completed, 1 numerically valid<br>low_friction / hold: 0/1 completed, 1 numerically valid</div><div class="links"><a href="tasks/piper/report.html">Every contact attempt ↗</a><a href="tasks/piper/report.json">Complete task report ↗</a><a href="tasks/piper/protocol.json">Frozen protocol ↗</a><a href="tasks/piper/integrity.json">All task file hashes ↗</a><a href="tasks/piper/licenses/agilex_piper/LICENSE">Original MIT model license ↗</a><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/44fa7013d2718d8b28941bd82de37806f80ddf23/docs/piper-contact-pilot.md">Pinned PiPER contact guide ↗</a></div></article><article class="profile"><span class="status">PiPER guarded grip comparison · synthetic</span><h2>Test the grip. Inspect recovery.</h2><div class="summary"><p><strong>Placement completion: baseline 4/6 versus guarded 2/6.</strong> This cohort does not show improved placement success.</p><p>Retries and qualification decisions do not imply successful recovery.</p><p>Frozen confirmation cohort: 30 planned attempts across six synthetic scenes. Two shared layouts at each friction; five variants per scene. Counts are descriptive, not physical reliability or detector accuracy.</p>μ=0.80 / baseline_placement: 2/2 completed, 2 numerically valid<br>μ=0.80 / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80 / guarded_placement: 2/2 completed, 2 numerically valid<br>μ=0.80 / guarded_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80 / hold: 0/2 completed, 2 numerically valid<br>μ=0.55 / baseline_placement: 2/2 completed, 2 numerically valid<br>μ=0.55 / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55 / guarded_placement: 0/2 completed, 2 numerically valid<br>μ=0.55 / guarded_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55 / hold: 0/2 completed, 2 numerically valid<br>μ=0.15 / baseline_placement: 0/2 completed, 2 numerically valid<br>μ=0.15 / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15 / guarded_placement: 0/2 completed, 2 numerically valid<br>μ=0.15 / guarded_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15 / hold: 0/2 completed, 2 numerically valid</div><p>Baseline and guarded controllers use privileged native state. Each has its own matched open-jaw replay; a shared hold control remains. Qualification decisions, retries, alarms, unresolved opportunities and aborts are retained. These are authored policies with uncalibrated contact, not learned skills or a physically qualified detector.</p><div class="links"><a href="tasks/piper-grip/report.html">Full paired comparison ↗</a><a href="tasks/piper-grip/report.json">All outcomes and diagnostics ↗</a><a href="tasks/piper-grip/protocol.json">Frozen guard and evaluation contract ↗</a><a href="tasks/piper-grip/integrity.json">Stored and decoded attempt hashes ↗</a><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/44fa7013d2718d8b28941bd82de37806f80ddf23/docs/piper-grip-recovery.md">Pinned offline inspection guide ↗</a></div><p class="tiny">Every full attempt is retained as deterministic gzip JSON. The CLI checks compressed and decoded hashes with bounded decompression; no archive extraction is needed. This comparison adds numerical evidence to the existing contact pilot; it adds no PiPER 3D viewer.</p></article><article class="profile"><span class="status">Recorded native mechanics · unloaded</span><h2>AgileX PiPER</h2><p>6 arm axes + 1 gripper axis. This separate bundle measures native model structure and authored unloaded motion. Its numerical receipts do not qualify a contact task, learned policy or physical robot. Simulation asset license: MIT.</p><div class="links"><a href="profiles/piper/report.html">Numerical report ↗</a><a href="profiles/piper/report.json">Complete recorded states ↗</a><a href="profiles/piper/integrity.json">File hashes ↗</a><a href="profiles/piper/licenses/piper/LICENSE">Model license ↗</a></div><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/44fa7013d2718d8b28941bd82de37806f80ddf23/docs/robot-simulation-library.md">Pinned local simulator guide ↗</a></article><article class="profile"><span class="status">Recorded native mechanics · unloaded</span><h2>The Robot Studio SO101</h2><p>5 arm axes + 1 gripper axis. This separate bundle measures native model structure and authored unloaded motion. Its numerical receipts do not qualify a contact task, learned policy or physical robot. Simulation asset license: Apache-2.0.</p><div class="links"><a href="profiles/so101/report.html">Numerical report ↗</a><a href="profiles/so101/report.json">Complete recorded states ↗</a><a href="profiles/so101/integrity.json">File hashes ↗</a><a href="profiles/so101/licenses/so101/LICENSE">Model license ↗</a></div><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/44fa7013d2718d8b28941bd82de37806f80ddf23/docs/robot-simulation-library.md">Pinned local simulator guide ↗</a></article><article class="profile"><span class="status">Upcoming · no task evidence</span><h2>Two arms and dexterous hands</h2><p>The roadmap extends to bilateral manipulation and five-finger hands. Contact tasks, sensing adapters and physical qualification remain to be built.</p><a href="https://research.dvidia.org/">Follow the research ↗</a></article></div><p class="tiny">A native mechanics benchmark establishes model structure and recorded motion. A native task benchmark adds measured contact outcomes. Neither establishes hardware reliability or a learned motor policy. Upcoming profiles have no verified implementation claim.</p></section>
-<section><h2>Run it on your own machine.</h2><p>The native task is a local CPU workload. Fetch the pinned dependencies and assets once, then simulate offline. WebGL2 supports viewing; no hosted inference or paid GPU server is requested by this static Space. Minimum RAM and arbitrary-dataset speed guarantees remain unmeasured.</p><div class="links"><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/44fa7013d2718d8b28941bd82de37806f80ddf23/docs/native-task-benchmark.md">Local installation and benchmark guide ↗</a><a href="provenance.json">Artifact provenance ↗</a><a href="replay/replay-integrity.json">Replay file hashes ↗</a><a href="replay/licenses/universal_robots_ur5e/LICENSE">UR5e model license ↗</a><a href="replay/licenses/robotiq_2f85/LICENSE">Gripper model license ↗</a></div></section>
+<section aria-labelledby="profiles-title"><h2 id="profiles-title">Hardware profiles and the next experiments.</h2><div class="gallery"><article class="profile"><span class="status">Recorded native contact task</span><h2>UR5e + Robotiq 2F-85</h2><p>Six arm joints, eight articulated gripper coordinates and a free rigid block. Full source outcomes and matched controls are available.</p><a href="replay/index.html">Inspect the task replay ↗</a></article><article class="profile"><span class="status">PiPER contact memory v0.3 · synthetic</span><h2>Compare probe and contact history.</h2><div class="summary"><p><strong>Placement completion: baseline 4/12, probe-only 4/12, history 6/12.</strong></p><p>Retries, resumes and release refusals do not imply successful placement or recovery.</p><p>Frozen confirmation cohort: 84 planned attempts across twelve synthetic scenes. Three frictions, two masses and two shared layouts; seven variants per scene. Every failed or invalid attempt remains in the denominator. Counts are descriptive, not physical reliability or detector accuracy.</p><details><summary>Inspect all friction, mass and control counts</summary>μ=0.80, mass=0.04 kg / baseline_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / probe_only_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / history_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / baseline_placement: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / probe_only_placement: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / history_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / baseline_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / probe_only_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / history_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / baseline_placement: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / probe_only_placement: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / history_placement: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / baseline_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / probe_only_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / history_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / baseline_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / probe_only_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / history_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid</details></div><p>Three authored controllers use privileged native simulator state. Each placement policy has its own matched open-jaw replay; a shared hold control remains. Full contact history, decisions, refusals, retries, resumes, aborts and invalid outcomes are retained. Uncalibrated contact proxies do not qualify a learned skill, physical detector or robot.</p><div class="links"><a href="tasks/piper-contact-v03/report.html">Full three-policy comparison ↗</a><a href="tasks/piper-contact-v03/report.json">Every outcome and diagnostic ↗</a><a href="tasks/piper-contact-v03/protocol.json">Frozen contact-memory protocol ↗</a><a href="tasks/piper-contact-v03/integrity.json">Stored and decoded attempt hashes ↗</a><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/2a5fceaea8c2c7eeae808ea6656233d2a7f433fe/docs/piper-contact-memory-v03.md">Pinned offline inspection guide ↗</a></div><p class="tiny">All eighty-four full attempts are retained as deterministic gzip JSON with original stored and decoded hashes. Previous task and numerical evidence remains separate and unchanged. This adds no PiPER 3D viewer or physical qualification.</p></article><article class="profile"><span class="status">Recorded PiPER contact pilot · synthetic</span><h2>PiPER: authored grasp, carry and release</h2><p>Six arm commands in radians and one jaw command in metres. This pilot uses an authored controller and privileged native simulator state. Contact is uncalibrated; no learned skill, shoe competence or physical robot is qualified. No PiPER 3D viewer is included.</p><div class="summary"><strong>Frozen confirmation cohort: 9 planned attempts across 3 synthetic scenes. Counts are descriptive, with no population or physical reliability claim.</strong><br>nominal / placement: 2/2 completed, 2 numerically valid<br>nominal / replay_open_jaw: 0/2 completed, 2 numerically valid<br>nominal / hold: 0/2 completed, 2 numerically valid<br>low_friction / placement: 0/1 completed, 1 numerically valid<br>low_friction / replay_open_jaw: 0/1 completed, 1 numerically valid<br>low_friction / hold: 0/1 completed, 1 numerically valid</div><div class="links"><a href="tasks/piper/report.html">Every contact attempt ↗</a><a href="tasks/piper/report.json">Complete task report ↗</a><a href="tasks/piper/protocol.json">Frozen protocol ↗</a><a href="tasks/piper/integrity.json">All task file hashes ↗</a><a href="tasks/piper/licenses/agilex_piper/LICENSE">Original MIT model license ↗</a><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/2a5fceaea8c2c7eeae808ea6656233d2a7f433fe/docs/piper-contact-pilot.md">Pinned PiPER contact guide ↗</a></div></article><article class="profile"><span class="status">PiPER guarded grip comparison · synthetic</span><h2>Test the grip. Inspect recovery.</h2><div class="summary"><p><strong>Placement completion: baseline 4/6 versus guarded 2/6.</strong> This cohort does not show improved placement success.</p><p>Retries and qualification decisions do not imply successful recovery.</p><p>Frozen confirmation cohort: 30 planned attempts across six synthetic scenes. Two shared layouts at each friction; five variants per scene. Counts are descriptive, not physical reliability or detector accuracy.</p>μ=0.80 / baseline_placement: 2/2 completed, 2 numerically valid<br>μ=0.80 / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80 / guarded_placement: 2/2 completed, 2 numerically valid<br>μ=0.80 / guarded_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80 / hold: 0/2 completed, 2 numerically valid<br>μ=0.55 / baseline_placement: 2/2 completed, 2 numerically valid<br>μ=0.55 / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55 / guarded_placement: 0/2 completed, 2 numerically valid<br>μ=0.55 / guarded_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55 / hold: 0/2 completed, 2 numerically valid<br>μ=0.15 / baseline_placement: 0/2 completed, 2 numerically valid<br>μ=0.15 / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15 / guarded_placement: 0/2 completed, 2 numerically valid<br>μ=0.15 / guarded_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15 / hold: 0/2 completed, 2 numerically valid</div><p>Baseline and guarded controllers use privileged native state. Each has its own matched open-jaw replay; a shared hold control remains. Qualification decisions, retries, alarms, unresolved opportunities and aborts are retained. These are authored policies with uncalibrated contact, not learned skills or a physically qualified detector.</p><div class="links"><a href="tasks/piper-grip/report.html">Full paired comparison ↗</a><a href="tasks/piper-grip/report.json">All outcomes and diagnostics ↗</a><a href="tasks/piper-grip/protocol.json">Frozen guard and evaluation contract ↗</a><a href="tasks/piper-grip/integrity.json">Stored and decoded attempt hashes ↗</a><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/2a5fceaea8c2c7eeae808ea6656233d2a7f433fe/docs/piper-grip-recovery.md">Pinned offline inspection guide ↗</a></div><p class="tiny">Every full attempt is retained as deterministic gzip JSON. The CLI checks compressed and decoded hashes with bounded decompression; no archive extraction is needed. This comparison adds numerical evidence to the existing contact pilot; it adds no PiPER 3D viewer.</p></article><article class="profile"><span class="status">Recorded native mechanics · unloaded</span><h2>AgileX PiPER</h2><p>6 arm axes + 1 gripper axis. This separate bundle measures native model structure and authored unloaded motion. Its numerical receipts do not qualify a contact task, learned policy or physical robot. Simulation asset license: MIT.</p><div class="links"><a href="profiles/piper/report.html">Numerical report ↗</a><a href="profiles/piper/report.json">Complete recorded states ↗</a><a href="profiles/piper/integrity.json">File hashes ↗</a><a href="profiles/piper/licenses/piper/LICENSE">Model license ↗</a></div><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/2a5fceaea8c2c7eeae808ea6656233d2a7f433fe/docs/robot-simulation-library.md">Pinned local simulator guide ↗</a></article><article class="profile"><span class="status">Recorded native mechanics · unloaded</span><h2>The Robot Studio SO101</h2><p>5 arm axes + 1 gripper axis. This separate bundle measures native model structure and authored unloaded motion. Its numerical receipts do not qualify a contact task, learned policy or physical robot. Simulation asset license: Apache-2.0.</p><div class="links"><a href="profiles/so101/report.html">Numerical report ↗</a><a href="profiles/so101/report.json">Complete recorded states ↗</a><a href="profiles/so101/integrity.json">File hashes ↗</a><a href="profiles/so101/licenses/so101/LICENSE">Model license ↗</a></div><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/2a5fceaea8c2c7eeae808ea6656233d2a7f433fe/docs/robot-simulation-library.md">Pinned local simulator guide ↗</a></article><article class="profile"><span class="status">Upcoming · no task evidence</span><h2>Two arms and dexterous hands</h2><p>The roadmap extends to bilateral manipulation and five-finger hands. Contact tasks, sensing adapters and physical qualification remain to be built.</p><a href="https://research.dvidia.org/">Follow the research ↗</a></article></div><p class="tiny">A native mechanics benchmark establishes model structure and recorded motion. A native task benchmark adds measured contact outcomes. Neither establishes hardware reliability or a learned motor policy. Upcoming profiles have no verified implementation claim.</p></section>
+<section><h2>Run it on your own machine.</h2><p>The native task is a local CPU workload. Fetch the pinned dependencies and assets once, then simulate offline. WebGL2 supports viewing; no hosted inference or paid GPU server is requested by this static Space. Minimum RAM and arbitrary-dataset speed guarantees remain unmeasured.</p><div class="links"><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/2a5fceaea8c2c7eeae808ea6656233d2a7f433fe/docs/native-task-benchmark.md">Local installation and benchmark guide ↗</a><a href="provenance.json">Artifact provenance ↗</a><a href="replay/replay-integrity.json">Replay file hashes ↗</a><a href="replay/licenses/universal_robots_ur5e/LICENSE">UR5e model license ↗</a><a href="replay/licenses/robotiq_2f85/LICENSE">Gripper model license ↗</a></div></section>
 <footer><span>Open-source DVIDIA research</span><a href="https://x.com/iammrriver">@iammrriver ↗</a><a href="mailto:hello@dvidia.org">hello@dvidia.org</a><a href="https://huggingface.co/Dvidia">Hugging Face organization ↗</a></footer></main></body></html>
diff --git a/provenance.json b/provenance.json
index 0e211797536b014d11885a55608ebb7c77b4cd21..7480ff2d621338e4cb88d247759730c3446bec20 100644
--- a/provenance.json
+++ b/provenance.json
@@ -1,7 +1,7 @@
 {
   "schema": "dvidia.robot-simulation-space-provenance/v1",
   "scope": "Recorded native simulation evidence; authored controller, no learned policy or physical qualification",
-  "source_commit": "44fa7013d2718d8b28941bd82de37806f80ddf23",
+  "source_commit": "2a5fceaea8c2c7eeae808ea6656233d2a7f433fe",
   "physical_robot_ready": false,
   "learned_policy": false,
   "live_browser_physics": false,
@@ -29,7 +29,13 @@
     "AgileX PiPER": "MIT",
     "The Robot Studio SO101": "Apache-2.0",
     "PiPER contact pilot": "MIT",
-    "PiPER guarded grip comparison": "MIT"
+    "PiPER guarded grip comparison": "MIT",
+    "PiPER contact memory v0.3": "MIT"
+  },
+  "publication_byte_bounds": {
+    "stored_payload_bytes": 268435456,
+    "per_file_bytes": 33554432,
+    "scope": "v0.3 raises the stored Space cap to 256 MiB to retain prior evidence plus all eighty-four new attempts; bounded single-member decompression is unchanged"
   },
   "profile_benchmarks": {
     "piper": {
@@ -759,6 +765,1430 @@
       "byte_preservation": "Complete original protocol, report, thirty canonical attempt files, integrity and MIT notices retained under tasks/piper-grip/",
       "stored_bytes": 18735970,
       "decoded_bytes": 100412637
+    },
+    "piper-contact-v03": {
+      "profile": "piper-rigid-block-task-v0.1",
+      "source_integrity": {
+        "bytes": 24557,
+        "sha256": "a539d7d9ab37a18007135915e2702fe3ebb33cc2d9f6ede98f759892b7179740"
+      },
+      "source_report": {
+        "bytes": 1127185,
+        "sha256": "2ca43a89d2c8afe2d62af6179f5be2893ad61cc05193e029a5b8887d2b0eff80"
+      },
+      "source_protocol": {
+        "bytes": 20317,
+        "sha256": "16bc411d816fa1a0cff0125482e8ca3da2b7c0dbbe82c975ab02966e41274716"
+      },
+      "cohort": "confirmation",
+      "attempt_ids": [
+        "friction080-mass040-layout00--baseline_placement",
+        "friction080-mass040-layout00--baseline_open_jaw",
+        "friction080-mass040-layout00--probe_only_placement",
+        "friction080-mass040-layout00--probe_only_open_jaw",
+        "friction080-mass040-layout00--history_placement",
+        "friction080-mass040-layout00--history_open_jaw",
+        "friction080-mass040-layout00--hold",
+        "friction080-mass040-layout01--baseline_placement",
+        "friction080-mass040-layout01--baseline_open_jaw",
+        "friction080-mass040-layout01--probe_only_placement",
+        "friction080-mass040-layout01--probe_only_open_jaw",
+        "friction080-mass040-layout01--history_placement",
+        "friction080-mass040-layout01--history_open_jaw",
+        "friction080-mass040-layout01--hold",
+        "friction080-mass060-layout00--baseline_placement",
+        "friction080-mass060-layout00--baseline_open_jaw",
+        "friction080-mass060-layout00--probe_only_placement",
+        "friction080-mass060-layout00--probe_only_open_jaw",
+        "friction080-mass060-layout00--history_placement",
+        "friction080-mass060-layout00--history_open_jaw",
+        "friction080-mass060-layout00--hold",
+        "friction080-mass060-layout01--baseline_placement",
+        "friction080-mass060-layout01--baseline_open_jaw",
+        "friction080-mass060-layout01--probe_only_placement",
+        "friction080-mass060-layout01--probe_only_open_jaw",
+        "friction080-mass060-layout01--history_placement",
+        "friction080-mass060-layout01--history_open_jaw",
+        "friction080-mass060-layout01--hold",
+        "friction055-mass040-layout00--baseline_placement",
+        "friction055-mass040-layout00--baseline_open_jaw",
+        "friction055-mass040-layout00--probe_only_placement",
+        "friction055-mass040-layout00--probe_only_open_jaw",
+        "friction055-mass040-layout00--history_placement",
+        "friction055-mass040-layout00--history_open_jaw",
+        "friction055-mass040-layout00--hold",
+        "friction055-mass040-layout01--baseline_placement",
+        "friction055-mass040-layout01--baseline_open_jaw",
+        "friction055-mass040-layout01--probe_only_placement",
+        "friction055-mass040-layout01--probe_only_open_jaw",
+        "friction055-mass040-layout01--history_placement",
+        "friction055-mass040-layout01--history_open_jaw",
+        "friction055-mass040-layout01--hold",
+        "friction055-mass060-layout00--baseline_placement",
+        "friction055-mass060-layout00--baseline_open_jaw",
+        "friction055-mass060-layout00--probe_only_placement",
+        "friction055-mass060-layout00--probe_only_open_jaw",
+        "friction055-mass060-layout00--history_placement",
+        "friction055-mass060-layout00--history_open_jaw",
+        "friction055-mass060-layout00--hold",
+        "friction055-mass060-layout01--baseline_placement",
+        "friction055-mass060-layout01--baseline_open_jaw",
+        "friction055-mass060-layout01--probe_only_placement",
+        "friction055-mass060-layout01--probe_only_open_jaw",
+        "friction055-mass060-layout01--history_placement",
+        "friction055-mass060-layout01--history_open_jaw",
+        "friction055-mass060-layout01--hold",
+        "friction015-mass040-layout00--baseline_placement",
+        "friction015-mass040-layout00--baseline_open_jaw",
+        "friction015-mass040-layout00--probe_only_placement",
+        "friction015-mass040-layout00--probe_only_open_jaw",
+        "friction015-mass040-layout00--history_placement",
+        "friction015-mass040-layout00--history_open_jaw",
+        "friction015-mass040-layout00--hold",
+        "friction015-mass040-layout01--baseline_placement",
+        "friction015-mass040-layout01--baseline_open_jaw",
+        "friction015-mass040-layout01--probe_only_placement",
+        "friction015-mass040-layout01--probe_only_open_jaw",
+        "friction015-mass040-layout01--history_placement",
+        "friction015-mass040-layout01--history_open_jaw",
+        "friction015-mass040-layout01--hold",
+        "friction015-mass060-layout00--baseline_placement",
+        "friction015-mass060-layout00--baseline_open_jaw",
+        "friction015-mass060-layout00--probe_only_placement",
+        "friction015-mass060-layout00--probe_only_open_jaw",
+        "friction015-mass060-layout00--history_placement",
+        "friction015-mass060-layout00--history_open_jaw",
+        "friction015-mass060-layout00--hold",
+        "friction015-mass060-layout01--baseline_placement",
+        "friction015-mass060-layout01--baseline_open_jaw",
+        "friction015-mass060-layout01--probe_only_placement",
+        "friction015-mass060-layout01--probe_only_open_jaw",
+        "friction015-mass060-layout01--history_placement",
+        "friction015-mass060-layout01--history_open_jaw",
+        "friction015-mass060-layout01--hold"
+      ],
+      "attempted": 84,
+      "valid_attempts": 84,
+      "summary": [
+        {
+          "friction": 0.8,
+          "mass_kg": 0.04,
+          "stratum": "nominal",
+          "variant": "baseline_placement",
+          "attempted": 2,
+          "valid": 2,
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+          "success_fraction": 1.0,
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+          "following_observed_after_decision": 0,
+          "following_not_observed_after_decision": 0,
+          "unresolved_qualification_decisions": 0,
+          "no_qualification_decision_attempts": 2,
+          "no_following_opportunity_attempts": 0,
+          "unresolved_following_opportunity_attempts": 0,
+          "aborted_attempts": 0,
+          "retries": 0,
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+          "slowdown_decisions": 0,
+          "reassessment_decisions": 0,
+          "resume_decisions": 0,
+          "loaded_settling_observed_at_resume": 0,
+          "low_tcp_motion_observed_at_resume": 0,
+          "unresolved_resume_windows": 0,
+          "holds_without_preceding_sampled_loss": 0,
+          "incomplete_post_intervention_motion_windows": 0,
+          "resumed_completed": 0,
+          "resumed_not_completed": 0
+        },
+        {
+          "friction": 0.8,
+          "mass_kg": 0.04,
+          "stratum": "nominal",
+          "variant": "baseline_open_jaw",
+          "attempted": 2,
+          "valid": 2,
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+          "success_fraction": 0.0,
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+          "following_not_observed_after_decision": 0,
+          "unresolved_qualification_decisions": 0,
+          "no_qualification_decision_attempts": 2,
+          "no_following_opportunity_attempts": 2,
+          "unresolved_following_opportunity_attempts": 0,
+          "aborted_attempts": 0,
+          "retries": 0,
+          "sampled_following_loss_events": 0,
+          "slowdown_decisions": 0,
+          "reassessment_decisions": 0,
+          "resume_decisions": 0,
+          "loaded_settling_observed_at_resume": 0,
+          "low_tcp_motion_observed_at_resume": 0,
+          "unresolved_resume_windows": 0,
+          "holds_without_preceding_sampled_loss": 0,
+          "incomplete_post_intervention_motion_windows": 0,
+          "resumed_completed": 0,
+          "resumed_not_completed": 0
+        },
+        {
+          "friction": 0.8,
+          "mass_kg": 0.04,
+          "stratum": "nominal",
+          "variant": "probe_only_placement",
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+          "following_not_observed_after_decision": 0,
+          "unresolved_qualification_decisions": 0,
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+          "no_following_opportunity_attempts": 0,
+          "unresolved_following_opportunity_attempts": 0,
+          "aborted_attempts": 0,
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+          "slowdown_decisions": 0,
+          "reassessment_decisions": 0,
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+          "loaded_settling_observed_at_resume": 0,
+          "low_tcp_motion_observed_at_resume": 0,
+          "unresolved_resume_windows": 0,
+          "holds_without_preceding_sampled_loss": 0,
+          "incomplete_post_intervention_motion_windows": 0,
+          "resumed_completed": 0,
+          "resumed_not_completed": 0
+        },
+        {
+          "friction": 0.8,
+          "mass_kg": 0.04,
+          "stratum": "nominal",
+          "variant": "probe_only_open_jaw",
+          "attempted": 2,
+          "valid": 2,
+          "success": 0,
+          "failed_or_invalid": 2,
+          "success_fraction": 0.0,
+          "qualification_decisions": 0,
+          "following_observed_after_decision": 0,
+          "following_not_observed_after_decision": 0,
+          "unresolved_qualification_decisions": 0,
+          "no_qualification_decision_attempts": 2,
+          "no_following_opportunity_attempts": 2,
+          "unresolved_following_opportunity_attempts": 0,
+          "aborted_attempts": 0,
+          "retries": 0,
+          "sampled_following_loss_events": 0,
+          "slowdown_decisions": 0,
+          "reassessment_decisions": 0,
+          "resume_decisions": 0,
+          "loaded_settling_observed_at_resume": 0,
+          "low_tcp_motion_observed_at_resume": 0,
+          "unresolved_resume_windows": 0,
+          "holds_without_preceding_sampled_loss": 0,
+          "incomplete_post_intervention_motion_windows": 0,
+          "resumed_completed": 0,
+          "resumed_not_completed": 0
+        },
+        {
+          "friction": 0.8,
+          "mass_kg": 0.04,
+          "stratum": "nominal",
+          "variant": "history_placement",
+          "attempted": 2,
+          "valid": 2,
+          "success": 2,
+          "failed_or_invalid": 0,
+          "success_fraction": 1.0,
+          "qualification_decisions": 2,
+          "following_observed_after_decision": 2,
+          "following_not_observed_after_decision": 0,
+          "unresolved_qualification_decisions": 0,
+          "no_qualification_decision_attempts": 0,
+          "no_following_opportunity_attempts": 0,
+          "unresolved_following_opportunity_attempts": 0,
+          "aborted_attempts": 0,
+          "retries": 0,
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+          "slowdown_decisions": 0,
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+          "unresolved_resume_windows": 0,
+          "holds_without_preceding_sampled_loss": 0,
+          "incomplete_post_intervention_motion_windows": 0,
+          "resumed_completed": 0,
+          "resumed_not_completed": 0
+        },
+        {
+          "friction": 0.8,
+          "mass_kg": 0.04,
+          "stratum": "nominal",
+          "variant": "history_open_jaw",
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+          "success_fraction": 0.0,
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+          "following_observed_after_decision": 0,
+          "following_not_observed_after_decision": 0,
+          "unresolved_qualification_decisions": 0,
+          "no_qualification_decision_attempts": 2,
+          "no_following_opportunity_attempts": 2,
+          "unresolved_following_opportunity_attempts": 0,
+          "aborted_attempts": 0,
+          "retries": 0,
+          "sampled_following_loss_events": 0,
+          "slowdown_decisions": 0,
+          "reassessment_decisions": 0,
+          "resume_decisions": 0,
+          "loaded_settling_observed_at_resume": 0,
+          "low_tcp_motion_observed_at_resume": 0,
+          "unresolved_resume_windows": 0,
+          "holds_without_preceding_sampled_loss": 0,
+          "incomplete_post_intervention_motion_windows": 0,
+          "resumed_completed": 0,
+          "resumed_not_completed": 0
+        },
+        {
+          "friction": 0.8,
+          "mass_kg": 0.04,
+          "stratum": "nominal",
+          "variant": "hold",
+          "attempted": 2,
+          "valid": 2,
+          "success": 0,
+          "failed_or_invalid": 2,
+          "success_fraction": 0.0,
+          "qualification_decisions": 0,
+          "following_observed_after_decision": 0,
+          "following_not_observed_after_decision": 0,
+          "unresolved_qualification_decisions": 0,
+          "no_qualification_decision_attempts": 2,
+          "no_following_opportunity_attempts": 2,
+          "unresolved_following_opportunity_attempts": 0,
+          "aborted_attempts": 0,
+          "retries": 0,
+          "sampled_following_loss_events": 0,
+          "slowdown_decisions": 0,
+          "reassessment_decisions": 0,
+          "resume_decisions": 0,
+          "loaded_settling_observed_at_resume": 0,
+          "low_tcp_motion_observed_at_resume": 0,
+          "unresolved_resume_windows": 0,
+          "holds_without_preceding_sampled_loss": 0,
+          "incomplete_post_intervention_motion_windows": 0,
+          "resumed_completed": 0,
+          "resumed_not_completed": 0
+        },
+        {
+          "friction": 0.8,
+          "mass_kg": 0.06,
+          "stratum": "nominal",
+          "variant": "baseline_placement",
+          "attempted": 2,
+          "valid": 2,
+          "success": 0,
+          "failed_or_invalid": 2,
+          "success_fraction": 0.0,
+          "qualification_decisions": 0,
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diff --git a/tasks/piper-contact-v03/licenses/agilex_piper/LICENSE b/tasks/piper-contact-v03/licenses/agilex_piper/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..1ace5a240f199be4ae0567bed99051213893345c
--- /dev/null
+++ b/tasks/piper-contact-v03/licenses/agilex_piper/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 RosenYin
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/tasks/piper-contact-v03/licenses/agilex_piper/README.md b/tasks/piper-contact-v03/licenses/agilex_piper/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..7a300b81e0556b580ed4e4942bf0aaa9c90944a8
--- /dev/null
+++ b/tasks/piper-contact-v03/licenses/agilex_piper/README.md
@@ -0,0 +1,39 @@
+## AgileX PiPER Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.3.4 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+### Overview
+
+This package contains a simplified robot description (MJCF) of the [AgileX PiPER](https://global.agilex.ai/products/piper). It is derived from the publicly available [model](https://github.com/agilexrobotics/Piper_ros/tree/ros-noetic-no-aloha/src/piper_description/urdf).
+
+<p float="left">
+  <img src="piper.png" width="400">
+</p>
+
+### Derivation steps
+
+1.  Added `<mujoco> <compiler balanceinertia="true" discardvisual="false"/> </mujoco>` to the URDF's
+   `<robot>` clause in order to preserve visual geometries.
+2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+3. Converted the the .objs to .xmls using [obj2mjcf](https://github.com/kevinzakka/obj2mjcf) and replaced the original stls with them (since each obj in mujoco can have 1 color).
+4. Merged similar materials between the .objs
+5. Created a `<default>` section to define common properties for joints, actuators, and geoms.
+6. Added an equality constraint so that the right finger mimics the position of the left finger.
+7. Manually designed box collision geoms for the gripper.
+8. Added `exclude` clause to prevent collisions between `base_link` and `link1`.
+9. Added position controlled actuators.
+10. Added `impratio=10` and `cone=elliptic` for better noslip.
+11. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+## License
+
+This model is released under an [MIT License](LICENSE).
+
+## Acknowledgement
+
+This model was graciously contributed by [Omar Rayyan](https://orayyan.com/).
diff --git a/tasks/piper-contact-v03/protocol.json b/tasks/piper-contact-v03/protocol.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8cd5f18fd290d0af33d16501ed9fa34f43e7d82
--- /dev/null
+++ b/tasks/piper-contact-v03/protocol.json
@@ -0,0 +1 @@
+{"schema":"dvidia.piper-contact-protocol/v0.3","profile":"piper-rigid-block-task-v0.1","scope":"Paired authored PiPER contact-history pilot, privileged native state and synthetic rigid blocks. No learned policy, sensor pipeline, calibrated contact, shoe competence or physical robot 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_attempts":84,"contract":{"profile":"piper-rigid-block-task-v0.1","scope":"Authored PiPER rigid-block contact pilot with privileged native state. 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Settled, resumed and completed are separate; no observed true-slip opportunity is not a perfect score."},"implementation_sha256":{"piper_task.py":"4e3f16e6075842631ddb7aa7d53ea6d6c95b54934f7eb751da61b60a432fa167","piper_task_benchmark.py":"d1294fac93bb42a26a654c6fd0950718e528cbf3cd96ffcd53118da0a1646776","robot_profiles.py":"fb90782a6a9979e282182118ae0e3e29d00f101255cc57378dd3f692672bb13d","robot_profiles.lock.json":"4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe","reference_task.py":"bbc768ccc202b8dd41cbd235b206e6478806ce47c1f30ae15dc662c0c1edcc3e","reference_sim.py":"c1201d22eb13dd07a236ee63cc4ba68e129f6067e8db61ed41af2d820eb5e3b8","reference_replay.py":"f73731434d55bac150db16c7205d341a70b95ce13e582e7a23d11dee31b27a19","piper_grip_guard.py":"90895566cad8d5a3c158a14d3165fa1866cb3d7a4a3eecac3ca0ca8ab3e88dfb","piper_grip_benchmark.py":"7ab72a8cbe77d4db96d3fa45087571e3e1d64f40fe92b6f37032936701f318e1","piper_contact_memory.py":"f608d6647046f6fa02d8ad5e87fad10853837520a6a0fae2043c7ad260a06c4c","piper_contact_benchmark.py":"6ebd44c3704cda8679335f988df0dcc7817b3f8da314b7a4fe8b3939215728bb"},"native_command_units":["rad","rad","rad","rad","rad","rad","m"],"simulation_asset_license":"MIT","layout_offset_limit_m":0.005,"timing_boundary":"Attempt wall includes asset verification, compilation, settling, authored planning/IK, physics, contact scoring and recorded state construction. Protocol/report/trace disk serialization, rendering, training, physical sensing, transport and actuation are excluded. Control computation windows are not sensor-to-actuator reaction times.","comparison":"Two shared XY layouts at each friction and mass; identical native mechanics and starting state within each scene. Baseline, acquisition probe-only and contact-history variants each have separately matched complete arm-tape/open-jaw controls, plus common hold. Probe-only and history share acquisition; only history adapts after qualification. All failures and full-duration aborts remain; invalid/incomplete tapes are never extended.","split_note":"Synthetic declared confirmation does not prove unseen scenes or physical reliability. Controller/evaluation parameters and sources are frozen before any native attempt."}
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+<!doctype html><html lang="en"><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1"><title>DVIDIA · PiPER contact history comparison</title><style>body{max-width:1100px;margin:auto;padding:24px;font:18px/1.6 Georgia;background:#fafaf7;color:#292d27}table{font:14px/1.5 system-ui;border-collapse:collapse}td,th{padding:10px;border-bottom:1px solid #ddd}.scroll{overflow:auto}a{color:#396751}</style><main><p>DVIDIA RESEARCH</p><h1>Probe, adapt, complete</h1><p>Paired authored PiPER contact-history pilot, privileged native state and synthetic rigid blocks. No learned policy, sensor pipeline, calibrated contact, shoe competence or physical robot qualification.</p><p>confirmation · all 84 planned attempts retained.</p><p><a href="report.json">Full report</a> · <a href="protocol.json">Frozen protocol</a> · <a href="integrity.json">Stored and decoded integrity</a></p><div class="scroll"><table><tr><th>Friction</th><th>Mass kg</th><th>Variant</th><th>Completed</th><th>Attempted</th><th>Valid</th><th>Resumed and completed</th><th>Resumed, incomplete</th></tr><tr><td>0.8</td><td>0.04</td><td>baseline_placement</td><td>2</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.8</td><td>0.04</td><td>baseline_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.8</td><td>0.04</td><td>probe_only_placement</td><td>2</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.8</td><td>0.04</td><td>probe_only_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.8</td><td>0.04</td><td>history_placement</td><td>2</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.8</td><td>0.04</td><td>history_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.8</td><td>0.04</td><td>hold</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.8</td><td>0.06</td><td>baseline_placement</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.8</td><td>0.06</td><td>baseline_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.8</td><td>0.06</td><td>probe_only_placement</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.8</td><td>0.06</td><td>probe_only_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.8</td><td>0.06</td><td>history_placement</td><td>2</td><td>2</td><td>2</td><td>2</td><td>0</td></tr><tr><td>0.8</td><td>0.06</td><td>history_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.8</td><td>0.06</td><td>hold</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.55</td><td>0.04</td><td>baseline_placement</td><td>2</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.55</td><td>0.04</td><td>baseline_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.55</td><td>0.04</td><td>probe_only_placement</td><td>2</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.55</td><td>0.04</td><td>probe_only_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.55</td><td>0.04</td><td>history_placement</td><td>2</td><td>2</td><td>2</td><td>2</td><td>0</td></tr><tr><td>0.55</td><td>0.04</td><td>history_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.55</td><td>0.04</td><td>hold</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.55</td><td>0.06</td><td>baseline_placement</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.55</td><td>0.06</td><td>baseline_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.55</td><td>0.06</td><td>probe_only_placement</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.55</td><td>0.06</td><td>probe_only_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.55</td><td>0.06</td><td>history_placement</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.55</td><td>0.06</td><td>history_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.55</td><td>0.06</td><td>hold</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.15</td><td>0.04</td><td>baseline_placement</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.15</td><td>0.04</td><td>baseline_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.15</td><td>0.04</td><td>probe_only_placement</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.15</td><td>0.04</td><td>probe_only_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.15</td><td>0.04</td><td>history_placement</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.15</td><td>0.04</td><td>history_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.15</td><td>0.04</td><td>hold</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.15</td><td>0.06</td><td>baseline_placement</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.15</td><td>0.06</td><td>baseline_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.15</td><td>0.06</td><td>probe_only_placement</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.15</td><td>0.06</td><td>probe_only_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.15</td><td>0.06</td><td>history_placement</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.15</td><td>0.06</td><td>history_open_jaw</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.15</td><td>0.06</td><td>hold</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr></table></div><p>Independent recorded 20ms boundaries, not detector accuracy or physics recomputation. Motion windows retain actual native movement after commands, not instantaneous arrest. Settled, resumed and completed are separate; no observed true-slip opportunity is not a perfect score.</p><p>Attempt wall includes asset verification, compilation, settling, authored planning/IK, physics, contact scoring and recorded state construction. Protocol/report/trace disk serialization, rendering, training, physical sensing, transport and actuation are excluded. Control computation windows are not sensor-to-actuator reaction times.</p><h2>Every attempt</h2><ul><li><strong>friction080-mass040-layout00--baseline_placement</strong>: completed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass040-layout00--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass040-layout00--baseline_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass040-layout00--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass040-layout00--probe_only_placement</strong>: completed · 11.78s following observed. Retries 0. <br>11.18s probe started (slow_load_bearing_check), 11.78s acquisition qualified (sustained_table_free_probe) · <a href="attempts/friction080-mass040-layout00--probe_only_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass040-layout00--probe_only_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass040-layout00--probe_only_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass040-layout00--history_placement</strong>: completed · 11.78s following observed. Retries 0. <br>11.18s probe started (slow_load_bearing_check), 11.78s acquisition qualified (sustained_table_free_probe) · <a href="attempts/friction080-mass040-layout00--history_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass040-layout00--history_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass040-layout00--history_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass040-layout00--hold</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass040-layout00--hold.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass040-layout01--baseline_placement</strong>: completed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass040-layout01--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass040-layout01--baseline_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass040-layout01--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass040-layout01--probe_only_placement</strong>: completed · 11.76s following observed. Retries 0. <br>11.16s probe started (slow_load_bearing_check), 11.76s acquisition qualified (sustained_table_free_probe) · <a href="attempts/friction080-mass040-layout01--probe_only_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass040-layout01--probe_only_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass040-layout01--probe_only_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass040-layout01--history_placement</strong>: completed · 11.76s following observed. Retries 0. <br>11.16s probe started (slow_load_bearing_check), 11.76s acquisition qualified (sustained_table_free_probe) · <a href="attempts/friction080-mass040-layout01--history_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass040-layout01--history_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass040-layout01--history_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass040-layout01--hold</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass040-layout01--hold.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass060-layout00--baseline_placement</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass060-layout00--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass060-layout00--baseline_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass060-layout00--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass060-layout00--probe_only_placement</strong>: failed · 11.80s following observed. Retries 0. <br>11.18s probe started (slow_load_bearing_check), 11.80s acquisition qualified (sustained_table_free_probe) · <a href="attempts/friction080-mass060-layout00--probe_only_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass060-layout00--probe_only_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass060-layout00--probe_only_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass060-layout00--history_placement</strong>: completed · 11.80s following observed. Retries 0. <br>11.18s probe started (slow_load_bearing_check), 11.80s acquisition qualified (sustained_table_free_probe), 11.92s slowdown started (persistent_local_offset_trend), 12.00s reassessment started (persistent_bilateral_contact_loss), 12.24s carry resumed (sustained_loaded_relative_settling)<br>11.92s slowdown started: actual TCP mean speed 93.13mm/s before → 88.10mm/s after; TCP path 8.81mm / object path 4.07mm over complete 100ms window; 12.00s reassessment started: actual TCP mean speed 108.51mm/s before → 14.64mm/s after; TCP path 1.46mm / object path 1.28mm over complete 100ms window; 12.24s carry resumed: actual TCP mean speed 3.99mm/s before → 26.94mm/s after; TCP path 2.69mm / object path 2.04mm over complete 100ms window · <a href="attempts/friction080-mass060-layout00--history_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass060-layout00--history_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass060-layout00--history_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass060-layout00--hold</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass060-layout00--hold.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass060-layout01--baseline_placement</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass060-layout01--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass060-layout01--baseline_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass060-layout01--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass060-layout01--probe_only_placement</strong>: failed · 11.78s following observed. Retries 0. <br>11.16s probe started (slow_load_bearing_check), 11.78s acquisition qualified (sustained_table_free_probe) · <a href="attempts/friction080-mass060-layout01--probe_only_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass060-layout01--probe_only_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass060-layout01--probe_only_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass060-layout01--history_placement</strong>: completed · 11.78s following observed. Retries 0. <br>11.16s probe started (slow_load_bearing_check), 11.78s acquisition qualified (sustained_table_free_probe), 11.90s slowdown started (persistent_local_offset_trend), 11.92s reassessment started (persistent_bilateral_contact_loss), 12.16s carry resumed (sustained_loaded_relative_settling), 12.34s slowdown started (persistent_local_offset_trend), 12.46s reassessment started (bounded_slowdown_complete), 12.68s carry resumed (sustained_loaded_relative_settling)<br>11.90s slowdown started: actual TCP mean speed 93.41mm/s before → 58.55mm/s after; TCP path 5.86mm / object path 2.54mm over complete 100ms window; 11.92s reassessment started: actual TCP mean speed 118.79mm/s before → 33.07mm/s after; TCP path 3.31mm / object path 2.13mm over complete 100ms window; 12.16s carry resumed: actual TCP mean speed 8.97mm/s before → 27.62mm/s after; TCP path 2.76mm / object path 1.35mm over complete 100ms window; 12.34s slowdown started: actual TCP mean speed 64.45mm/s before → 57.06mm/s after; TCP path 5.71mm / object path 5.44mm over complete 100ms window; 12.46s reassessment started: actual TCP mean speed 54.07mm/s before → 11.25mm/s after; TCP path 1.12mm / object path 1.13mm over complete 100ms window; 12.68s carry resumed: actual TCP mean speed 3.61mm/s before → 26.79mm/s after; TCP path 2.68mm / object path 2.01mm over complete 100ms window · <a href="attempts/friction080-mass060-layout01--history_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass060-layout01--history_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass060-layout01--history_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-mass060-layout01--hold</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction080-mass060-layout01--hold.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass040-layout00--baseline_placement</strong>: completed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass040-layout00--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass040-layout00--baseline_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass040-layout00--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass040-layout00--probe_only_placement</strong>: completed · 11.78s following observed. Retries 0. <br>11.18s probe started (slow_load_bearing_check), 11.78s acquisition qualified (sustained_table_free_probe) · <a href="attempts/friction055-mass040-layout00--probe_only_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass040-layout00--probe_only_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass040-layout00--probe_only_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass040-layout00--history_placement</strong>: completed · 11.78s following observed. Retries 0. <br>11.18s probe started (slow_load_bearing_check), 11.78s acquisition qualified (sustained_table_free_probe), 11.92s slowdown started (persistent_local_offset_trend), 12.04s reassessment started (bounded_slowdown_complete), 12.26s carry resumed (sustained_loaded_relative_settling)<br>11.92s slowdown started: actual TCP mean speed 123.95mm/s before → 97.23mm/s after; TCP path 9.72mm / object path 7.98mm over complete 100ms window; 12.04s reassessment started: actual TCP mean speed 78.40mm/s before → 13.33mm/s after; TCP path 1.33mm / object path 1.32mm over complete 100ms window; 12.26s carry resumed: actual TCP mean speed 3.35mm/s before → 28.13mm/s after; TCP path 2.81mm / object path 2.56mm over complete 100ms window · <a href="attempts/friction055-mass040-layout00--history_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass040-layout00--history_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass040-layout00--history_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass040-layout00--hold</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass040-layout00--hold.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass040-layout01--baseline_placement</strong>: completed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass040-layout01--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass040-layout01--baseline_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass040-layout01--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass040-layout01--probe_only_placement</strong>: completed · 11.76s following observed. Retries 0. <br>11.16s probe started (slow_load_bearing_check), 11.76s acquisition qualified (sustained_table_free_probe) · <a href="attempts/friction055-mass040-layout01--probe_only_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass040-layout01--probe_only_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass040-layout01--probe_only_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass040-layout01--history_placement</strong>: completed · 11.76s following observed. Retries 0. <br>11.16s probe started (slow_load_bearing_check), 11.76s acquisition qualified (sustained_table_free_probe), 11.88s slowdown started (persistent_local_offset_trend), 12.00s reassessment started (bounded_slowdown_complete), 12.22s carry resumed (sustained_loaded_relative_settling)<br>11.88s slowdown started: actual TCP mean speed 94.85mm/s before → 94.44mm/s after; TCP path 9.44mm / object path 7.40mm over complete 100ms window; 12.00s reassessment started: actual TCP mean speed 77.04mm/s before → 13.46mm/s after; TCP path 1.35mm / object path 1.33mm over complete 100ms window; 12.22s carry resumed: actual TCP mean speed 3.37mm/s before → 28.43mm/s after; TCP path 2.84mm / object path 2.60mm over complete 100ms window · <a href="attempts/friction055-mass040-layout01--history_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass040-layout01--history_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass040-layout01--history_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass040-layout01--hold</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass040-layout01--hold.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass060-layout00--baseline_placement</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass060-layout00--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass060-layout00--baseline_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass060-layout00--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass060-layout00--probe_only_placement</strong>: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following. <br>11.18s probe started (slow_load_bearing_check), 11.56s alarm (object_not_following), 11.56s retry started (supported_object_only), 13.22s retry completed (open_recenter_complete), 14.10s probe started (slow_load_bearing_check), 14.48s alarm (object_not_following), 14.48s abort (retry_budget_exhausted:object_not_following) · <a href="attempts/friction055-mass060-layout00--probe_only_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass060-layout00--probe_only_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass060-layout00--probe_only_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass060-layout00--history_placement</strong>: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following. <br>11.18s probe started (slow_load_bearing_check), 11.56s alarm (object_not_following), 11.56s retry started (supported_object_only), 13.22s retry completed (open_recenter_complete), 14.10s probe started (slow_load_bearing_check), 14.48s alarm (object_not_following), 14.48s abort (retry_budget_exhausted:object_not_following) · <a href="attempts/friction055-mass060-layout00--history_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass060-layout00--history_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass060-layout00--history_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass060-layout00--hold</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass060-layout00--hold.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass060-layout01--baseline_placement</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass060-layout01--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass060-layout01--baseline_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass060-layout01--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass060-layout01--probe_only_placement</strong>: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:relative_slip. <br>11.16s probe started (slow_load_bearing_check), 11.54s alarm (object_not_following), 11.54s retry started (supported_object_only), 13.20s retry completed (open_recenter_complete), 14.08s probe started (slow_load_bearing_check), 14.46s alarm (relative_slip), 14.46s abort (retry_budget_exhausted:relative_slip) · <a href="attempts/friction055-mass060-layout01--probe_only_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass060-layout01--probe_only_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass060-layout01--probe_only_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass060-layout01--history_placement</strong>: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:relative_slip. <br>11.16s probe started (slow_load_bearing_check), 11.54s alarm (object_not_following), 11.54s retry started (supported_object_only), 13.20s retry completed (open_recenter_complete), 14.08s probe started (slow_load_bearing_check), 14.46s alarm (relative_slip), 14.46s abort (retry_budget_exhausted:relative_slip) · <a href="attempts/friction055-mass060-layout01--history_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass060-layout01--history_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass060-layout01--history_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-mass060-layout01--hold</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction055-mass060-layout01--hold.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass040-layout00--baseline_placement</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass040-layout00--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass040-layout00--baseline_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass040-layout00--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass040-layout00--probe_only_placement</strong>: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following. <br>11.18s probe started (slow_load_bearing_check), 11.52s alarm (object_not_following), 11.52s retry started (supported_object_only), 13.18s retry completed (open_recenter_complete), 14.06s probe started (slow_load_bearing_check), 14.42s alarm (object_not_following), 14.42s abort (retry_budget_exhausted:object_not_following) · <a href="attempts/friction015-mass040-layout00--probe_only_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass040-layout00--probe_only_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass040-layout00--probe_only_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass040-layout00--history_placement</strong>: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following. <br>11.18s probe started (slow_load_bearing_check), 11.52s alarm (object_not_following), 11.52s retry started (supported_object_only), 13.18s retry completed (open_recenter_complete), 14.06s probe started (slow_load_bearing_check), 14.42s alarm (object_not_following), 14.42s abort (retry_budget_exhausted:object_not_following) · <a href="attempts/friction015-mass040-layout00--history_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass040-layout00--history_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass040-layout00--history_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass040-layout00--hold</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass040-layout00--hold.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass040-layout01--baseline_placement</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass040-layout01--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass040-layout01--baseline_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass040-layout01--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass040-layout01--probe_only_placement</strong>: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following. <br>11.16s probe started (slow_load_bearing_check), 11.50s alarm (object_not_following), 11.50s retry started (supported_object_only), 13.16s retry completed (open_recenter_complete), 14.04s probe started (slow_load_bearing_check), 14.40s alarm (object_not_following), 14.40s abort (retry_budget_exhausted:object_not_following) · <a href="attempts/friction015-mass040-layout01--probe_only_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass040-layout01--probe_only_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass040-layout01--probe_only_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass040-layout01--history_placement</strong>: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following. <br>11.16s probe started (slow_load_bearing_check), 11.50s alarm (object_not_following), 11.50s retry started (supported_object_only), 13.16s retry completed (open_recenter_complete), 14.04s probe started (slow_load_bearing_check), 14.40s alarm (object_not_following), 14.40s abort (retry_budget_exhausted:object_not_following) · <a href="attempts/friction015-mass040-layout01--history_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass040-layout01--history_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass040-layout01--history_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass040-layout01--hold</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass040-layout01--hold.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass060-layout00--baseline_placement</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass060-layout00--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass060-layout00--baseline_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass060-layout00--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass060-layout00--probe_only_placement</strong>: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following. <br>11.18s probe started (slow_load_bearing_check), 11.54s alarm (object_not_following), 11.54s retry started (supported_object_only), 13.20s retry completed (open_recenter_complete), 14.08s probe started (slow_load_bearing_check), 14.44s alarm (object_not_following), 14.44s abort (retry_budget_exhausted:object_not_following) · <a href="attempts/friction015-mass060-layout00--probe_only_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass060-layout00--probe_only_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass060-layout00--probe_only_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass060-layout00--history_placement</strong>: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following. <br>11.18s probe started (slow_load_bearing_check), 11.54s alarm (object_not_following), 11.54s retry started (supported_object_only), 13.20s retry completed (open_recenter_complete), 14.08s probe started (slow_load_bearing_check), 14.44s alarm (object_not_following), 14.44s abort (retry_budget_exhausted:object_not_following) · <a href="attempts/friction015-mass060-layout00--history_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass060-layout00--history_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass060-layout00--history_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass060-layout00--hold</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass060-layout00--hold.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass060-layout01--baseline_placement</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass060-layout01--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass060-layout01--baseline_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass060-layout01--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass060-layout01--probe_only_placement</strong>: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following. <br>11.16s probe started (slow_load_bearing_check), 11.50s alarm (object_not_following), 11.50s retry started (supported_object_only), 13.16s retry completed (open_recenter_complete), 14.04s probe started (slow_load_bearing_check), 14.40s alarm (object_not_following), 14.40s abort (retry_budget_exhausted:object_not_following) · <a href="attempts/friction015-mass060-layout01--probe_only_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass060-layout01--probe_only_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass060-layout01--probe_only_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass060-layout01--history_placement</strong>: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following. <br>11.16s probe started (slow_load_bearing_check), 11.50s alarm (object_not_following), 11.50s retry started (supported_object_only), 13.16s retry completed (open_recenter_complete), 14.04s probe started (slow_load_bearing_check), 14.40s alarm (object_not_following), 14.40s abort (retry_budget_exhausted:object_not_following) · <a href="attempts/friction015-mass060-layout01--history_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass060-layout01--history_open_jaw</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass060-layout01--history_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-mass060-layout01--hold</strong>: failed · no qualification decision. Retries 0. <br>no controller events · <a href="attempts/friction015-mass060-layout01--hold.json.gz">complete JSON gzip</a></li></ul><footer><a href="https://research.dvidia.org/">DVIDIA research</a> · <a href="https://x.com/iammrriver">@iammrriver</a> · <a href="mailto:hello@dvidia.org">hello@dvidia.org</a></footer></main></html>
\ No newline at end of file
diff --git a/tasks/piper-contact-v03/report.json b/tasks/piper-contact-v03/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f00bb702d1d1eeb582710379014c7f926785254
--- /dev/null
+++ b/tasks/piper-contact-v03/report.json
@@ -0,0 +1 @@
+{"schema":"dvidia.piper-contact-benchmark/v0.3","profile":"piper-rigid-block-task-v0.1","scope":"Paired authored PiPER contact-history pilot, privileged native state and synthetic rigid blocks. No learned policy, sensor pipeline, calibrated contact, shoe competence or physical robot qualification.","physical_robot_ready":false,"learned_policy":false,"cohort":"confirmation","protocol":{"schema":"dvidia.piper-contact-protocol/v0.3","profile":"piper-rigid-block-task-v0.1","scope":"Paired authored PiPER contact-history pilot, privileged native state and synthetic rigid blocks. No learned policy, sensor pipeline, calibrated contact, shoe competence or physical robot qualification.","physical_robot_ready":false,"learned_policy":false,"cohort":"confirmation","seed":813407,"scenes":[{"id":"friction080-mass040-layout00","layout_index":0,"stratum":"nominal","friction":0.8,"mass_kg":0.04,"seed":813407,"config":{"timestep":0.001,"control_dt":0.02,"timeout_s":20.0,"settle_s":0.5,"object_position_m":[0.29983853519640874,-0.027568087421794316,0.082],"target_position_m":[0.3480263504611899,0.07517012364274386,0.08],"object_half_size_m":[0.02,0.02,0.02],"mass_kg":0.04,"friction":0.8,"table_top_m":0.06,"table_center_xy_m":[0.38,0.0],"table_half_size_xy_m":[0.17,0.22],"table_thickness_m":0.04,"goal_position_tolerance_m":0.025,"goal_dwell_s":0.25,"min_lift_m":0.06,"min_lift_dwell_s":0.1,"retreat_clearance_m":0.1,"joint_target_rate_rad_s":1.5,"jaw_target_rate_m_s":0.05,"tool_orientation_wxyz":[0.0,0.0,1.0,0.0],"carry_orientation_wxyz":[0.25881904510252074,0.0,0.9659258262890683,0.0]}},{"id":"friction080-mass040-layout01","layout_index":1,"stratum":"nominal","friction":0.8,"mass_kg":0.04,"seed":813408,"config":{"timestep":0.001,"control_dt":0.02,"timeout_s":20.0,"settle_s":0.5,"object_position_m":[0.29687092426844836,-0.026704529139887825,0.082],"target_position_m":[0.347925555044736,0.07501730350650714,0.08],"object_half_size_m":[0.02,0.02,0.02],"mass_kg":0.04,"friction":0.8,"table_top_m":0.06,"table_center_xy_m":[0.38,0.0],"table_half_size_xy_m":[0.17,0.22],"table_thickness_m":0.04,"goal_position_tolerance_m":0.025,"goal_dwell_s":0.25,"min_lift_m":0.06,"min_lift_dwell_s":0.1,"retreat_clearance_m":0.1,"joint_target_rate_rad_s":1.5,"jaw_target_rate_m_s":0.05,"tool_orientation_wxyz":[0.0,0.0,1.0,0.0],"carry_orientation_wxyz":[0.25881904510252074,0.0,0.9659258262890683,0.0]}},{"id":"friction080-mass060-layout00","layout_index":0,"stratum":"nominal","friction":0.8,"mass_kg":0.06,"seed":813409,"config":{"timestep":0.001,"control_dt":0.02,"timeout_s":20.0,"settle_s":0.5,"object_position_m":[0.29983853519640874,-0.027568087421794316,0.082],"target_position_m":[0.3480263504611899,0.07517012364274386,0.08],"object_half_size_m":[0.02,0.02,0.02],"mass_kg":0.06,"friction":0.8,"table_top_m":0.06,"table_center_xy_m":[0.38,0.0],"table_half_size_xy_m":[0.17,0.22],"table_thickness_m":0.04,"goal_position_tolerance_m":0.025,"goal_dwell_s":0.25,"min_lift_m":0.06,"min_lift_dwell_s":0.1,"retreat_clearance_m":0.1,"joint_target_rate_rad_s":1.5,"jaw_target_rate_m_s":0.05,"tool_orientation_wxyz":[0.0,0.0,1.0,0.0],"carry_orientation_wxyz":[0.25881904510252074,0.0,0.9659258262890683,0.0]}},{"id":"friction080-mass060-layout01","layout_index":1,"stratum":"nominal","friction":0.8,"mass_kg":0.06,"seed":813410,"config":{"timestep":0.001,"control_dt":0.02,"timeout_s":20.0,"settle_s":0.5,"object_position_m":[0.29687092426844836,-0.026704529139887825,0.082],"target_position_m":[0.347925555044736,0.07501730350650714,0.08],"object_half_size_m":[0.02,0.02,0.02],"mass_kg":0.06,"friction":0.8,"table_top_m":0.06,"table_center_xy_m":[0.38,0.0],"table_half_size_xy_m":[0.17,0.22],"table_thickness_m":0.04,"goal_position_tolerance_m":0.025,"goal_dwell_s":0.25,"min_lift_m":0.06,"min_lift_dwell_s":0.1,"retreat_clearance_m":0.1,"joint_target_rate_rad_s":1.5,"jaw_target_rate_m_s":0.05,"tool_orientation_wxyz":[0.0,0.0,1.0,0.0],"carry_orientation_wxyz":[0.25881904510252074,0.0,0.9659258262890683,0.0]}},{"id":"friction055-mass040-layout00","layout_index":0,"stratum":"moderate_friction","friction":0.55,"mass_kg":0.04,"seed":813411,"config":{"timestep":0.001,"control_dt":0.02,"timeout_s":20.0,"settle_s":0.5,"object_position_m":[0.29983853519640874,-0.027568087421794316,0.082],"target_position_m":[0.3480263504611899,0.07517012364274386,0.08],"object_half_size_m":[0.02,0.02,0.02],"mass_kg":0.04,"friction":0.55,"table_top_m":0.06,"table_center_xy_m":[0.38,0.0],"table_half_size_xy_m":[0.17,0.22],"table_thickness_m":0.04,"goal_position_tolerance_m":0.025,"goal_dwell_s":0.25,"min_lift_m":0.06,"min_lift_dwell_s":0.1,"retreat_clearance_m":0.1,"joint_target_rate_rad_s":1.5,"jaw_target_rate_m_s":0.05,"tool_orientation_wxyz":[0.0,0.0,1.0,0.0],"carry_orientation_wxyz":[0.25881904510252074,0.0,0.9659258262890683,0.0]}},{"id":"friction055-mass040-layout01","layout_index":1,"stratum":"moderate_friction","friction":0.55,"mass_kg":0.04,"seed":813412,"config":{"timestep":0.001,"control_dt":0.02,"timeout_s":20.0,"settle_s":0.5,"object_position_m":[0.29687092426844836,-0.026704529139887825,0.082],"target_position_m":[0.347925555044736,0.07501730350650714,0.08],"object_half_size_m":[0.02,0.02,0.02],"mass_kg":0.04,"friction":0.55,"table_top_m":0.06,"table_center_xy_m":[0.38,0.0],"table_half_size_xy_m":[0.17,0.22],"table_thickness_m":0.04,"goal_position_tolerance_m":0.025,"goal_dwell_s":0.25,"min_lift_m":0.06,"min_lift_dwell_s":0.1,"retreat_clearance_m":0.1,"joint_target_rate_rad_s":1.5,"jaw_target_rate_m_s":0.05,"tool_orientation_wxyz":[0.0,0.0,1.0,0.0],"carry_orientation_wxyz":[0.25881904510252074,0.0,0.9659258262890683,0.0]}},{"id":"friction055-mass060-layout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_attempts":84,"contract":{"profile":"piper-rigid-block-task-v0.1","scope":"Authored PiPER rigid-block contact pilot with privileged native state. Pinned upstream servos/inertias/collision proxies/gravity compensation, synthetic commands and uncalibrated contact. No learned skill, camera sensing, shoe manipulation or physical robot qualification.","physical_robot_ready":false,"arm_joint_order":["joint1","joint2","joint3","joint4","joint5","joint6"],"actions":{"joint_targets_rad":"six native position-servo targets in radians","gripper_position_m":"one native single-finger slide target in metres [0,.035]; 0 closed/.035 open; not measured full gap"},"gripper_joints":["joint7","joint8"],"independent_gripper_commands":1,"tcp":"authored site in link6 at local [0,0,.12003] near the distal finger-box centers; not hardware calibrated","object":"free rigid block with native gravity, no weld/equality/mocap or post-reset pose writes","contact":"stock native finger collision boxes; object priority1 authors pair friction explicitly","servo_gains":"unchanged upstream PiPER position servos and force caps; upstream robot gravcomp=1 retained","collision_support_exemption":"fixed base capsule may contact floor; moving robot/table/floor or block/nonfinger contacts are critical","observations":"privileged joint/object/TCP/contact state; 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Following requires table-free object rise and stable TCP-local object offset, without controller predicates. Unresolved decisions and absent opportunities remain explicit. Alarm delays use simulator timestamps; wall computation is reported separately. Post-alarm path includes native servo motion while holding."},"motion_window_s":0.1,"settled_window_s":0.1,"settled_tcp_speed_limit_m_s":0.01,"minimum_settled_object_rise_m":0.006,"scope":"Independent recorded 20ms boundaries, not detector accuracy or physics recomputation. Motion windows retain actual native movement after commands, not instantaneous arrest. Settled, resumed and completed are separate; no observed true-slip opportunity is not a perfect score."},"implementation_sha256":{"piper_task.py":"4e3f16e6075842631ddb7aa7d53ea6d6c95b54934f7eb751da61b60a432fa167","piper_task_benchmark.py":"d1294fac93bb42a26a654c6fd0950718e528cbf3cd96ffcd53118da0a1646776","robot_profiles.py":"fb90782a6a9979e282182118ae0e3e29d00f101255cc57378dd3f692672bb13d","robot_profiles.lock.json":"4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe","reference_task.py":"bbc768ccc202b8dd41cbd235b206e6478806ce47c1f30ae15dc662c0c1edcc3e","reference_sim.py":"c1201d22eb13dd07a236ee63cc4ba68e129f6067e8db61ed41af2d820eb5e3b8","reference_replay.py":"f73731434d55bac150db16c7205d341a70b95ce13e582e7a23d11dee31b27a19","piper_grip_guard.py":"90895566cad8d5a3c158a14d3165fa1866cb3d7a4a3eecac3ca0ca8ab3e88dfb","piper_grip_benchmark.py":"7ab72a8cbe77d4db96d3fa45087571e3e1d64f40fe92b6f37032936701f318e1","piper_contact_memory.py":"f608d6647046f6fa02d8ad5e87fad10853837520a6a0fae2043c7ad260a06c4c","piper_contact_benchmark.py":"6ebd44c3704cda8679335f988df0dcc7817b3f8da314b7a4fe8b3939215728bb"},"native_command_units":["rad","rad","rad","rad","rad","rad","m"],"simulation_asset_license":"MIT","layout_offset_limit_m":0.005,"timing_boundary":"Attempt wall includes asset verification, compilation, settling, authored planning/IK, physics, contact scoring and recorded state construction. 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