Publish reviewed DVIDIA native robot simulation evidence and local tools

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@c9a72584b4f35c38ad2616894f56da719bba0182"
+.venv/bin/python -m pip install "dvidia-training[arm] @ git+https://github.com/Dvidia-Inference/dvidia-training.git@44fa7013d2718d8b28941bd82de37806f80ddf23"
 .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/c9a72584b4f35c38ad2616894f56da719bba0182/docs/native-task-benchmark.md)
+[local task guide](https://github.com/Dvidia-Inference/dvidia-training/blob/44fa7013d2718d8b28941bd82de37806f80ddf23/docs/native-task-benchmark.md)
 describes controls, scoring and measured timing boundaries.
 
 ## Hardware profiles
@@ -80,7 +80,38 @@ 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/c9a72584b4f35c38ad2616894f56da719bba0182/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/44fa7013d2718d8b28941bd82de37806f80ddf23/docs/piper-contact-pilot.md).
+
+
+## PiPER guarded grip comparison
+
+Placement completion: baseline 4/6 versus guarded 2/6.
+
+This cohort does not show improved placement success.
+
+Retries and qualification decisions do not imply successful recovery.
+
+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.
+
+- μ=0.80 / baseline_placement: 2/2 completed, 2 numerically valid
+- μ=0.80 / baseline_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.80 / guarded_placement: 2/2 completed, 2 numerically valid
+- μ=0.80 / guarded_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.80 / hold: 0/2 completed, 2 numerically valid
+- μ=0.55 / baseline_placement: 2/2 completed, 2 numerically valid
+- μ=0.55 / baseline_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.55 / guarded_placement: 0/2 completed, 2 numerically valid
+- μ=0.55 / guarded_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.55 / hold: 0/2 completed, 2 numerically valid
+- μ=0.15 / baseline_placement: 0/2 completed, 2 numerically valid
+- μ=0.15 / baseline_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.15 / guarded_placement: 0/2 completed, 2 numerically valid
+- μ=0.15 / guarded_open_jaw: 0/2 completed, 2 numerically valid
+- μ=0.15 / hold: 0/2 completed, 2 numerically valid
+
+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).
 
 
 ## Provenance and licensing

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/c9a72584b4f35c38ad2616894f56da719bba0182/docs/piper-contact-pilot.md">Pinned PiPER contact guide ↗</a></div></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/c9a72584b4f35c38ad2616894f56da719bba0182/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/c9a72584b4f35c38ad2616894f56da719bba0182/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/c9a72584b4f35c38ad2616894f56da719bba0182/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">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>
 <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>

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": "c9a72584b4f35c38ad2616894f56da719bba0182",
+  "source_commit": "44fa7013d2718d8b28941bd82de37806f80ddf23",
   "physical_robot_ready": false,
   "learned_policy": false,
   "live_browser_physics": false,
@@ -28,7 +28,8 @@
     "Robotiq 2F-85": "BSD-2-Clause",
     "AgileX PiPER": "MIT",
     "The Robot Studio SO101": "Apache-2.0",
-    "PiPER contact pilot": "MIT"
+    "PiPER contact pilot": "MIT",
+    "PiPER guarded grip comparison": "MIT"
   },
   "profile_benchmarks": {
     "piper": {
@@ -345,6 +346,419 @@
       "learned_policy": false,
       "scope": "Authored PiPER free-block contact task, synthetic scenes and privileged native state. No learned policy, shoe competence, calibrated contact or physical robot qualification.",
       "byte_preservation": "Complete original protocol, report, every raw attempt, integrity and MIT model notices retained under tasks/piper/"
+    },
+    "piper-grip": {
+      "profile": "piper-rigid-block-task-v0.1",
+      "source_integrity": {
+        "bytes": 8885,
+        "sha256": "eecd49038f192bf74a42cce50998f2f811af6fd0e3c177164d4f4fff7a33005e"
+      },
+      "source_report": {
+        "bytes": 307748,
+        "sha256": "5b62a14e5e3e8ac9ddfa5e809c03f99f4a83a7d00ec8e6d76859eab9c26f5c1e"
+      },
+      "source_protocol": {
+        "bytes": 10832,
+        "sha256": "3859e1ee6a9db3be49f514a43abcf34e81e2ff6d449f1194851222039dbd508d"
+      },
+      "cohort": "confirmation",
+      "attempt_ids": [
+        "friction080-layout00--baseline_placement",
+        "friction080-layout00--baseline_open_jaw",
+        "friction080-layout00--guarded_placement",
+        "friction080-layout00--guarded_open_jaw",
+        "friction080-layout00--hold",
+        "friction080-layout01--baseline_placement",
+        "friction080-layout01--baseline_open_jaw",
+        "friction080-layout01--guarded_placement",
+        "friction080-layout01--guarded_open_jaw",
+        "friction080-layout01--hold",
+        "friction055-layout00--baseline_placement",
+        "friction055-layout00--baseline_open_jaw",
+        "friction055-layout00--guarded_placement",
+        "friction055-layout00--guarded_open_jaw",
+        "friction055-layout00--hold",
+        "friction055-layout01--baseline_placement",
+        "friction055-layout01--baseline_open_jaw",
+        "friction055-layout01--guarded_placement",
+        "friction055-layout01--guarded_open_jaw",
+        "friction055-layout01--hold",
+        "friction015-layout00--baseline_placement",
+        "friction015-layout00--baseline_open_jaw",
+        "friction015-layout00--guarded_placement",
+        "friction015-layout00--guarded_open_jaw",
+        "friction015-layout00--hold",
+        "friction015-layout01--baseline_placement",
+        "friction015-layout01--baseline_open_jaw",
+        "friction015-layout01--guarded_placement",
+        "friction015-layout01--guarded_open_jaw",
+        "friction015-layout01--hold"
+      ],
+      "attempted": 30,
+      "valid_attempts": 30,
+      "summary": [
+        {
+          "friction": 0.8,
+          "stratum": "nominal",
+          "variant": "baseline_placement",
+          "attempted": 2,
+          "valid": 2,
+          "success": 2,
+          "failed_or_invalid": 0,
+          "success_fraction": 1.0,
+          "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": 0,
+          "unresolved_following_opportunity_attempts": 0,
+          "aborted_attempts": 0,
+          "retries": 0,
+          "alarms": 0,
+          "alarms_without_preceding_sampled_loss": 0,
+          "incomplete_post_alarm_windows": 0,
+          "sampled_drop_events": 0
+        },
+        {
+          "friction": 0.8,
+          "stratum": "nominal",
+          "variant": "baseline_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,
+          "alarms": 0,
+          "alarms_without_preceding_sampled_loss": 0,
+          "incomplete_post_alarm_windows": 0,
+          "sampled_drop_events": 0
+        },
+        {
+          "friction": 0.8,
+          "stratum": "nominal",
+          "variant": "guarded_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,
+          "alarms": 0,
+          "alarms_without_preceding_sampled_loss": 0,
+          "incomplete_post_alarm_windows": 0,
+          "sampled_drop_events": 0
+        },
+        {
+          "friction": 0.8,
+          "stratum": "nominal",
+          "variant": "guarded_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,
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tasks/piper-grip/licenses/agilex_piper/LICENSE

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+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.

tasks/piper-grip/licenses/agilex_piper/README.md

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+## 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/).

tasks/piper-grip/protocol.json

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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; no deployable sensor pipeline","success":"valid native physics, sustained bilateral table-free lift and retained carry to supported destination, then actual released/settled destination dwell and retreat","carry_contact_loss_tolerance_seconds":0.04,"contact_force_threshold_n":0.01,"simulation_asset_license":"MIT"},"guard_contract":{"schema":"dvidia.piper-grip-guard/v1","parameters":{"probe_height_m":0.01,"probe_speed_m_s":0.02,"probe_min_object_rise_m":0.006,"qualification_dwell_s":0.1,"relative_drift_limit_m":0.003,"monitor_min_probe_motion_m":0.003,"consecutive_alarm_samples":2,"probe_timeout_s":1.4,"close_timeout_s":1.4,"retry_open_timeout_s":1.2,"retry_recenter_timeout_s":1.5,"retry_clearance_m":0.012,"max_retries":1},"observations":"grip check uses causal current privileged TCP/object pose and bilateral native contacts at 20 ms; no mass/friction or scorer input; downstream original motion policy remains unchanged and uses the existing lift outcome flag","qualification":"slow 10 mm probe; object rises at least 6 mm, both pads retain contact, support is absent and TCP-local drift <=3 mm for 100 ms","alarm":"two consecutive snapshots with relative drift, bilateral-contact loss or supported object failing to follow a moving probe; bounded closure/probe timeouts","recovery":"hold measured six joint targets first; only supported objects may be opened/recentered/retried, at most once; support loss stops closed","stop":"requested measured joint targets; native rate limiting and inertia may continue motion, which is recorded","duration":"original fixed episode timeout including every probe/retry/abort holding command","scope":"authored simulator controller, not a sensor implementation, hardware safety controller or learned policy"},"evaluation_contract":{"schema":"dvidia.piper-grip-sampled-evaluation/v1","following_rise_m":0.01,"following_dwell_s":0.1,"qualification_lookahead_s":0.6,"local_offset_drift_limit_m":0.008,"post_alarm_window_s":0.1,"scope":"Independent recorded 20ms boundary proxies, not recomputed native physics or classifier accuracy. 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."},"implementation_sha256":{"piper_task.py":"7ff3cbe17ce77e8fed7a097c930d8cf85f9babdccdd9a5ad18fc2cd49e33716b","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"},"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; identical native model per scene. Each placement has a separately matched open-jaw replay of its own complete valid requested-arm tape; common hold uses initial arm targets. Aborts retain the full timeout unless native physics becomes invalid. Invalid/incomplete placement leaves its dependent replay invalid; no tape extension.","split_note":"Synthetic layouts; confirmation is a declaration, not proof of unseen scenes. Controller and evaluation thresholds are frozen before running, not accuracy estimates."}

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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 paired grip pilot</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>PiPER paired grip pilot</h1><p>Paired authored PiPER grip-guard 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 30 planned attempts retained.</p><p><a href="report.json">Report</a> · <a href="protocol.json">Frozen protocol</a> · <a href="integrity.json">Integrity and decoded hashes</a> · <a href="licenses/agilex_piper/LICENSE">Original MIT model notice</a></p><div class="scroll"><table><tr><th>Friction</th><th>Variant</th><th>Completed</th><th>Attempted</th><th>Valid</th><th>Aborted</th><th>Retries</th></tr><tr><td>0.8</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>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>guarded_placement</td><td>2</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.8</td><td>guarded_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>hold</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.55</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>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>guarded_placement</td><td>0</td><td>2</td><td>2</td><td>2</td><td>0</td></tr><tr><td>0.55</td><td>guarded_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>hold</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr><tr><td>0.15</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>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>guarded_placement</td><td>0</td><td>2</td><td>2</td><td>2</td><td>2</td></tr><tr><td>0.15</td><td>guarded_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>hold</td><td>0</td><td>2</td><td>2</td><td>0</td><td>0</td></tr></table></div><p>Independent recorded 20ms boundary proxies, not recomputed native physics or classifier accuracy. 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.</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>All complete traces</h2><ul><li><strong>friction080-layout00--baseline_placement</strong>: completed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction080-layout00--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-layout00--baseline_open_jaw</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction080-layout00--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-layout00--guarded_placement</strong>: completed · 11.90s: following observed. Retries: 0. <br>11.30s probe started (slow_load_bearing_check), 11.90s acquisition qualified (sustained_table_free_probe)<br><a href="attempts/friction080-layout00--guarded_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-layout00--guarded_open_jaw</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction080-layout00--guarded_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-layout00--hold</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction080-layout00--hold.json.gz">complete JSON gzip</a></li><li><strong>friction080-layout01--baseline_placement</strong>: completed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction080-layout01--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-layout01--baseline_open_jaw</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction080-layout01--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-layout01--guarded_placement</strong>: completed · 11.84s: following observed. Retries: 0. <br>11.24s probe started (slow_load_bearing_check), 11.84s acquisition qualified (sustained_table_free_probe)<br><a href="attempts/friction080-layout01--guarded_placement.json.gz">complete JSON gzip</a></li><li><strong>friction080-layout01--guarded_open_jaw</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction080-layout01--guarded_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction080-layout01--hold</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction080-layout01--hold.json.gz">complete JSON gzip</a></li><li><strong>friction055-layout00--baseline_placement</strong>: completed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction055-layout00--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-layout00--baseline_open_jaw</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction055-layout00--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-layout00--guarded_placement</strong>: failed · 11.90s: following observed. Retries: 0. Abort: relative_slip. <br>11.30s probe started (slow_load_bearing_check), 11.90s acquisition qualified (sustained_table_free_probe), 12.02s alarm (relative_slip), 12.02s abort (relative_slip)<br>12.02s alarm: TCP path 6.41mm, rise 5.35mm; complete 100ms window<br><a href="attempts/friction055-layout00--guarded_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-layout00--guarded_open_jaw</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction055-layout00--guarded_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-layout00--hold</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction055-layout00--hold.json.gz">complete JSON gzip</a></li><li><strong>friction055-layout01--baseline_placement</strong>: completed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction055-layout01--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-layout01--baseline_open_jaw</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction055-layout01--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-layout01--guarded_placement</strong>: failed · 11.84s: following observed. Retries: 0. Abort: relative_slip. <br>11.24s probe started (slow_load_bearing_check), 11.84s acquisition qualified (sustained_table_free_probe), 11.96s alarm (relative_slip), 11.96s abort (relative_slip)<br>11.96s alarm: TCP path 6.43mm, rise 5.35mm; complete 100ms window<br><a href="attempts/friction055-layout01--guarded_placement.json.gz">complete JSON gzip</a></li><li><strong>friction055-layout01--guarded_open_jaw</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction055-layout01--guarded_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction055-layout01--hold</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction055-layout01--hold.json.gz">complete JSON gzip</a></li><li><strong>friction015-layout00--baseline_placement</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction015-layout00--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-layout00--baseline_open_jaw</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction015-layout00--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-layout00--guarded_placement</strong>: failed · no qualification decision. Retries: 1. Abort: retry_budget_exhausted:object_not_following. <br>11.30s probe started (slow_load_bearing_check), 11.66s alarm (object_not_following), 11.66s retry started (supported_object_only), 13.32s retry completed (open_recenter_complete), 14.20s probe started (slow_load_bearing_check), 14.56s alarm (object_not_following), 14.56s abort (retry_budget_exhausted:object_not_following)<br>11.66s alarm: TCP path 0.38mm, rise 0.31mm; complete 100ms window, 14.56s alarm: TCP path 0.37mm, rise 0.31mm; complete 100ms window<br><a href="attempts/friction015-layout00--guarded_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-layout00--guarded_open_jaw</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction015-layout00--guarded_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-layout00--hold</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction015-layout00--hold.json.gz">complete JSON gzip</a></li><li><strong>friction015-layout01--baseline_placement</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction015-layout01--baseline_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-layout01--baseline_open_jaw</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction015-layout01--baseline_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-layout01--guarded_placement</strong>: failed · no qualification decision. Retries: 1. Abort: retry_budget_exhausted:object_not_following. <br>11.24s probe started (slow_load_bearing_check), 11.58s alarm (object_not_following), 11.58s retry started (supported_object_only), 13.24s retry completed (open_recenter_complete), 14.12s probe started (slow_load_bearing_check), 14.48s alarm (object_not_following), 14.48s abort (retry_budget_exhausted:object_not_following)<br>11.58s alarm: TCP path 0.38mm, rise 0.31mm; complete 100ms window, 14.48s alarm: TCP path 0.37mm, rise 0.31mm; complete 100ms window<br><a href="attempts/friction015-layout01--guarded_placement.json.gz">complete JSON gzip</a></li><li><strong>friction015-layout01--guarded_open_jaw</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction015-layout01--guarded_open_jaw.json.gz">complete JSON gzip</a></li><li><strong>friction015-layout01--hold</strong>: failed · no qualification decision. Retries: 0. <br>no guard events<br><a href="attempts/friction015-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>