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release", "description": "Original Franka hand collision shapes and finger joints pinch the pouch front lip. Prepared contact hold; no approach/acquisition claim. The supported pouch is 150 by 200 by 18 mm, with a 2 mm effective contact thickness and refined front panels. Prescribed robot FK lifts 220 mm, carries 160 mm in X and 100 mm in Y, holds, places, opens, and withdraws. VBD computes all pouch motion; every cloth vertex remains free and self-contact stays enabled.", "protocol": { "case_id": "m2_franka_pouch", "scene_id": "m2_franka_pouch", "family": "Robot manipulation", "collection_group": "Bags and payloads", "original_case": "m1_pouch_empty_substeps16", "runner": "manipulation", "kwargs": { "substeps": 10, "iterations": 40 }, "env": {}, "replay": {}, "recorded_status": "Prepared hold, carry, and release observed", "frame_dt_s": 0.03333333333333333, "substeps": 10, "substep_dt_s": 0.003333333333333333, "iterations": 40, "duration_s": 68.5, "recorded_wall_time_s": 45.824288967996836, "material_path": "cloth", "elasticity_treatment_applicable": true, "initial_hold_prepared": true, "hold_start": 4.5, "hold_end": 64.5, "stationary_windows": [ [ 4.5, 64.5 ] ], "dynamic_window": [ 0.0, 68.5 ], "applicability": { "task_completion": true, "grasp_acquisition": false, "grasp_retention": true, "grasp_slip": true, "penetration": true, "stationary_stability": true, "dynamic_response": false, "release": true, "analytic_freefall": false, "grasp": false, "hold": true, "transport": true, "place_release": true, "soft_stability": true, "friction_separation": true, "dynamic": false }, "notes": [], "transport_windows": [ [ 0.5, 4.5 ] ], "place_release_windows": [ [ 6.0, 10.0 ] ], "category_applicability": { "grasp": false, "hold": true, "transport": true, "place_release": true, "penetration": true, "soft_stability": true, "friction_separation": true, "dynamic": false }, "clock_policy": "Physical time advances continuously; only the original stationary command clock pauses.", "extra_hold_s": 58.5, "raw_metrics_time_basis": "original motion time; comparison scores use physical time", "penetration_surfaces": [ { "shape_index": 0, "label": "fixed_support_and_placement_table", "shape_margin_m": 0.0, "geometry_source": "model.shape_transform and model.shape_scale", "kind": "box", "center_m": [ 0.07999999821186066, 0.05000000074505806, 0.15000000596046448 ], "half_extents_m": [ 0.4000000059604645, 0.3199999928474426, 0.029999999329447746 ], "rotation_xyzw": [ 0.0, 0.0, 0.0, 1.0 ] }, { "shape_index": 1, "label": "ground_plane", "shape_margin_m": 0.0, "geometry_source": "model.shape_transform and model.shape_scale", "kind": "plane", "normal": [ 0.0, 0.0, 1.0 ], "offset_m": 0.0 } ], "stationary_requested_intervals": [ { "start_s": 4.5, "end_s": 64.5, "phase": "declared stationary command" } ], "stationary_intervals": [ { "start_s": 4.5, "end_s": 64.5, "phase": "declared stationary command", "requested_start_s": 4.5, "requested_end_s": 64.5 } ], "original_stationary_windows": [ [ 4.5, 6.0 ] ], "transport_intervals": [ { "start_s": 0.5, "end_s": 4.5 } ], "place_release_intervals": [ { "start_s": 64.5, "end_s": 68.5 } ], "contact_stiffness_policy": { "name": "elasticity-cap", "version": 1, "max_ratio": 10.0, "tet_policy": "numeric" }, "effective_contact_materials": { "policy": { "name": "elasticity-cap", "version": 1, "max_ratio": 10.0, "tet_policy": "numeric" }, "authored": { "soft_contact_ke": 50000.0, "shape_count": 20, "shape_material_ke_min": 50000.0, "shape_material_ke_max": 50000.0, "shape_material_ke_values": [ 50000.0 ], "shape_material_ke_sha256": "2924c3cf70dd48513cbf0ccd92afbb97f6ce9532d9dffc783aeff30890394676" }, "scope": "This material policy changes only soft_contact_ke and shape_material_ke. Scene-specific pose corrections are outside this policy and are recorded by the scene adapter.", "mixing": "rigid-soft: arithmetic mean of soft and shape ke; rigid-rigid: mean of the two shape ke values", "grip_validation": "not established by coefficient bounds", "reference_terms": [ { "material": "cloth", "source": "tri_materials[:, :2]", "units": "N/m", "value": 3000.0, "physical_units_match": true } ], "reference_coefficient": 3000.0, "cap_N_per_m": 30000.0, "dimensionally_comparable": true, "mixed_material_rule": "Use the smallest declared reference; one global soft-contact coefficient.", "effective": { "soft_contact_ke": 30000.0, "shape_count": 20, "shape_material_ke_min": 30000.0, "shape_material_ke_max": 30000.0, "shape_material_ke_values": [ 30000.0 ], "shape_material_ke_sha256": "b1a3418ec3f72283efcd524819a94cbee31d48b6621cc5f0dd3d5c1cc62af15e" }, "changed": true } }, "setup_wall_s": 2.1029580496251583, "frame_dt_s": 0.03333333333333333, "substeps": 10, "substep_dt_s": 0.003333333333333333, "solver_options": { "iterations": 40, "integrate_with_external_rigid_solver": false, "particle_enable_self_contact": true, "particle_self_contact_margin": 0.002, "particle_self_contact_gap": 0.0015, "particle_vertex_contact_buffer_size": 512, "particle_edge_contact_buffer_size": 512, "friction_epsilon": 0.001, "rigid_compliant_alm": false, "rigid_contact_hard": false, "rigid_soft_enable_dat": true, "enable_fast_math": false, "contact_damping_bidirectional": true }, "elasticity_treatment_has_particles": true, "initial_common_start": null, "requested_duration_s": 68.5, "video_fps": 10.0, "observed_substeps": 20550, "expected_substeps": 20550, "total_wall_s": 532.688794106245, "measurements": { "schema_version": 1, "sampling": { "physical_substep_samples": 20550, "frame_calls": 1, "particle_vertex_count": 1469, "cable_surface_sample_count": 0, "material_sample_count": 1469, "sample_identities_fixed": true, "cable_surface_scope": "14 material points per identified capsule; not a continuous surface maximum", "frame": "stationary world", "all_soft_points_scope": "all particle vertices plus identified cable surface samples; no contact filtering" }, "finite": { "all_samples_finite": true, "nonfinite_substep_count": 0, "first_nonfinite_time_s": null }, "stability": { "status": "measured", "criterion_status": "incomplete", "limit": null, "window_s": 0.5, "window_overlap_s": 0, "complete_window_count": 120, "discarded_window_count": 0, "J_star_m": 0.028342646245557608, "declared_complete_window_count": 120, "missing_or_invalid_declared_window_count": 0, "V_star_m_s": 0.5318258053207207, "worst_position_sample": { "kind": "particle", "particle_index": 1025 }, "worst_velocity_sample": { "kind": "particle", "particle_index": 611 }, "windows": [ { "start_s": 4.5, "end_s": 5.0, "phase": "declared stationary command", "substep_samples": 150, "J_star_m": 0.004378339883714773, "V_star_m_s": 0.28814171247257436, "position_sample_index": 0, 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Positive distance establishes geometric separation at the sampled state. Zero is inconclusive, not contact.", "hold_interval_s": [ 4.5, 64.5 ], "hold_sample_count": 1801, "hold_fully_separated_sample_count": 675, "first_proven_hold_separation_s": 42.03333333333333, "final_fully_separated": true, "final_separation_suffix_start_s": 42.03333333333333, "final_separation_suffix_observed_duration_s": 26.46666666666667, "hands": [ { "label": "pouch_franka_hand", "shape_ids": [ 7, 10, 11, 12, 13, 16, 17, 18, 19 ] } ], "support_planes": [ { "label": "fixed_support_and_placement_table", "top_z_m": 0.18000000528991222 }, { "label": "ground_plane", "top_z_m": 0.0 } ], "warnings": [], "scope_limits": [ "Sampled separation evidence, not continuous retention or acquisition qualification.", "No force, contact membership, interface slip, target-placement tolerance or fidelity pass is inferred.", "Support-plane height is a geometric task observable; negative height outside a finite table is not penetration.", "Cable bounds are conservative; particle shell bounds use all vertices and their radii.", "AABB overlap can hide separation. 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0 ], "self_detection_calls": 41101, "overflow": false, "scope": "Sticky global rigid/full-surface and soft-self row counts across every owned detection, including preparation; excludes per-body adjacency capacities. 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