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"0801030a85d638339d4f2a2fb00955596bf2c9f87129aea0b7e6dbd7403acbb0", "shape32.vertices": "6bc60d3ac697291479018aa4381ae84a2118a68f5090533d00e3340dce3942e0", "shape32.indices": "70507c377a6f8082cc273f9fa8bf5f34783df16d015790aea5bd6a92ebae4124", "shape33.vertices": "480ea7127dea8383e43f7d6efcc1bc9608133ae20dca803a3c4fd150a7e0bd32", "shape33.indices": "0801030a85d638339d4f2a2fb00955596bf2c9f87129aea0b7e6dbd7403acbb0", "soft_contact_ke": 30000.0, "soft_contact_kd": 0.1, "soft_contact_mu": 1.5 } }, "title": "M3 | Franka hands: tote | 0 payloads", "description": "Original coarse M1 bag and payload geometry, mass, and material. Two original Franka hands start in a prepared contact hold on opposite handle shoulders; this is not grasp acquisition. Original 300 mm lift, 220/160 mm carry, hold, place, open, and withdrawal. Every cloth and payload vertex remains free. The original wide cube jaws are replaced by real 17.5 mm fingertip faces.", "protocol": { "case_id": "m3_franka_tote_empty", "scene_id": "m3_franka_tote_empty", "family": "Robot manipulation", "collection_group": "Bags and payloads", "original_case": "m1_tote_empty", "runner": "manipulation", "kwargs": { "substeps": 10, "iterations": 40 }, "env": {}, "replay": {}, "recorded_status": "Prepared hold and release observed; deformation measured", "frame_dt_s": 0.03333333333333333, "substeps": 10, "substep_dt_s": 0.003333333333333333, "iterations": 40, "duration_s": 67.5, "recorded_wall_time_s": 69.94961939379573, "material_path": "cloth", "elasticity_treatment_applicable": true, "initial_hold_prepared": true, "hold_start": 4.0, "hold_end": 64.0, "stationary_windows": [ [ 3.9999999999999996, 63.99999999999999 ] ], "dynamic_window": [ 0.0, 67.5 ], "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, 4.0 ] ], "place_release_windows": [ [ 5.5, 9.0 ] ], "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": "original_fixed_support_and_placement_table", "shape_margin_m": 0.0, "geometry_source": "model.shape_transform and model.shape_scale", "kind": "box", "center_m": [ 0.11999999731779099, 0.07000000029802322, 0.14499999582767487 ], "half_extents_m": [ 0.5699999928474426, 0.4399999976158142, 0.03500000014901161 ], "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": 4.0, "end_s": 64.0, "phase": "declared stationary command" } ], "stationary_intervals": [ { "start_s": 3.9999999999999996, "end_s": 63.99999999999999, "phase": "declared stationary command", "requested_start_s": 4.0, "requested_end_s": 64.0 } ], "original_stationary_windows": [ [ 4.0, 5.5 ] ], "transport_intervals": [ { "start_s": 0.5, "end_s": 4.0 } ], "place_release_intervals": [ { "start_s": 64.0, "end_s": 67.5 } ], "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": 38, "shape_material_ke_min": 50000.0, "shape_material_ke_max": 50000.0, "shape_material_ke_values": [ 50000.0 ], "shape_material_ke_sha256": "47410cd9540f0647bcd53a2aead6ac364d660c1048a107fb79642efd4d201aee" }, "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": 38, "shape_material_ke_min": 30000.0, "shape_material_ke_max": 30000.0, "shape_material_ke_values": [ 30000.0 ], "shape_material_ke_sha256": "8011a2ee53d53a77cdcc7e97fbcdff2d912f2230c54c64eae59973f2ff304ef3" }, "changed": true } }, "setup_wall_s": 1.646317571401596, "frame_dt_s": 0.03333333333333333, "substeps": 10, "substep_dt_s": 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Vertex/solid audits are sampled geometry checks, not continuous nonpenetration proofs." }, "math_mode": "off", "fast_math_enabled": false, "rigid_soft_enable_dat": true, "contact_damping_bidirectional": true, "task_measurements": { "schema_version": 1, "enabled": true, "sample_interval_s": 0.03333333333333333, "method": "Conservative whole-object shell AABB versus whole original-hand collision AABB, expanded by shape margin; detection gap excluded. Positive distance establishes geometric separation at the sampled state. Zero is inconclusive, not contact.", "hold_interval_s": [ 4.0, 64.0 ], "hold_sample_count": 1801, "hold_fully_separated_sample_count": 1384, "first_proven_hold_separation_s": 17.900000000000002, "final_fully_separated": true, "final_separation_suffix_start_s": 17.900000000000002, "final_separation_suffix_observed_duration_s": 49.599999999999994, "hands": [ { "label": "bag_franka_0", "shape_ids": [ 7, 10, 11, 12, 13, 16, 17, 18, 19 ] }, { "label": "bag_franka_1", "shape_ids": [ 25, 28, 29, 30, 31, 34, 35, 36, 37 ] } ], "support_planes": [ { "label": "original_fixed_support_and_placement_table", "top_z_m": 0.17999999597668648 }, { "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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