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"soft_contact_mu": 1.0 } }, "title": "R5 | Allegro: original-size towel", "description": "Preserves the original R1 cloth shape, scale, table and close/lift/carry/hold/place/release operation. The placement hand height increases by 20-25 mm to clear the finite table with the original hand. Original robot hand geometry replaces the cube jaws. Robot roots and joints are prescribed; all cloth vertices remain dynamic, with no pins or attachments. Allegro starts in declared shallow prepared contact at the original towel edge; no approach acquisition claim.", "protocol": { "case_id": "r5_allegro_towel", "scene_id": "r5_allegro_towel", "family": "Robot manipulation", "collection_group": "Robot matrix exemplar", "original_case": null, "runner": "manipulation", "kwargs": { "substeps": 10, "iterations": 30 }, "env": {}, "replay": {}, "recorded_status": "Full-size towel: prepared hold and release observed", "frame_dt_s": 0.03333333333333333, "substeps": 10, "substep_dt_s": 0.003333333333333333, "iterations": 30, "duration_s": 70.0, "recorded_wall_time_s": 137.81452100723982, "material_path": "cloth", "elasticity_treatment_applicable": true, "initial_hold_prepared": true, "hold_start": 5.5, "hold_end": 65.5, "stationary_windows": [ [ 5.5, 65.5 ] ], "dynamic_window": [ 0.0, 70.0 ], "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": [ [ 1.5, 5.5 ] ], "place_release_windows": [ [ 7.0, 11.5 ] ], "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": "unchanged original start and placement table", "shape_margin_m": 0.0010000000474974513, "geometry_source": "model.shape_transform and model.shape_scale", "kind": "box", "center_m": [ 0.0, 0.38999998569488525, 0.11999999731779099 ], "half_extents_m": [ 0.6499999761581421, 0.3100000023841858, 0.12999999523162842 ], "rotation_xyzw": [ 0.0, 0.0, 0.0, 1.0 ] }, { "shape_index": 43, "label": "ground_plane", "shape_margin_m": 0.0010000000474974513, "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": 5.5, "end_s": 65.5, "phase": "declared stationary command" } ], "stationary_intervals": [ { "start_s": 5.5, "end_s": 65.5, "phase": "declared stationary command", "requested_start_s": 5.5, "requested_end_s": 65.5 } ], "original_stationary_windows": [ [ 5.5, 7.0 ] ], "transport_intervals": [ { "start_s": 1.5, "end_s": 5.5 } ], "place_release_intervals": [ { "start_s": 65.5, "end_s": 70.0 } ], "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": 44, "shape_material_ke_min": 50000.0, "shape_material_ke_max": 50000.0, "shape_material_ke_values": [ 50000.0 ], "shape_material_ke_sha256": "87b03c90ddb8f9b1842c549aa69530b875d4ab6be12cdb4b11f9dfb346416cbf" }, "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": 1800.0, "physical_units_match": true } ], "reference_coefficient": 1800.0, "cap_N_per_m": 18000.0, "dimensionally_comparable": true, "mixed_material_rule": "Use the smallest declared reference; one global soft-contact coefficient.", "effective": { "soft_contact_ke": 18000.0, "shape_count": 44, "shape_material_ke_min": 18000.0, "shape_material_ke_max": 18000.0, "shape_material_ke_values": [ 18000.0 ], "shape_material_ke_sha256": "e11b485a25bc09392cf1488881fbc255f0bebd49be2ed1c64f414cb7e774bf46" }, "changed": true } }, "setup_wall_s": 3.726800423115492, "frame_dt_s": 0.03333333333333333, "substeps": 10, "substep_dt_s": 0.003333333333333333, "solver_options": { "iterations": 30, "integrate_with_external_rigid_solver": false, "particle_enable_self_contact": true, "particle_self_contact_margin": 0.002, "particle_self_contact_gap": 0.001, "particle_rest_shape_contact_exclusion_radius": 0.005, "particle_topological_contact_filter_threshold": 1, "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": 70.0, "video_fps": 10.0, "observed_substeps": 21000, "expected_substeps": 21000, "total_wall_s": 301.55037846043706, "measurements": { "schema_version": 1, "sampling": { "physical_substep_samples": 21000, "frame_calls": 1, "particle_vertex_count": 2180, "cable_surface_sample_count": 0, 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0.0009912117645144462 } ] }, { "time_s": 9.500000000000002, "hands": [ { "hand_ground_clearance_including_margin_m": 0.2554783821105957, "vertices_inside_original_hand_solids": 0, "minimum_vertex_to_hand_distance_m": 0.002384759485721588, "minimum_shell_to_hand_distance_m": -0.0006152405142784119 } ] }, { "time_s": 10.000000000000002, "hands": [ { "hand_ground_clearance_including_margin_m": 0.31381115317344666, "vertices_inside_original_hand_solids": 0, "minimum_vertex_to_hand_distance_m": 0.004019983112812042, "minimum_shell_to_hand_distance_m": 0.0010199831128120422 } ] }, { "time_s": 10.500000000000002, "hands": [ { "hand_ground_clearance_including_margin_m": 0.42214447259902954, "vertices_inside_original_hand_solids": 0, "minimum_vertex_to_hand_distance_m": 0.11233457177877426, "minimum_shell_to_hand_distance_m": 0.10933457177877426 } ] }, { "time_s": 11.000000000000002, "hands": [ { "hand_ground_clearance_including_margin_m": 0.480478435754776, "vertices_inside_original_hand_solids": 0, "minimum_vertex_to_hand_distance_m": 0.16074635088443756, "minimum_shell_to_hand_distance_m": 0.15774635088443756 } ] }, { "time_s": 11.500000000000002, "hands": [ { "hand_ground_clearance_including_margin_m": 0.480478435754776, "vertices_inside_original_hand_solids": 0, "minimum_vertex_to_hand_distance_m": 0.16158527135849, "minimum_shell_to_hand_distance_m": 0.15858527135849 } ] } ], "qualification": "Preserved-scene contact smoke; no actuator-force, full-arm-reach or calibrated-material claim. Outcomes are measured, not assumed." }, "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": [ 5.5, 65.5 ], "hold_sample_count": 1801, "hold_fully_separated_sample_count": 0, "first_proven_hold_separation_s": null, "final_fully_separated": true, "final_separation_suffix_start_s": 68.73333333333333, "final_separation_suffix_observed_duration_s": 1.2666666666666657, "hands": [ { "label": "0", "shape_ids": [ 2, 4, 6, 8, 10, 12, 14, 16, 18, 20, 22, 24, 26, 28, 30, 32, 34, 36, 38, 40, 42 ] } ], "support_planes": [ { "label": "unchanged original start and placement table", "top_z_m": 0.2499999925494194 }, { "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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