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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. Open Franka fingers close around the accessible original cloth edge or bag handle.", "protocol": { "case_id": "r5_franka_patch_contact_v2", "scene_id": "r5_franka_patch_contact_v2", "family": "Robot manipulation", "collection_group": "Cloth and garments", "original_case": "r1_patch", "runner": "manipulation", "kwargs": { "substeps": 10, "iterations": 30 }, "env": {}, "replay": {}, "recorded_status": "Pickup/carry observed; high local strain and incomplete release", "frame_dt_s": 0.03333333333333333, "substeps": 10, "substep_dt_s": 0.003333333333333333, "iterations": 30, "duration_s": 70.0, "recorded_wall_time_s": 123.09843662753701, "material_path": "cloth", "elasticity_treatment_applicable": true, "initial_hold_prepared": false, "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": true, "grasp_retention": true, "grasp_slip": true, "penetration": true, "stationary_stability": true, "dynamic_response": false, "release": true, "analytic_freefall": false, "grasp": true, "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": true, "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": 37, "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": 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": 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": 38, "shape_material_ke_min": 18000.0, "shape_material_ke_max": 18000.0, "shape_material_ke_values": [ 18000.0 ], "shape_material_ke_sha256": "4eb6dcfdf4e2c0dac24fcca2fbc8648d42ffad9231a1687010d3a8a19aa0e753" }, "changed": true } }, "setup_wall_s": 29.033597942441702, "frame_dt_s": 0.03333333333333333, "substeps": 10, "substep_dt_s": 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Outcomes are measured, not assumed." }, "math_mode": "off", "fast_math_enabled": false, "rigid_soft_enable_dat": true, "contact_damping_bidirectional": false, "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": 68.39999999999999, "final_separation_suffix_observed_duration_s": 1.6000000000000085, "hands": [ { "label": "original_franka_0", "shape_ids": [ 6, 9, 10, 11, 12, 15, 16, 17, 18 ] }, { "label": "original_franka_1", "shape_ids": [ 24, 27, 28, 29, 30, 33, 34, 35, 36 ] } ], "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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