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There is no ball, prescribed motion, pinned card vertex or interactive force.", "protocol": { "case_id": "s4_poker_cards_no_ball", "scene_id": "s4_poker_cards_no_ball", "family": "Soft contact", "collection_group": "Soft contact", "original_case": "cloth_poker_cards", "runner": "poker", "kwargs": { "substeps": 10, "iterations": 10 }, "env": {}, "replay": {}, "recorded_status": "Passive 52-card stack; sphere body, collider and motion removed", "frame_dt_s": 0.016666666666666666, "substeps": 10, "substep_dt_s": 0.0016666666666666668, "iterations": 10, "duration_s": 65.0, "recorded_wall_time_s": null, "material_path": "cloth", "elasticity_treatment_applicable": true, "initial_hold_prepared": false, "hold_start": null, "hold_end": null, "stationary_windows": [ [ 5.0, 65.0 ] ], "dynamic_window": [ 0.0, 65.0 ], "applicability": { "task_completion": false, "grasp_acquisition": false, "grasp_retention": false, "grasp_slip": false, "penetration": true, "stationary_stability": true, "dynamic_response": false, "release": false, "analytic_freefall": false, "grasp": false, "hold": false, "transport": false, "place_release": false, "soft_stability": true, "friction_separation": false, "dynamic": false }, "notes": [ "Based on the shipped cloth_poker_cards example at upstream main 351b9d9f.", "The authored 20 substeps become 10 to meet the benchmark limit.", "World-fixed platform preserves geometry and enables static-support overlap measurement.", "Five seconds is a fixed settling allowance, not an equilibrium claim.", "Keep this passive scene outside manipulation task-success counts." ], "transport_windows": [], "place_release_windows": [], "category_applicability": { "grasp": false, "hold": false, "transport": false, "place_release": false, "penetration": true, "soft_stability": true, "friction_separation": false, "dynamic": false }, "clock_policy": "Physical time advances continuously; only the original stationary command clock pauses.", "extra_hold_s": 0.0, "raw_metrics_time_basis": "original motion time; comparison scores use physical time", "penetration_surfaces": [ { "shape_index": 0, "label": "shape_0", "shape_margin_m": 0.0, "geometry_source": "model.shape_transform and model.shape_scale", "kind": "box", "center_m": [ 0.0, 0.0, 0.10000000149011612 ], "half_extents_m": [ 0.10000000149011612, 0.10000000149011612, 0.10000000149011612 ], "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": 5.0, "end_s": 65.0, "phase": "declared stationary command" } ], "stationary_intervals": [ { "start_s": 5.0, "end_s": 65.0, "phase": "declared stationary command", "requested_start_s": 5.0, "requested_end_s": 65.0 } ], "original_stationary_windows": [ [ 5.0, 65.0 ] ], "transport_intervals": [], "place_release_intervals": [], "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": 100000.0, "shape_count": 2, "shape_material_ke_min": 100000.0, "shape_material_ke_max": 5000000.0, "shape_material_ke_values": [ 100000.0, 5000000.0 ], "shape_material_ke_sha256": "7f00f918d31a9149f356d897472e84fff1ac8f1f3b7bf29672acbb0456ea6841" }, "scope": "This material policy changes only soft_contact_ke and shape_material_ke. 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0.06627954997521579, "position_sample_index": 35, "velocity_sample_index": 35 }, { "start_s": 63.5, "end_s": 64.0, "phase": "declared stationary command", "substep_samples": 300, "J_star_m": 0.0024005655594838173, "V_star_m_s": 0.08443045866032033, "position_sample_index": 175, "velocity_sample_index": 525 }, { "start_s": 64.0, "end_s": 64.5, "phase": "declared stationary command", "substep_samples": 300, "J_star_m": 0.00044215674766580755, "V_star_m_s": 0.05416666407994306, "position_sample_index": 419, "velocity_sample_index": 419 }, { "start_s": 64.5, "end_s": 65.0, "phase": "declared stationary command", "substep_samples": 300, "J_star_m": 0.00040468412282745767, "V_star_m_s": 0.051205396839146725, "position_sample_index": 419, "velocity_sample_index": 419 } ], "position_method": "worst local linearly detrended vector displacement RMS", "velocity_method": "worst local relative-speed RMS; mean velocity is retained", "scope": "complete stationary windows only; unobserved or invalid windows are not scored" }, "freefall": { "status": "not_declared", "criterion_status": "incomplete", "limit": null, "max_mass_weighted_velocity_error_m_s": null, "worst_time_s": null, "total_mass_kg": null, "substep_samples": 0, "interval": null, "baseline_velocity_m_s": null, "missing_substeps": false, "reason": null }, "penetration": { "status": "sampled", "criterion_status": "incomplete", "limit": null, "minimum_sampled_particle_shell_gap_m": -0.0007816790603101254, "minimum_sampled_zero_force_gap_m": -0.0007816790603101254, "zero_force_witness": { "time_s": 0.7466666666666666, "particle_index": 1, "surface_index": 0 }, "zero_force_boundary": "nominal surface plus particle radius plus declared shape_margin_m; excludes detection gap", "maximum_sampled_overlap_m": 0.0007816790603101254, "witness": { "time_s": 0.7466666666666666, "particle_index": 1, "surface_index": 0 }, "surface_count": 2, "swept_crossings_checked": false, "scope": "particle centers minus physical radius against declared static planes/boxes only; no robot, self or cable penetration claim" }, "unimplemented_criteria": [ "grasp acquisition", "10/60 s retention and interface slip", "transport target", "placement and sustained release", "friction slide/separation", "full-surface penetration and swept crossing" ], "warnings": [] }, "last_time_s": 65.0, "timing": { "scope": "VBD solver.step GPU time including owned collision detection and capacity latch; excludes prescribed endpoint copy, drivers, observation and rendering", "method": "CUDA event pair around captured solver.step; synchronized before observation", "count": 38998, "excluded_initial_substeps": 2, "mean_substep_ms": 4.532903896600101, "total_solver_s": 176.77418615961074, "graph_capture_s": 0.19331329315900803, "graph_count": 2 }, "recipe_metrics": { "scene_id": "s4_poker_cards_no_ball", "time_s": 65.0, "phase": "stationary observation", "source_example": "newton/examples/cloth/example_cloth_poker_cards.py", "card_count": 52, "seed": 42, "card_size_m": [ 0.0635, 0.0889 ], "card_mass_kg": 0.0018, "particle_count": 1820, "triangle_count": 2496, "particle_radius_m": 0.003, "body_count": 0, "shape_count": 2, "boundary_conditions": "All card vertices free; world-fixed cube and ground; no ball or motion driver.", "platform_representation": "World box at (0, 0, 0.1) m with 0.1 m half-extents replaces source massless body.", "source_substeps": 20, "frame_dt_s": 0.016666666666666666, "substeps": 10, "iterations": 10, "stationary_observation_interval_s": [ 5.0, 65.0 ], "authored_shape_contact_ke": [ 5000000.0, 100000.0 ], "authored_soft_contact_ke": 100000.0, "physics_parameters": { "gravity_m_s2": [ 0.0, 0.0, -9.8 ], "triangle_ke_ka_kd": [ 10000.0, 10000.0, 1.0 ], "bending_ke_kd": [ 100.0, 1.0 ], "self_contact_margin_m": 0.001, "self_contact_gap_m": 0.0005, "soft_contact_gap_m": 0.005, "soft_contact_ke": 100000.0, "soft_contact_kd": 100.0, "soft_contact_mu": 0.3, "shape_contact_ke": [ 100000.0, 100000.0 ], "shape_contact_kd": [ 10000.0, 100.0 ], "shape_contact_mu": [ 0.10000000149011612, 0.30000001192092896 ] } }, "math_mode": "off", "fast_math_enabled": false, "rigid_soft_enable_dat": true, "contact_damping_bidirectional": false, "task_measurements": { "schema_version": 1, "enabled": false, "sample_interval_s": 0.016666666666666666, "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": [ null, null ], "hold_sample_count": 0, "hold_fully_separated_sample_count": 0, "first_proven_hold_separation_s": null, "final_fully_separated": null, "final_separation_suffix_start_s": null, "final_separation_suffix_observed_duration_s": 0, "hands": [], "support_planes": [], "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. Absence of a positive bound cannot establish retention." ], "rows": [] }, "dat_contact_coverage": { "sample_count": 39000, "max_soft_rows": 6074, "max_rigid_rows": 0, "collision_calls": 78000, "self_contact_peak_counts": [ 15, 30, 0 ], "self_contact_peak_excess": [ 0, 0, 0 ], "self_detection_calls": 78000, "overflow": false, "scope": "Sticky global rigid/full-surface and soft-self row counts across every owned detection, including preparation; excludes per-body adjacency capacities. Self-contact order: vertex-triangle, edge-edge, triangle-vertex." } }