Look check: three v2 jaws with the part 2 mm off centre

Three recorded episodes of the v2 training suite (train_v2) at placement c1, the part 2 mm off centre across the jaw, each the condition's first jitter seed: the drafted wrap on the flanged bushing, the stock blade on the same bushing and the configurator imprint on the block. They were picked to show the look (gate GV-F); single episodes, not a score. Replayed from the recordings, never re-simulated.

PhysicsLocal run on a developer laptop, not a Nebius jobMuJoCo 3.15.0CPU executor2.54 s sim wall time7,615 steps
DesignHand-designed baseline, no model callReference entrant, scored outside the budget

t 00.00 / 00.00 s

Phase Settle

Settle
Descend

Drafted wrap

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Flanged bushing, 2 mm off centre across the jaw

Configurator imprint

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Block, 2 mm off centre across the jaw

Stock blade

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Flanged bushing, 2 mm off centre across the jaw

All lanes share one clock and one camera. The dashed square is the success height (object centre 100 mm above its resting height); the bar under each lane fills while the object stays above it and turns green at 2.0 s. The verdict appears when the scorer decides.

Scorer numbers

From the simulator's scorer, sampled every 10 ms.

Lane	Fingers	Outcome	Peak lift	Longest hold	Sim steps	Wall time
Drafted wrapflanged bushing, 2 mm off centre across the jaw	Ref wrap	Held 2.0 s	149.8 mm	2.00 s	3,010	0.99 s
Configurator imprintThe part was lifted and held, but not seated, centred and upright in the jaws.	Imprint configurator	Held off its seat	149.4 mm	2.00 s	3,015	0.48 s
Stock bladeThe object was pinched but slid out before reaching the target height.	Stock	Slipped during lift	23.2 mm	0.00 s	1,590	1.06 s

Task task_v2

Success: Centre rises 100 mm and stays 2.0 s, before 12 s
Grip force: 50 N
Max opening: 84 mm
Controller: Open loop; each jaw pair's grip height is part of its recipe

Phases

Settle0.0 s to 0.3 s
Descend0.3 s to 1.3 s
Close1.3 s to 2.6 s
Lift2.6 s to 4.1 s
Hold4.1 s to the end