L-bracket 3 mm off centre: the imprint stops short, a drafted V-funnel centres it
Three recorded episodes of the v2 training suite (train_v2), all on the L-bracket at placement c2 (the part 3 mm off centre across the jaw), each the condition's first jitter seed: the stock blade, the configurator imprint and a drafted V-funnel recipe (design sobol_00 of the GV3 calibration sample, a random design, not a search result). The hero screen found no part where the stock blade fails visibly, so this is the offset contrast the hero rule prescribes: the stock blade holds the bracket where it landed, the imprint jams short of its seat, and the V-funnel's drafted walls pull the bracket to centre. 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 executor3.05 s sim wall time18,070 steps
- DesignHand-designed baseline, no model callThe gripper's own clamp blade, as shipped
t 00.00 / 00.00 s
Phase Settle
- Settle
- Descend
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Stock blade: held off its seat. Peak lift 149.8 mm.
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Configurator imprint: held off its seat. Peak lift 149.8 mm.
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Drafted V-funnel (calibration design sobol_00): held for 2.0 s. Peak lift 149.2 mm.
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 |
|---|---|---|---|---|---|---|
| Stock bladeThe part was lifted and held, but not seated, centred and upright in the jaws. | Stock | Held off its seat | 149.8 mm | 2.00 s | 6,020 | 1.26 s |
| Configurator imprintThe part was lifted and held, but not seated, centred and upright in the jaws. | Imprint configurator | Held off its seat | 149.8 mm | 2.00 s | 6,020 | 0.84 s |
| Drafted V-funnel (calibration design sobol_00)l bracket, 3 mm off centre across the jaw | Recipe | Held 2.0 s | 149.2 mm | 2.00 s | 6,030 | 0.95 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