# KWR-1 Verification Report

Gate: **RED** - 74 checks in 579.6 s. Demo checks marked (must fail) prove the gate has teeth.

| Check | Status | Key numbers |
|---|---|---|
| reach_ik_all_sites | PASS | `[{"site": "pick_plate", "pose": "site", "ok": true, "pos_err_mm": 0.21, "axis_err_deg": 0.01, "reach_utilization": 0.741}, {"site": "pick_plate", "pose": "pre", "ok": true, "pos_err_mm": 0.59, "axis_err_deg": 0.02, "reac...` |
| parking_clearance | PASS | `[{"station": "dock", "clearance": 0.06, "nearest": "dock_post", "ok": true}, {"station": "counter_prep", "clearance": 0.07, "nearest": "counter", "ok": true}, {"station": "sink", "clearance": 0.07, "nearest": "counter", ...` |
| drive_route_clearance | PASS | `[{"leg": "dock->counter_prep", "length_m": 2.97, "worst_margin": 0.01, "at": [3.0, 0.66, "dock_post"], "ok": true}, {"leg": "counter_prep->sink", "length_m": 2.6, "worst_margin": 0.02, "at": [1.1, 2.2, "counter"], "ok": ...` |
| stability_worst_cases | PASS | `[{"case": "carry_6kg_driving_stowed", "margin": 0.242, "zmp": [0.004, 0.056], "ok": true}, {"case": "extended_6kg_deployed", "margin": 0.364, "zmp": [0.1, 0.056], "ok": true}, {"case": "extended_8kg_stowed", "margin": 0....` |
| grasp_all_objects | PASS | `[{"object": "plate", "mass": 0.55, "capacity_N": 112.0, "required_N": 8.2, "in_envelope": true, "jaw_ok": true, "ok": true}, {"object": "jar", "mass": 0.55, "capacity_N": 96.0, "required_N": 8.2, "in_envelope": true, "ja...` |
| shoulder_torque_budget | PASS | `{"torque_Nm": 144.2, "limit_Nm": 360, "payload_kg": 6.0}` |
| dimension_rules | PASS | `{"counter_height": 0.9, "arm_reach": 1.24, "reach_band": [1.1, 1.3], "reach_band_ok": true, "heaviest_single_part": 45.0}` |
| assembly_geometry | PASS | `{"home": [], "zeros": [], "carry": [], "floating": [], "parts": 583, "unknown_ids": [], "untagged": []}` |
| fastener_service_access | PASS | `{"service_fasteners": 36, "blocked": [], "assembly_time_sequenced": 136}` |
| harness_bend_radius_loops | PASS | `{"problems": []}` |
| self_collision_poses | PASS | `{"worst_mm": 161.7, "worst_at": ["carry", "0.11245894683899488", "finger_m", "upper_arm"], "poses": 4, "problems": []}` |
| joint_drivetrain_sizing | PASS | `{"joints": [{"joint": "J1_shoulder_yaw", "gear": "SHG-32-100 class", "req_cont_Nm": 87.0, "cap_cont_Nm": 270.0, "req_peak_Nm": 174.1, "cap_peak_Nm": 433, "brake_hold_Nm": 285.0, "static_max_Nm": 0.0, "bearing_P0_N": 348....` |
| structure_deflection_repeatability | PASS | `{"tip_deflection_mm": 0.066, "limit_mm": 1.0, "material": "aluminium_6061", "links": [{"link": "upper_arm_a", "od_mm": 124.0, "I_mm4": 2717352.0, "k_Nm_rad": 2343716}, {"link": "upper_arm_b", "od_mm": 116.0, "I_mm4": 220...` |
| power_battery_wiring | PASS | `{"avg_W": 103.0, "cont_A": 2.1, "peak_A": 91.3, "battery_peak_A": 120.0, "breaker_A": 63.0, "fuse_A": 80.0, "wire_ampacity_A": 70.0, "voltage_drop_V": 0.25, "runtime_h": 14.0, "runtime_min_h": 3.0}` |
| base_drive_traction_braking | PASS | `{"needed_N": 165.0, "traction_N": 538.0, "wheel_torque_Nm": 12.1, "wheel_rated_Nm": 15.0, "threshold_peak_Nm": 12.1, "wheel_peak_Nm": 40.0, "estop_stop_m": 0.113, "allow_m": 0.15000000000000002}` |
| stabilizer_actuator_sizing | PASS | `{"worst_corner_N": 537.0, "with_SF_1.3_N": 698.0, "actuator_rated_N": 750.0, "self_locking": true}` |
| wheel_bearing_life | PASS | `{"per_bearing_N": 224.0, "C_N": 14000.0, "L10_hours": 135774930, "required_h": 20000}` |
| gripper_force_window | PASS | `[{"object": "plate", "need_N": 5.8, "commanded_N": 11.6, "crush_N": 200.0, "ok": true}, {"object": "jar", "need_N": 6.8, "commanded_N": 13.6, "crush_N": 180.0, "ok": true}, {"object": "bowl", "need_N": 3.7, "commanded_N"...` |
| timeline_plate_to_sink | PASS | `{"frames": 606, "duration_s": 60.6, "summary": {"self_collision_min": 0.177, "env_clearance_min": 0.0343, "env_worst": [45.7, "forearm_neck", "counter_body_s"], "self_worst": [47.5, ["finger_m", "upper_arm"]], "stability...` |
| timeline_appliance_ops | PASS | `{"frames": 405, "duration_s": 40.5, "summary": {"self_collision_min": 0.0358, "env_clearance_min": 0.1588, "env_worst": [31.9, "forearm_neck", "appliance_door_handle"], "self_worst": [25.0, ["wrist", "pedestal"]], "stabi...` |
| timeline_stock_shelf | FAIL | `{"frames": 571, "duration_s": 57.1, "summary": {"self_collision_min": 0.1676, "env_clearance_min": 0.0508, "env_worst": [13.9, "finger_t", "decor_cart_towel"], "self_worst": [18.4, ["finger_m", "upper_arm"]], "stability_...` |
| timeline_tool_change_wipe | PASS | `{"frames": 1022, "duration_s": 102.2, "summary": {"self_collision_min": 0.177, "env_clearance_min": 0.0569, "env_worst": [44.8, "tool_shaft", "decor_clutter_mug"], "self_worst": [87.7, ["finger_m", "upper_arm"]], "stabil...` |
| timeline_serve_tray | PASS | `{"frames": 344, "duration_s": 34.4, "summary": {"self_collision_min": 0.1082, "env_clearance_min": 0.0338, "env_worst": [16.3, "forearm", "countertop_edge"], "self_worst": [7.6, ["wrist", "shoulder_bridge"]], "stability_...` |
| timeline_delicate_prep | PASS | `{"frames": 472, "duration_s": 47.2, "summary": {"self_collision_min": 0.177, "env_clearance_min": 0.0176, "env_worst": [24.1, "palm", "decor_clutter_toaster"], "self_worst": [31.6, ["finger_m", "upper_arm"]], "stability_...` |
| DEMO_overload_drop_simulated | PASS | `{"slip_start": true, "drop": true, "landed_at": [2.4, 2.95, 0.0], "max_slip_mm": 50.1, "note": "failure demo: the physical grasp sim must show the pot slipping out"}` |
| tool_capability_matrix | PASS | `{"sites": 25, "incapable": []}` |
| eye_to_gate_ledger | PASS | `{"classes": 16, "gated": 16, "debt": [], "max_debt": 0, "problems": [], "rows": [{"class": "parts floating outside the body they belong to", "status": "gated", "covered_by": "variant_robot_geometry", "found": "demo_500: ...` |
| defaults_ledger | PASS | `{"steps": 10, "covered": 10, "debt": [], "max_debt": 0, "problems": [], "rows": [{"action": "re-run the mutation audit after adding a claim", "after": "a new verify check", "kind": "gate", "mechanism": "gate_reddenabilit...` |
| design_buildable | PASS | `{"open_items": 50, "max_open": 50, "by_kind": {"no_part_number": 30, "no_rating": 3, "duplicate_pn": 1, "rating_below_demand": 1, "zero_dimensions": 1, "axis_count_unstated": 1, "no_drawing": 2, "mass_unreconciled": 1, "...` |
| placement_sites | PASS | `{"sites": [{"site": "place_egg", "committed": [0.67, 2.81], "clean": true, "clearance_mm": 30.0, "best": [0.67, 2.81], "best_clearance_mm": 30.0, "n_clean": 70, "n_total": 351}, {"site": "place_tomato", "committed": [0.5...` |
| environment_variants | PASS | `{"galley": [], "lshape": [], "compact": []}` |
| environment_classes | PASS | `{"island": [], "cluttered_family": [], "accessible": [], "commercial_prep": [], "utility_room": [], "corner_constrained": [], "highlow": [], "demo_cell": []}` |
| architecture_study | FAIL | `{"shoulder_half_spacing_m": 0.22, "workspace": {"single_arm": 0.844, "dual_union": 0.93, "bimanual_overlap": 0.654}, "cross_arm": {"sampled_pose_pairs": 60, "conflict_fraction": 0.27, "min_cross_clearance_m": -0.143}, "d...` |
| object_library | PASS | `{"instances": 62, "classes": 28, "class_list": ["board", "bottle", "bowl", "box", "can", "carton", "colander", "cup", "cutlery", "egg", "glassware", "jar", "lid", "mitt", "mug", "packet", "pan", "pitcher", "plate", "plug...` |
| grasp_candidates | PASS | `{"classes_with_candidates": 5, "rows": [{"object": "plate", "candidates": 7, "best": 1.199}, {"object": "bowl", "candidates": 8, "best": 1.209}, {"object": "pot", "candidates": 0, "best": null}, {"object": "container", "...` |
| baseline_controller | PASS | `{"clean": {"success": true, "time_s": 61.4, "violations": 0}, "noisy_2cm": {"success": true, "recoveries": 1, "reason": "ok"}}` |
| dual_arm_clearance | PASS | `{"home_mm": 84, "bimanual_min_mm": 9.2, "left_env_min_mm": 71.3, "problems": []}` |
| tool_swap_continuity | PASS | `{"handoffs": 4, "problems": []}` |
| tool_geometry_continuity | PASS | `{"tools": 6, "problems": []}` |
| gripper_architecture_study | PASS | `{"objects": 62, "rows": {"A": {"name": "rigid parallel jaw (KWR-G1)", "coverage": 0.887, "delicate": "0/4", "heavy": "0/1", "cradle_carry": "0/9", "failures": ["pot_stock: needs 148 N pinch, no wrap", "egg_chicken: floor...` |
| gripper_pinch_parallelism | PASS | `{"problems": []}` |
| gripper_stroke_clearance | PASS | `{"problems": []}` |
| delicate_force_windows | PASS | `[{"object": "egg_chicken", "clamp_N": 3.0, "crush_N": 30, "ok": true}, {"object": "tomato_cherry", "clamp_N": 3.0, "crush_N": 8, "ok": true}, {"object": "grape", "clamp_N": 3.0, "crush_N": 5, "ok": true}, {"object": "str...` |
| environment_support | PASS | `{"galley": {"floating_parts": [], "placement": []}, "lshape": {"floating_parts": [], "placement": []}, "compact": {"floating_parts": [], "placement": []}}` |
| timeline_object_support | PASS | `{"problems": []}` |
| rl_env_sanity | PASS | `{"problems": []}` |
| policy_registry_gates | PASS | `{"policies": 2, "problems": []}` |
| DEMO_overload_slip | PASS (correctly rejected) | `{"payload_kg": 14.0, "accel": 6.5, "capacity_N": 96.0, "required_N": 247.1}` |
| DEMO_tip_overload_extension | PASS (correctly rejected) | `{"payload_kg": 25.0, "braking_accel": 1.5, "margin_stowed": 0.031, "margin_deployed": 0.171, "threshold": 0.06}` |
| DEMO_too_tight_parking | PASS (correctly rejected) | `{"pose": [1.1, 2.5, 1.5707963267948966], "clearance": 0.0, "nearest": "counter"}` |
| DEMO_grip_through_object | PASS (correctly rejected) | `{"attempt": "grasp at plate centre, jaw 30 mm", "problems": ["TCP is 112.0 mm off the rim circle (rho=0 mm vs r_mid=112 mm) - the jaw would close on air", "jaw closes 90 deg off the radial direction - pads would shear of...` |
| DEMO_bad_button_approach | PASS (correctly rejected) | `{"attempt": "press 40 deg off-axis", "problems": ["approach is 40 deg off the button axis - the fingertip would slide off the cap"]}` |
| DEMO_wrong_tool_refused | PASS (correctly rejected) | `{"wipe_with_gripper": "refused: wipe_start requires tool 'sponge_holder' but 'gripper' is mo", "dock_occupied": "refused: tool stand has no free cradle: docking into an occupied slot", "pick_missing_tool": "refused: requ...` |
| DEMO_g1_floor_crushes_delicate | PASS (correctly rejected) | `{"problems": ["clamp 25 N exceeds crush limit 8 N"]}` |
| DEMO_cradle_tilt_spills | PASS (correctly rejected) | `{"spills": [{"t": 7.0, "kind": "cradle_spill", "object": "tray", "tilt_deg": 46.2, "shear_N": 4.95, "capacity_N": 3.67}]}` |
| DEMO_unbraced_twist_spins_jar | PASS (correctly rejected) | `{"reaction_Nm": 0.068, "problems": ["UNBRACED: counter friction reacts only 0.068 N*m against the 1.2 N*m breakaway - the jar spins. Brace it with the left hand first"]}` |
| object_library_realism_scale | PASS | `{"instances": 62, "classes": 28, "detail_objects": 41, "targets": "instances>=50, classes>=20, detail>=15"}` |
| collision_proxies_bound_visual | PASS | `{"n_detail_objects": 41, "n_real_assets": 23, "problems": [], "sample": [{"object": "plate_dinner", "real": true, "ext_mm": [240.0, 237.7, 34.1], "bloat": 1.37}, {"object": "plate_side", "real": true, "ext_mm": [180.0, 1...` |
| clutter_not_blocking_tasks | PASS | `{"problems": []}` |
| asset_manifest_provenance | PASS | `{"stats": {"total": 23, "procedural": 10, "imported": 13, "detail_classes": 16, "documented_classes": 8, "real_classes": ["appliance", "bowl", "can", "holder", "mug", "pan", "pitcher", "plate", "pot", "utensil"]}, "probl...` |
| materials_palette_wired | PASS | `{"n_materials": 27, "n_categories": 14, "plate_rgba": [236, 232, 224, 255], "glass_rgba": [198, 224, 228, 170]}` |
| challenge_results_expected | FAIL | `{"total": 32, "failures": 7, "robots": ["single_arm_baseline", "dual_arm_current", "dual_arm_narrow", "dual_arm_wide", "long_reach_single_arm", "wide_base_dual_arm"], "registered_bodies": 20, "bodies_not_challenged": 14,...` |
| compilation_categories_complete | PASS | `{"categories_present": ["appliance", "bimanual", "edge", "failure", "nav", "pick_place", "rl", "tool"], "missing_categories": [], "missing_outputs": [], "n_clips": 32}` |
| viewer_challenge_data | PASS | `{"n_challenges": 32, "has_metrics": true, "has_materials": true}` |
| variant_robot_geometry | PASS | `{"budget_3k": {"self_collision": [], "blocked_fasteners": [], "blind_spots": [], "envelope": [], "envelope_n": 0, "floating": [], "intersections": [], "intersections_n": 0}, "cheap_drive": {"self_collision": [], "blocked...` |
| physics_blind_spots | PASS | `{"robot_uncovered": [], "n_robot": 0, "env_uncovered": [], "n_env": 0}` |
| sequence_registry_closure | PASS | `{"registered": ["appliance_ops", "bimanual_jar_open", "delicate_prep", "demo_overload_drop", "plate_to_sink", "serve_tray", "stock_shelf", "tool_change_wipe"], "timeline_gated": ["plate_to_sink", "appliance_ops", "stock_...` |
| spec_field_coverage | FAIL | `{"fields": 305, "dead": ["backdrive", "close_speed_mm_s", "dims_mm", "force_resolution_N", "gear_accuracy_arcsec", "limit_switches", "main_wire_mm2", "min_wall_thickness", "prep_sink_split", "rated_A", "rated_W", "robot_...` |
| price_dominance | FAIL | `{"competitor_usd": 4900.0, "cheapest_qualifying": null, "price_usd": null, "headroom_usd": null, "bodies": [{"body": "budget_3k", "price_usd": 2717.0, "qualified": false, "blockers": ["budget_3k__cluttered_family.json: p...` |
| artifact_freshness | FAIL | `{"body": "dual_arm_current", "spec_fingerprint": "364b7c0f4a1da251", "fresh": 10, "stale": [], "n_stale": 0, "unstamped": [], "n_unstamped": 0, "timelines_fresh": 0, "timelines_stale": ["timeline_appliance_ops.json", "ti...` |
| variant_evidence | FAIL | `{"declared_complete": 15, "complete_without_physics": ["compact_narrow_single", "dual_arm_narrow", "long_reach_single_arm", "long_reach_uprated", "low_profile_longarm", "low_profile_undercounter", "wide_base_dual_arm"], ...` |
| policy_allowances_live | PASS | `{"total_allowances": 27, "dead": {}, "n_dead": 0, "hint": "an allowance matching no CAD part can never permit anything - fix the name or delete the entry; do NOT widen the rule to silence the findings it was meant to cov...` |
| planner_dirty_contacts | PASS | `{"timelines": 0, "dirty_frames": 0, "by_timeline": {}, "hint": "the planner found no clean via and went anyway - fix the path (or the clearance budget), do not widen the policy"}` |
| gate_reddenability | FAIL | `{"checks": 64, "observed_red": ["environment_support", "environment_variants", "gate_reddenability", "grasp_all_objects", "gripper_force_window", "parking_clearance", "physics_blind_spots", "power_battery_wiring", "price...` |