  In this letter, the authors propose a two-step approach to evaluate and
verify a true system's capacity to satisfy its operational objective.
Specifically, whenever the system objective has a quantifiable measure of
satisfaction, i.e. a signal temporal logic specification, a barrier function,
etc - the authors develop two separate optimization problems solvable via a
Bayesian Optimization procedure detailed within. This dual approach has the
added benefit of quantifying the Sim2Real Gap between a system simulator and
its hardware counterpart. Our contributions are twofold. First, we show
repeatability with respect to our outlined optimization procedure in solving
these optimization problems. Second, we show that the same procedure can
discriminate between different environments by identifying the Sim2Real Gap
between a simulator and its hardware counterpart operating in different
environments.
