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<title>DVIDIA · Skillspace lab</title>
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<header><div class="brand">DVIDIA <small>Skillspace lab</small></div><span>CPU · local execution · benchmark v1</span></header>
<main><aside>
<div class="tag">Link → install → execute</div><p>A named skill, grounded in your environment.</p>
<div id="authoring"><section>
<h2>01 / Install a skill</h2>
<label for="skillurl">DVIDIA Skillspace link</label><input id="skillurl" type="url" value="https://dvidia.org/store/dvidia/place_cup" spellcheck="false">
<button id="install" class="primary">Install skill</button>
<button id="offline" class="secondary">Install bundled source · offline</button>
<button id="example" class="secondary">Load distilled skill capsule · offline</button>
<label class="upload">Drop a skill capsule or Skillspace JSON<input id="file" type="file" accept=".json,application/json"></label>
<p>Capsules carry learned movement weights. Import automatically checks compatibility and tests this scene; task phases and grasp logic remain authored.</p>
<div id="installinfo" aria-live="polite"></div>
</section>
<section><h2>02 / Create an environment</h2><p>World coordinates in metres. The table and arm profile are fixed in this first environment.</p>
<div class="grid"><div><label for="ox">Object X</label><input id="ox" type="number" min=".25" max=".60" step=".01" value=".42"></div><div><label for="oy">Object Y</label><input id="oy" type="number" min="-.20" max=".20" step=".01" value="-.04"></div><div><label for="tx">Target X</label><input id="tx" type="number" min=".25" max=".60" step=".01" value=".54"></div><div><label for="ty">Target Y</label><input id="ty" type="number" min="-.20" max=".20" step=".01" value=".10"></div></div>
<label for="seed">Environment seed</label><input id="seed" type="number" min="0" max="999999" value="0" step="1">
<details><summary>Object and actuator inputs</summary><div class="grid">
<div><label for="sx">Box X · mm</label><input id="sx" type="number" min="30" max="50" step="1" value="40"></div>
<div><label for="sy">Box Y · mm</label><input id="sy" type="number" min="30" max="50" step="1" value="40"></div>
<div><label for="sz">Box Z · mm</label><input id="sz" type="number" min="30" max="50" step="1" value="40"></div>
<div><label for="mass">Mass · g</label><input id="mass" type="number" min="20" max="80" step="5" value="40"></div>
<div><label for="friction">Object friction</label><input id="friction" type="number" min=".4" max="1.5" step=".1" value=".8"></div>
<div><label for="jawforce">Jaw actuator cap · N</label><input id="jawforce" type="number" min=".01" max="15" step=".1" value="15"></div>
<div><label for="torque">Joint actuator cap · N m</label><input id="torque" type="number" min=".1" max="40" step=".1" value="40"></div>
</div><p>Contact friction combines both surfaces. Jaw friction has a 1.0 floor and table friction a 0.8 floor in this model. Actuator caps bound simulated actuator force, rather than fingertip readings.</p></details>
<button id="create" class="secondary">Create environment</button>
<button id="vary" class="secondary">Try another layout</button>
</section>
<section><h2>03 / Execute</h2><label for="policy">Installed controller</label><select id="policy"><option value="placement">Contact pick and place</option><option value="open_jaw">Open jaws · control check</option><option value="idle">No motion · control check</option></select><button id="qualify" class="secondary" hidden>Validate capsule in this scene</button><p id="readiness" aria-live="polite">Install a skill to begin.</p></section></div>
<div id="replaynote"><section><h2>Recorded experiment</h2><label for="episode">Episode</label><select id="episode"></select><p>This replay shows saved native physics states. Install the local lab to create environments and execute skills.</p><a href="https://research.dvidia.org">Research journal ↗</a></section></div>
<div id="error" role="alert"></div><details><summary>Skill and execution receipt</summary><pre id="receipt">No skill installed.</pre></details>
</aside>
<div class="stage"><div class="title-row"><div><h1>Give the arm a task.</h1><p id="subtitle">Install a placement skill, create a scene, then watch the arm ground its motion in the object and target positions.</p></div><div style="min-width:180px"><span class="pill" id="profile">6 joints + 1 jaw command</span><button id="run" class="primary" disabled>Run installed skill</button></div></div>
<div class="viewport"><div class="legend"><span><i class="dot"></i>object</span><span><i class="dot target"></i>target</span><span>drag to orbit</span></div><canvas id="scene" aria-label="Native simulation replay of the robot arm, object, and target"></canvas><div class="status" aria-live="polite"><span id="status">Preparing environment…</span><span id="clock">0.00 s</span></div></div>
<div class="controls"><button id="play" disabled>Play</button><input id="timeline" aria-label="Replay time" type="range" min="0" max="0" value="0"><a id="download" hidden>Download run JSON</a></div>
<div class="metrics"><div class="metric"><small>Task outcome</small><b id="outcome">—</b></div><div class="metric"><small>Object to target</small><b id="distance">—</b></div><div class="metric"><small>Simulation / wall</small><b id="speed">—</b></div><div class="metric"><small>Execution time</small><b id="wall">—</b></div></div>
<details><summary>Arm and gripper feedback</summary><p id="feedback">Create an environment to inspect joint positions and gripper contacts.</p><p>Six arm joints rotate in radians. Two jaw slides share one width command in metres. Placement keeps the tool upright; exact object pose and contact feedback come from the simulator.</p></details>
<section id="benchmark" hidden><h2>Frozen benchmark</h2><p id="benchmarktext"></p><p><a href="https://research.dvidia.org/papers/skillspace-arm-benchmarks/">Protocol, failures and evidence ↗</a></p></section>
<p class="notes" id="notes">This first adapter uses a box proxy for the placement task, an authored controller and exact simulator observations. Native jaw contacts move the free object. Qualification for a physical robot and training from demonstrations come next.</p><p class="foot">DVIDIA research · offline skill execution prototype</p>
</div></main>
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function isCapsule(){return installed?.kind==='skill_capsule_installation'}
function sceneKey(){return JSON.stringify(scene())}
function refreshReadiness(){$('benchmark').hidden=isCapsule()||!teacherBenchmark;const qualified=isCapsule()&&qualifiedScene===sceneKey();$('qualify').hidden=!isCapsule();$('qualify').disabled=busy;$('run').disabled=busy||!installed||(isCapsule()&&!qualified);$('policy').disabled=busy||isCapsule();if(isCapsule())$('readiness').textContent=qualified?'Validated for this exact simulated scene. Changing an input requires another test.':'Candidate imported. Scene validation requires native placement success and an open-jaw negative control.'}
function lock(value){busy=value;for(const id of ['install','offline','example','create','vary','file'])$(id).disabled=value;refreshReadiness()}
async function api(path,body){const response=await fetch(path,{method:body?'POST':'GET',headers:body?{'Content-Type':'application/json'}:{},body:body?JSON.stringify(body):undefined});let result;try{result=await response.json()}catch{throw Error('The local lab did not return a JSON response.')}if(!response.ok)throw Error(result.error||'Local request failed.');return result}
function receipt(value){$('receipt').textContent=JSON.stringify(value,null,2)}
function showInstalled(record){installed=record;qualifiedScene=null;const card=document.createElement('div');card.className='installed';const name=document.createElement('strong');name.textContent=installed.skill.skill_id;card.append(name);const text=document.createElement('p');text.textContent=isCapsule()?'Learned movement weights imported · candidate · simulation only':'Source + local controller pinned · simulation only';card.append(text);$('installinfo').replaceChildren(card);$('readiness').textContent='Bound to this arm profile. Dimensions and material come from your scene.';receipt(installed);refreshReadiness()}
async function importCapsule(document){installed=null;qualifiedScene=null;lock(true);error();$('readiness').textContent='Checking a new candidate.';$('installinfo').textContent='Checking capsule and arm compatibility…';try{showInstalled(await api('/api/capsules/install',{document}));await preview();await execute(true)}catch(e){if(!installed){$('installinfo').textContent='Capsule rejected. Choose a compatible skill.';$('readiness').textContent='No skill installed.'}error(e.message)}finally{lock(false)}}
async function importFile(file){if(!file||file.size>524288){error('Drop one JSON of at most 512 KiB.');return}try{const document=await file.text(),parsed=JSON.parse(document);if(parsed.format==='dvidia.skill-capsule')await importCapsule(document);else{if(file.size>131072)throw Error('Source metadata must be at most 128 KiB.');await install({document})}}catch(e){error(e.message)}}
async function install(body){lock(true);error();$('installinfo').textContent='Checking and installing source…';try{showInstalled(await api('/api/install',{...body,scene:scene()}));await preview()}catch(e){$('installinfo').textContent='Installation incomplete.';error(e.message)}finally{lock(false)}}
async function preview(){error();playing=false;$('play').textContent='Play';try{const result=await api('/api/preview',{scene:scene()});frames=[result.observation];frameIndex=0;episode=null;$('timeline').max=0;$('timeline').value=0;$('play').disabled=true;$('status').textContent='Scene created · ready';$('clock').textContent='0.00 s';for(const id of ['outcome','distance','speed','wall'])$(id).textContent='—';$('download').hidden=true;draw()}catch(e){error(e.message);throw e}}
$('install').onclick=()=>install({url:$('skillurl').value});$('offline').onclick=()=>install({bundled:true});$('file').onchange=()=>importFile($('file').files[0]);
$('example').onclick=async()=>{lock(true);error();try{const response=await fetch('/api/capsules/example');const document=await response.text();if(!response.ok)throw Error('The bundled capsule is incompatible with this runtime.');await importCapsule(document)}catch(e){error(e.message)}finally{lock(false)}};
const drop=$('file').parentElement;drop.ondragover=e=>e.preventDefault();drop.ondrop=async e=>{e.preventDefault();if(busy)return;if(e.dataTransfer.files.length!==1){error('Drop one JSON file.');return}await importFile(e.dataTransfer.files[0])};
$('create').onclick=async()=>{lock(true);try{await preview()}catch{}finally{lock(false)}};
$('vary').onclick=async()=>{const layouts=[[.38,.09,.52,-.09],[.48,-.12,.37,.09],[.35,-.08,.54,.08],[.46,.10,.36,-.10]];const next=layouts[(Number($('seed').value)+1)%layouts.length];['ox','oy','tx','ty'].forEach((id,i)=>$(id).value=next[i]);$('seed').value=Number($('seed').value)+1;refreshReadiness();lock(true);try{await preview()}catch{}finally{lock(false)}};
async function execute(qualify=false){if(!installed)return;const executionScene=scene(),key=JSON.stringify(executionScene);lock(true);error();playing=false;$('status').textContent=qualify?'Validating imported skill: native placement + open-jaw control…':'Executing installed skill…';try{const capsule=isCapsule(),path=capsule?(qualify?'/api/capsules/qualify':'/api/capsules/run'):'/api/run';const body={installation_id:installed.installation_id,scene:executionScene};if(!capsule)body.policy=$('policy').value;const job=await api(path,body);let result;while(true){await new Promise(resolve=>setTimeout(resolve,300));result=await api('/api/jobs/'+job.job_id);if(result.status==='failed')throw Error(result.error);if(result.status==='complete')break}setEpisode(result.run.episodes[0]);if(qualify){if(result.run.local_qualification?.status==='validated_simulation_scene'){qualifiedScene=key;installed.status='validated_simulation_scene';$('installinfo').querySelector('p').textContent='Learned movement weights · validated for this scene · simulation only'}else{qualifiedScene=null;error(result.run.local_qualification?.reason||'Candidate did not qualify in this scene.')}}receipt({installation:installed.installation_id,source:installed.source_url,scope:result.run.scope,skill:result.run.skill,policy_origin:result.run.policy_origin,summary:result.run.summary,qualification:result.run.local_qualification,completion:episode.final_info});const blob=new Blob([JSON.stringify(result.run,null,2)],{type:'application/json'});if(downloadURL)URL.revokeObjectURL(downloadURL);downloadURL=URL.createObjectURL(blob);$('download').href=downloadURL;$('download').download='dvidia-arm-run.json';$('download').hidden=false;frameIndex=0;lastTick=0;playing=true;$('play').textContent='Pause';requestAnimationFrame(tick)}catch(e){error(e.message);$('status').textContent='Execution incomplete'}finally{lock(false)}}
$('run').onclick=()=>execute();$('qualify').onclick=()=>execute(true);
for(const id of ['ox','oy','tx','ty','sx','sy','sz','mass','friction','jawforce','torque','seed'])$(id).addEventListener('input',refreshReadiness);
function setEpisode(value){episode=value;frames=value.trace||[];frameIndex=0;playing=false;$('timeline').max=Math.max(0,frames.length-1);$('timeline').value=0;$('play').disabled=!frames.length;$('play').textContent='Play';$('outcome').textContent=value.success?'Success':value.reason;$('distance').textContent=Number.isFinite(value.final_distance)?(value.final_distance*1000).toFixed(1)+' mm':'—';$('speed').textContent=value.simulated_seconds_per_wall_second.toFixed(1)+'×';$('wall').textContent=value.episode_wall_seconds.toFixed(2)+' s';draw()}
$('timeline').oninput=()=>{playing=false;$('play').textContent='Play';frameIndex=Number($('timeline').value);draw()};let lastTick=0;
$('play').onclick=()=>{if(!frames.length)return;playing=!playing;if(playing&&frameIndex>=frames.length-1)frameIndex=0;$('play').textContent=playing?'Pause':'Play';lastTick=0;if(playing)requestAnimationFrame(tick)};
function tick(now){if(!playing)return;if(!lastTick)lastTick=now;const frameTime=frames[frameIndex].time||0;const elapsed=(now-lastTick)/1000;let next=frameIndex;while(next<frames.length-1&&(frames[next+1].time||0)-frameTime<=elapsed)next++;if(next!==frameIndex){lastTick+=((frames[next].time||0)-frameTime)*1000;frameIndex=next;$('timeline').value=frameIndex;draw()}if(frameIndex>=frames.length-1){playing=false;$('play').textContent='Play'}else requestAnimationFrame(tick)}
const canvas=$('scene'),ctx=canvas.getContext('2d');
function feedback(f){const joints=(f.joint_position||[]).map(v=>v.toFixed(2)).join(', '),forces=f.pad_normal_forces||{},gap=typeof f.gripper_width==='number'?(1000*f.gripper_width).toFixed(1)+' mm':'—';$('feedback').textContent='Joints ['+joints+'] rad · jaw gap '+gap+' · left/right normal force '+(forces.left||0).toFixed(2)+' / '+(forces.right||0).toFixed(2)+' N'}
function projection(point){const dx=point[0]-.31,dy=point[1],dz=point[2]-.26,c=Math.cos(yaw),s=Math.sin(yaw);const u=dx*c-dy*s,v=dx*s+dy*c,scale=Math.min(canvas.clientWidth,680)*1.28;return [canvas.clientWidth*.5+u*scale,canvas.clientHeight*.57+(v*Math.sin(pitch)-dz*Math.cos(pitch))*scale,v*Math.cos(pitch)+dz*Math.sin(pitch)]}
function line(a,b,color,width=1){const p=projection(a),q=projection(b);ctx.beginPath();ctx.moveTo(p[0],p[1]);ctx.lineTo(q[0],q[1]);ctx.strokeStyle=color;ctx.lineWidth=width;ctx.stroke()}
function dot(point,radius,color){const p=projection(point);ctx.beginPath();ctx.arc(p[0],p[1],radius,0,Math.PI*2);ctx.fillStyle=color;ctx.fill()}
function rotated(v,q){if(!q)return v;const [w,x,y,z]=q;const tx=2*(y*v[2]-z*v[1]),ty=2*(z*v[0]-x*v[2]),tz=2*(x*v[1]-y*v[0]);return [v[0]+w*tx+y*tz-z*ty,v[1]+w*ty+z*tx-x*tz,v[2]+w*tz+x*ty-y*tx]}
function box(center,half,q,color){const points=[];for(let i=0;i<8;i++){const d=rotated([half[0]*(i&1?1:-1),half[1]*(i&2?1:-1),half[2]*(i&4?1:-1)],q);points.push(center.map((v,k)=>v+d[k]))}const faces=[[0,1,3,2],[4,5,7,6],[0,1,5,4],[2,3,7,6],[0,2,6,4],[1,3,7,5]].sort((a,b)=>a.reduce((s,i)=>s+projection(points[i])[2],0)-b.reduce((s,i)=>s+projection(points[i])[2],0));for(const face of faces){ctx.beginPath();face.forEach((i,j)=>{const p=projection(points[i]);j?ctx.lineTo(p[0],p[1]):ctx.moveTo(p[0],p[1])});ctx.closePath();ctx.fillStyle=color;ctx.fill();ctx.strokeStyle='#6f795f';ctx.lineWidth=1;ctx.stroke()}}
function draw(){const w=canvas.clientWidth,h=canvas.clientHeight,dpr=devicePixelRatio||1;if(canvas.width!==w*dpr||canvas.height!==h*dpr){canvas.width=w*dpr;canvas.height=h*dpr}ctx.setTransform(dpr,0,0,dpr,0,0);ctx.clearRect(0,0,w,h);for(let x=.05;x<=.75;x+=.05)line([x,-.32,.29],[x,.32,.29],'#dfe4d9');for(let y=-.30;y<=.31;y+=.05)line([.05,y,.29],[.75,y,.29],'#dfe4d9');line([.25,-.20,.291],[.60,-.20,.291],'#bac9b6',1.5);line([.60,-.20,.291],[.60,.20,.291],'#bac9b6',1.5);line([.60,.20,.291],[.25,.20,.291],'#bac9b6',1.5);line([.25,.20,.291],[.25,-.20,.291],'#bac9b6',1.5);const f=frames[frameIndex];if(!f)return;feedback(f);const goal=f.target_position;if(goal){const ring=[];for(let i=0;i<=48;i++){const a=i/48*Math.PI*2;ring.push([goal[0]+.025*Math.cos(a),goal[1]+.025*Math.sin(a),.292])}ring.slice(1).forEach((p,i)=>line(ring[i],p,'#4e815c',2));dot([goal[0],goal[1],.292],3,'#4e815c')}const points=f.arm_points||[];for(let i=1;i<points.length;i++)line(points[i-1],points[i],'#a9b6a6',13);for(let i=1;i<points.length;i++)line(points[i-1],points[i],'#667c6c',5);points.forEach(p=>dot(p,7,'#e1e7d9'));(f.gripper_points||[]).forEach(p=>{if(f.end_effector_position)line(f.end_effector_position,p,'#576a5c',7);dot(p,4,'#425e4c')});if(f.object_position)box(f.object_position,(f.object_size||[.04,.04,.04]).map(v=>v/2),f.object_quaternion,'#cfa775');line([.07,-.28,.293],[.14,-.28,.293],'#bd7465',2);line([.07,-.28,.293],[.07,-.21,.293],'#66906e',2);line([.07,-.28,.293],[.07,-.28,.36],'#7192a5',2);$('clock').textContent=(f.time||0).toFixed(2)+' s';if(episode)$('status').textContent=(f.stage||'observe')+' · '+(frameIndex>=frames.length-1?episode.reason:'native physics replay')}
canvas.onpointerdown=e=>{drag={x:e.clientX,y:e.clientY,yaw,pitch};canvas.setPointerCapture(e.pointerId)};canvas.onpointermove=e=>{if(drag){yaw=drag.yaw+(e.clientX-drag.x)*.007;pitch=Math.max(.1,Math.min(1.3,drag.pitch+(e.clientY-drag.y)*.006));draw()}};canvas.onpointerup=()=>drag=null;canvas.onpointercancel=()=>drag=null;window.addEventListener('resize',draw);
const embedded=JSON.parse($('embedded-run').textContent);if(embedded){document.body.classList.add('replay');$('subtitle').textContent='A DVIDIA skill release, installed with a local articulated-arm controller and executed in different grounded scenes.';embedded.episodes.forEach((e,i)=>{const option=document.createElement('option');option.value=i;option.textContent='Scene '+(e.scene_id||e.seed)+' · '+e.policy+' · '+e.reason;$('episode').append(option)});$('episode').onchange=()=>{playing=false;setEpisode(embedded.episodes[Number($('episode').value)])};setEpisode(embedded.episodes[0]);receipt({scope:embedded.scope,skill:embedded.skill,summary:embedded.summary,limitations:embedded.limitations})}else{api('/api/installations').then(result=>{if(result.installations.length)showInstalled(result.installations[0])}).catch(()=>{});preview().catch(()=>{});api('/api/benchmark').then(result=>{if(result.status==='complete'){teacherBenchmark=true;$('benchmark').hidden=isCapsule();$('benchmarktext').textContent=result.description}}).catch(()=>{})}
</script></html>