tasks/piper/protocol.json

{"schema":"dvidia.piper-task-protocol/v1","profile":"piper-rigid-block-task-v0.1","contract":{"profile":"piper-rigid-block-task-v0.1","scope":"Authored PiPER rigid-block contact pilot with privileged native state. Pinned upstream servos/inertias/collision proxies/gravity compensation, synthetic commands and uncalibrated contact. No learned skill, camera sensing, shoe manipulation or physical robot qualification.","physical_robot_ready":false,"arm_joint_order":["joint1","joint2","joint3","joint4","joint5","joint6"],"actions":{"joint_targets_rad":"six native position-servo targets in radians","gripper_position_m":"one native single-finger slide target in metres [0,.035]; 0 closed/.035 open; not measured full gap"},"gripper_joints":["joint7","joint8"],"independent_gripper_commands":1,"tcp":"authored site in link6 at local [0,0,.12003] near the distal finger-box centers; not hardware calibrated","object":"free rigid block with native gravity, no weld/equality/mocap or post-reset pose writes","contact":"stock native finger collision boxes; object priority1 authors pair friction explicitly","servo_gains":"unchanged upstream PiPER position servos and force caps; upstream robot gravcomp=1 retained","collision_support_exemption":"fixed base capsule may contact floor; moving robot/table/floor or block/nonfinger contacts are critical","observations":"privileged joint/object/TCP/contact state; no deployable sensor pipeline","success":"valid native physics, sustained bilateral table-free lift and retained carry to supported destination, then actual released/settled destination dwell and retreat","carry_contact_loss_tolerance_seconds":0.04,"contact_force_threshold_n":0.01,"simulation_asset_license":"MIT"},"scope":"Authored PiPER free-block contact task, synthetic scenes and privileged native state. No learned policy, shoe competence, calibrated contact or physical robot qualification.","physical_robot_ready":false,"learned_policy":false,"cohort":"confirmation","seed":642103,"scenes":[{"id":"nominal-00","stratum":"nominal","seed":642103,"config":{"timestep":0.001,"control_dt":0.02,"timeout_s":20.0,"settle_s":0.5,"object_position_m":[0.29887658316658083,-0.03267382625423828,0.082],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"object_half_size_m":[0.02,0.02,0.02],"mass_kg":0.04,"friction":0.8,"table_top_m":0.06,"table_center_xy_m":[0.38,0.0],"table_half_size_xy_m":[0.17,0.22],"table_thickness_m":0.04,"goal_position_tolerance_m":0.025,"goal_dwell_s":0.25,"min_lift_m":0.06,"min_lift_dwell_s":0.1,"retreat_clearance_m":0.1,"joint_target_rate_rad_s":1.5,"jaw_target_rate_m_s":0.05,"tool_orientation_wxyz":[0.0,0.0,1.0,0.0],"carry_orientation_wxyz":[0.25881904510252074,0.0,0.9659258262890683,0.0]}},{"id":"nominal-01","stratum":"nominal","seed":642104,"config":{"timestep":0.001,"control_dt":0.02,"timeout_s":20.0,"settle_s":0.5,"object_position_m":[0.300270036017285,-0.033971272720789786,0.082],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"object_half_size_m":[0.02,0.02,0.02],"mass_kg":0.04,"friction":0.8,"table_top_m":0.06,"table_center_xy_m":[0.38,0.0],"table_half_size_xy_m":[0.17,0.22],"table_thickness_m":0.04,"goal_position_tolerance_m":0.025,"goal_dwell_s":0.25,"min_lift_m":0.06,"min_lift_dwell_s":0.1,"retreat_clearance_m":0.1,"joint_target_rate_rad_s":1.5,"jaw_target_rate_m_s":0.05,"tool_orientation_wxyz":[0.0,0.0,1.0,0.0],"carry_orientation_wxyz":[0.25881904510252074,0.0,0.9659258262890683,0.0]}},{"id":"low_friction-00","stratum":"low_friction","seed":642105,"config":{"timestep":0.001,"control_dt":0.02,"timeout_s":20.0,"settle_s":0.5,"object_position_m":[0.300756278487226,-0.02830226222583193,0.082],"target_position_m":[0.3482197356908135,0.08179477382804264,0.08],"object_half_size_m":[0.02,0.02,0.02],"mass_kg":0.04,"friction":0.15,"table_top_m":0.06,"table_center_xy_m":[0.38,0.0],"table_half_size_xy_m":[0.17,0.22],"table_thickness_m":0.04,"goal_position_tolerance_m":0.025,"goal_dwell_s":0.25,"min_lift_m":0.06,"min_lift_dwell_s":0.1,"retreat_clearance_m":0.1,"joint_target_rate_rad_s":1.5,"jaw_target_rate_m_s":0.05,"tool_orientation_wxyz":[0.0,0.0,1.0,0.0],"carry_orientation_wxyz":[0.25881904510252074,0.0,0.9659258262890683,0.0]}}],"controls":["placement","replay_open_jaw","hold"],"planned_attempts":9,"implementation_sha256":{"piper_task.py":"ddb0769ed2afb37a4c7b33f7cbf5cbeab9bbe65b928e7e4c6ebf0d9c9d9b35c1","piper_task_benchmark.py":"d1294fac93bb42a26a654c6fd0950718e528cbf3cd96ffcd53118da0a1646776","robot_profiles.py":"fb90782a6a9979e282182118ae0e3e29d00f101255cc57378dd3f692672bb13d","robot_profiles.lock.json":"4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe","reference_task.py":"bbc768ccc202b8dd41cbd235b206e6478806ce47c1f30ae15dc662c0c1edcc3e","reference_sim.py":"c1201d22eb13dd07a236ee63cc4ba68e129f6067e8db61ed41af2d820eb5e3b8","reference_replay.py":"f73731434d55bac150db16c7205d341a70b95ce13e582e7a23d11dee31b27a19"},"native_command_units":["rad","rad","rad","rad","rad","rad","m"],"simulation_asset_license":"MIT","layout_offset_limit_m":0.005,"timing_boundary":"Attempt wall includes asset verification, compilation, settling, authored planning/IK, physics, contact scoring and recorded state construction. Protocol/report/trace disk serialization, rendering, training, physical sensing, transport and actuation are excluded. Control computation windows are not sensor-to-actuator reaction times.","comparison":"Open-jaw replays the complete valid placement requested-arm tape with jaw target .035 m; hold requests the initial six arm targets and an open jaw. Invalid or incomplete placement tapes leave a retained invalid open-jaw attempt; they are never extended.","split_note":"Synthetic seeded scenes; repeats are not physical trials. Confirmation is a declaration, not proof that these scenes were unseen during development."}