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robot-simulation-lab / workstation /v01 /workstation.json
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Publish reviewed DVIDIA native robot simulation evidence and local tools
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{
"schema": "dvidia.live-workstation/v1",
"scope": "Live native PiPER position tracking with authored IK, pinned upstream mechanics and a free synthetic rigid shoe. No learned shoe manipulation policy, calibrated shoe contact, deformation or hardware qualification.",
"physical_robot_ready": false,
"learned_policy": false,
"robot": "piper",
"timestep": 0.002,
"control_dt": 0.02,
"scene_url": "scene.xml",
"model_url": "model.json",
"geometry_url": "geometry.bin.gz",
"tcp_site_name": "workstation_tcp",
"tcp_site_id": 0,
"joint_names": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"joint6"
],
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0,
1,
2,
3,
4,
5
],
"arm_qpos_addresses": [
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3,
4,
5
],
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3,
4,
5
],
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"joint2",
"joint3",
"joint4",
"joint5",
"joint6"
],
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0,
1,
2,
3,
4,
5
],
"gripper_actuator_names": [
"gripper"
],
"gripper_actuator_ids": [
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],
"actuator_ctrlrange": [
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2.618
],
[
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],
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0.0
],
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],
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],
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"controller": {
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"translation_error_cap_m": 0.045,
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"damping": 0.012,
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"joint_rate_rad_s": 1.5,
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},
"shoe_body_names": [
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],
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],
"shoe_asset_ids": [
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],
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]
},
"environment_geoms": {
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"rack": "workstation_rack_shelf",
"floor": "workstation_floor"
},
"interaction_limits": {
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"push_duration_s": 0.002,
"grip_scope": "Jaw motion and native contacts are available; no validated retained shoe lift or autonomous placement."
},
"provenance": {
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"repository": "https://github.com/google-deepmind/mujoco_menagerie",
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