{
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  "id": "piper-block-placement-v01",
  "publisher": "DVIDIA",
  "license": "MIT",
  "release_stage": "research",
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  "model_schema": "dvidia.piper-motor-primitive/v2",
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  "supervision_origin": "synthetic_authored_controller",
  "embodiment": "piper",
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  "physical_robot_ready": false,
  "learned_contact_recovery": false,
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    "arm": "six joint position targets, radians",
    "jaw": "one coupled jaw position target, metres",
    "control_dt_s": 0.02,
    "timestep_s": 0.001,
    "authored_native_servos": true
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  "scope": {
    "object": "one 40 g rigid block",
    "start_x_m": [
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    "start_y_m": [
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    "known_goal_xy_m": [
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    "novel_goals_tested": false,
    "novel_objects_tested": false,
    "disturbance_recovery_tested": false
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    "scheduled": 12,
    "valid": 12,
    "successes": 5,
    "failures": 7,
    "reasons": {
      "success": 5,
      "native_outcome_failed": 7
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    "descriptive_wilson_95_interval": [
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    "inference_compute": {
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    "control_step_compute": {
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    "missed_20ms_compute_boundaries": 344,
    "process_peak_rss_bytes": 736444416
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  "report_sha256": "52ae9f37e845c0949879012fe9e5279192a543dc5f898a8a8d2fe9ab0f51d4fe"
}