SAPIENT / MANIPULATE
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WORKCELLOpenArm + ORCA research cell
VIEW MODELFranka kinematic proxy + ORCA v2
PHYSICSMuJoCo worker · offline
3D PLANNING SCENE
WORLD / COLLISION / CONTACT
STATEREADY
HAND COMMAND0% closure17-DoF MJCF articulation
APPROACHCONTACTCLOSEVERIFYLIFTCOMPLETE
JOINT INSPECTOR

Arm + hand command

Arm proxy · 7 DoF

ORCA synergies · 17 joints

Each synergy resolves through the limits and axes defined in the pinned ORCA MJCF. Direct 17-axis editing follows after the runtime bridge.

EXECUTION TRACKS

Evidence, not demos

E-SIM-OPENARM-001

Reference cube starts on palm · contact-rich lift/lower cycle

PASSReplay
E-SIM-OPENARM-TABLE-001

Supported proxy · approach, grasp, 74 mm lift, replace, release

PASSReplay
Official ARMBench target

Dataset access and product asset have not been staged

NOT EXECUTEDRequires approved import