1 · Scene
Objects are Google Scanned Objects — photogrammetry scans of real products.
Pick a preset or objects, then Build cell to start a simulator session.
0steps
–last latency ms
–p50 latency ms
–gripper (1=open)
2 · Model
Run log
Bring your own model
Zelpi Policy Protocol (ZPP v0)
POST your-endpoint
{ "instruction": "put the tape in the bin",
"images": {"scene": b64jpeg, "wrist": b64jpeg},
"state": {"joint_pos":[7], "gripper":0..1,
"ee_pos":[3], "ee_quat":[4], "ee_euler":[3]},
"embodiment": "franka_panda", "control_hz": 10 }
→ { "action": [7 or 8 floats] | [[...],[...]],
"action_space": "ee_delta" | "ee_abs"
| "joint_pos" | "joint_delta" }