Walk a workplace before it is built, as the people it might shut out.
Benches, controls and signs built for one standard body quietly shut out wheelchair users, people with low vision and neurodivergent workers, and it is usually discovered after the space is built.
A phone scan becomes a measured digital twin. AI agents, each living with a different disability, walk it, cite every problem and fix the design before anything is bought.
This hackathon room, scanned tonight, redesigned as a full robotics lab.
iPhone LiDAR and video: 1,092 frames fused into 2 million colored points, aligned to the RoomPlan walls. 208 m², 3.65 m ceiling.
Everything that is not wall, floor or ceiling is removed geometrically, and the carpet underneath is re-tiled from a clean patch of the real carpet. No one captured in the scan survives.
14 zones and 40 pieces of equipment, every requirement traced to one of 26 sources: ISO 10218 / 13854 / 13857, ANSI ESD S20.20, Penn EHRS lab guidelines, university battery and soldering guidance, ADA 2010.
| Zone | m² | Priority | Equipment | Requirements |
|---|---|---|---|---|
| Entry, PPE and lockers | 7 | must | 2 items | 3 cited requirements |
| Collaborative arm cells | 20 | must | 3 items | 7 cited requirements |
| Fenced industrial arm cell | 14 | should | 1 items | 6 cited requirements |
| Netted test arena with motion capture (AMRs, quadrupeds, humanoid, drones) | 36 | must | 3 items | 4 cited requirements |
| Electronics benches (ESD protected area) | 20 | must | 6 items | 8 cited requirements |
| Fabrication: 3D printers, laser cutter, benchtop CNC, hand tools | 24 | must | 5 items | 8 cited requirements |
| Battery charging and storage | 4 | must | 2 items | 5 cited requirements |
| Storage: parts, raw stock, finished work, chemicals | 10 | must | 4 items | 2 cited requirements |
| Hardware-in-the-loop / test benches | 6 | should | 1 items | 1 cited requirements |
| Software / desk area | 16 | should | 2 items | 0 cited requirements |
| Robot maintenance and repair bay | 10 | must | 4 items | 4 cited requirements |
| Kitchenette (refrigerator, sink, dishwasher, microwave) | 9 | must | 3 items | 3 cited requirements |
| Accessible single-user restroom | 5.5 | must | 2 items | 3 cited requirements |
| Dining / break area | 14 | must | 2 items | 1 cited requirements |
Design A: 36 stations in 9 color-coded zones, a sign at every one. Robot arms, a fenced industrial cell, humanoids, quadrupeds, AMRs and drones in a netted mocap arena.
Four agents, each with a body model and a cited rulebook.
Manual or power wheelchair; seated eye height ~1.2 m; needs 36" routes and 60" turning space.
14 problems found in Design A · 5 blocking
Reduced acuity and contrast sensitivity, or red-green color blindness (~8% of men).
29 problems found in Design A · 0 blocking
Autistic / ADHD / sensory-processing differences: sensitive to noise and motion, relies on predictable layouts.
20 problems found in Design A · 0 blocking
Anyone passing robot cells: the arm's full sweep must stay inside its marked or fenced zone.
5 problems found in Design A · 5 blocking
Each agent walks real routes from the entrance. Every problem is shown where it is, as a photoreal World Labs world, with the measured value, the rule and the fix.
Drag: metric twin render ◀▶ photoreal frame.
| Severity | Agent | Finding | Rule | Fix |
|---|---|---|---|---|
| blocking | motion | Cobot cell 2 (UR10e class): arm sweep vs floor marking The 1.30 m reach sweeps past the tape line into the walkway. | ISO 10218-2:2025 Robot applications and cells §safeguarded space | Move the floor marking out to 1.35 m from the base, or limit the arm's joint range in the safety controller. |
| blocking | motion | Cobot cell 2 (UR10e class): gap between arm and wall The arm reaches into wall. | ISO 13854:2017 Minimum gaps to avoid crushing §Table 1 (body: 500 mm) | Move Cobot cell 2 (UR10e class) so its reach stays 0.5 m clear of walls. |
| blocking | motion | E-stop ES2 outside the arm's reach ES2 is 1.30 m from the base; the arm reaches 1.30 m. | ISO 10218-2:2025 Robot applications and cells §safeguarded space | Move ES2 to the zone boundary, 1.45 m from the base. |
| blocking | motion | Industrial arm cell (fenced): arm sweep vs fence Reach 1.40 m from the base; fence is only 100 mm beyond the arm's reach. | ISO 13857:2019 Safety distances §Table 4 (20 mm mesh: 120 mm) | Move the fence out to 1.57 m from the base, or limit the arm's joint range in the safety controller. |
| blocking | motion | Industrial arm cell (fenced): gap between arm and wall The arm reaches into wall. | ISO 13854:2017 Minimum gaps to avoid crushing §Table 1 (body: 500 mm) | Move Industrial arm cell (fenced) so its reach stays 0.5 m clear of walls. |
| blocking | wheelchair | Route to E-stop ES1 on Cobot cell 1 (UR5e class) Narrowest point is 32.5" (0.83 m) between teach and cobot1. | 2010 ADA Standards for Accessible Design §403.5.1 | Move Teach-pendant bench 5" (0.12 m) to widen the aisle to 36". |
| blocking | wheelchair | Route to E-stop ES2 on Cobot cell 2 (UR10e class) Narrowest point is 13.0" (0.33 m) between repair and cobot2. | 2010 ADA Standards for Accessible Design §403.5.1 | Move Robot repair bench 24" (0.61 m) to widen the aisle to 36". |
| blocking | wheelchair | Route to E-stop ES3 on Industrial arm cell (fenced) Narrowest point is 21.0" (0.53 m) between industrial and humanoid_stand. | 2010 ADA Standards for Accessible Design §403.5.1 | Move Humanoid service stand (hoist) 16" (0.41 m) to widen the aisle to 36". |
| blocking | wheelchair | Route to Exit D4 Narrowest point is 23.6" (0.60 m) between humanoid_stand and spares. | 2010 ADA Standards for Accessible Design §403.5.1 | Move Humanoid service stand (hoist) 14" (0.34 m) to widen the aisle to 36". |
| blocking | wheelchair | Reach to e-stop ES1 on Cobot cell 1 (UR5e class) Mounted at 54.0" (1.37 m), side approach. | 2010 ADA Standards for Accessible Design §308.3.1 | Remount ES1 at 42". |
| major | low vision | Tactile room sign: "Accessible restroom" Room signs need raised characters and braille so blind users can find the room. | 2010 ADA Standards for Accessible Design §216.2, 703.2-703.4 | Replace with a tactile + braille sign, baseline at 54", latch side. |
| major | low vision | Letter height: "ESD bench 1" Capitals are 12 mm at 69" high, read from 1.8 m. | 2010 ADA Standards for Accessible Design §703.5.5 | Enlarge the lettering on "ESD bench 1" to at least 16 mm. |
| major | low vision | Letter height: "ESD bench 2" Capitals are 12 mm at 69" high, read from 1.8 m. | 2010 ADA Standards for Accessible Design §703.5.5 | Enlarge the lettering on "ESD bench 2" to at least 16 mm. |
| major | low vision | Sign contrast: "Laser cutter" #ffffff on #fb8f44 is 2.3:1. Hard to read with low contrast sensitivity. | WCAG 2.2 §1.4.3 (and ADA 703.5.1) | Reprint "Laser cutter" as white on a darker zone color (>= 4.5:1). |
| major | low vision | Sign contrast: "3D printer bank" #ffffff on #fb8f44 is 2.3:1. Hard to read with low contrast sensitivity. | WCAG 2.2 §1.4.3 (and ADA 703.5.1) | Reprint "3D printer bank" as white on a darker zone color (>= 4.5:1). |
| major | low vision | Sign contrast: "Benchtop CNC mill" #ffffff on #fb8f44 is 2.3:1. Hard to read with low contrast sensitivity. | WCAG 2.2 §1.4.3 (and ADA 703.5.1) | Reprint "Benchtop CNC mill" as white on a darker zone color (>= 4.5:1). |
| major | low vision | Sign contrast: "Mechanical assembly bench" #ffffff on #fb8f44 is 2.3:1. Hard to read with low contrast sensitivity. | WCAG 2.2 §1.4.3 (and ADA 703.5.1) | Reprint "Mechanical assembly bench" as white on a darker zone color (>= 4.5:1). |
| major | low vision | Sign contrast: "Emergency eyewash" #ffffff on #fb8f44 is 2.3:1. Hard to read with low contrast sensitivity. | WCAG 2.2 §1.4.3 (and ADA 703.5.1) | Reprint "Emergency eyewash" as white on a darker zone color (>= 4.5:1). |
| major | low vision | Sign contrast: "Cobot cell 1" #ffb3b3 on #ffffff is 1.7:1. Hard to read with low contrast sensitivity. | WCAG 2.2 §1.4.3 (and ADA 703.5.1) | Reprint "Cobot cell 1" as white on a darker zone color (>= 4.5:1). |
| major | low vision | Sign contrast: "Teach-pendant bench" #ffb3b3 on #ffffff is 1.7:1. Hard to read with low contrast sensitivity. | WCAG 2.2 §1.4.3 (and ADA 703.5.1) | Reprint "Teach-pendant bench" as white on a darker zone color (>= 4.5:1). |
| major | low vision | Sign contrast: "Test arena" #fff1a8 on #ffffff is 1.1:1. Hard to read with low contrast sensitivity. | WCAG 2.2 §1.4.3 (and ADA 703.5.1) | Reprint "Test arena" as white on a darker zone color (>= 4.5:1). |
| major | low vision | Sign contrast: "Mocap operator station" #fff1a8 on #ffffff is 1.1:1. Hard to read with low contrast sensitivity. | WCAG 2.2 §1.4.3 (and ADA 703.5.1) | Reprint "Mocap operator station" as white on a darker zone color (>= 4.5:1). |
| major | low vision | Sign contrast: "Cobot cell 2" #ffb3b3 on #ffffff is 1.7:1. Hard to read with low contrast sensitivity. | WCAG 2.2 §1.4.3 (and ADA 703.5.1) | Reprint "Cobot cell 2" as white on a darker zone color (>= 4.5:1). |
| major | low vision | Sign contrast: "Industrial arm cell" #ffb3b3 on #ffffff is 1.7:1. Hard to read with low contrast sensitivity. | WCAG 2.2 §1.4.3 (and ADA 703.5.1) | Reprint "Industrial arm cell" as white on a darker zone color (>= 4.5:1). |
| major | low vision | Zone colors Kitchenette, dining and restroom vs Fabrication #2da44e vs #fb8f44: dE 90 for typical vision but 9 with protanopia. These zones look the same to a color-blind visitor. | WCAG 2.2 §1.4.1 Use of Color | Change Fabrication to a color that differs in lightness, or add a pattern. |
| major | low vision | Zones identified by color alone Floor colors and sign colors are the only cue for which zone you are in (no zone names or pictograms). | WCAG 2.2 §1.4.1 Use of Color | Add zone names and pictograms to every sign and a floor legend at each entrance. |
| major | neurodivergent | Noise at ESD bench 4 About 68 dBA while equipment runs; loudest is HIL test bench (motor dyno) (65 dBA here). | ANSI/ASA S12.2 room noise criteria; PAS 6463 acoustic zoning § | Enclose HIL test bench (motor dyno) in an acoustic enclosure (-15 dB), or move it away from ESD bench 4. |
| major | neurodivergent | Noise at Soldering station (fume extraction) About 69 dBA while equipment runs; loudest is HIL test bench (motor dyno) (66 dBA here). | ANSI/ASA S12.2 room noise criteria; PAS 6463 acoustic zoning § | Enclose HIL test bench (motor dyno) in an acoustic enclosure (-15 dB), or move it away from Soldering station (fume extraction). |
| major | neurodivergent | Quiet retreat room There is nowhere to step away from noise, light and robot motion. | BSI PAS 6463:2022 Design for the mind: neurodiversity and the built environment § | Add an enclosed quiet room (about 2.4 x 2.4 m) near the entrance, away from fabrication. |
| major | wheelchair | Route to Kitchenette (sink, dishwasher) Narrowest point is 17.7" (0.45 m) between dining2 and mocap. | 2010 ADA Standards for Accessible Design §403.5.1 | Move Dining table (4 seats, accessible end) 19" (0.49 m) to widen the aisle to 36". |
| major | wheelchair | Route to Refrigerator Narrowest point is 17.7" (0.45 m) between dining2 and mocap. | 2010 ADA Standards for Accessible Design §403.5.1 | Move Dining table (4 seats, accessible end) 19" (0.49 m) to widen the aisle to 36". |
| major | wheelchair | Route to Microwave Narrowest point is 17.7" (0.45 m) between dining2 and mocap. | 2010 ADA Standards for Accessible Design §403.5.1 | Move Dining table (4 seats, accessible end) 19" (0.49 m) to widen the aisle to 36". |
| major | wheelchair | Route to Parts shelving Narrowest point is 17.7" (0.45 m) between dining2 and mocap. | 2010 ADA Standards for Accessible Design §403.5.1 | Move Dining table (4 seats, accessible end) 19" (0.49 m) to widen the aisle to 36". |
| major | wheelchair | Route to Raw stock rack Narrowest point is 17.7" (0.45 m) between dining2 and mocap. | 2010 ADA Standards for Accessible Design §403.5.1 | Move Dining table (4 seats, accessible end) 19" (0.49 m) to widen the aisle to 36". |
| major | wheelchair | Route to Flammable liquids cabinet Narrowest point is 17.7" (0.45 m) between dining2 and mocap. | 2010 ADA Standards for Accessible Design §403.5.1 | Move Dining table (4 seats, accessible end) 19" (0.49 m) to widen the aisle to 36". |
| major | wheelchair | Route to Quadruped service stand Narrowest point is 21.0" (0.53 m) between industrial and humanoid_stand. | 2010 ADA Standards for Accessible Design §403.5.1 | Move Humanoid service stand (hoist) 16" (0.41 m) to widen the aisle to 36". |
| major | wheelchair | Route to Spare actuators and sensors Narrowest point is 23.6" (0.60 m) between humanoid_stand and spares. | 2010 ADA Standards for Accessible Design §403.5.1 | Move Humanoid service stand (hoist) 14" (0.34 m) to widen the aisle to 36". |
| major | wheelchair | Route to Robot parking Narrowest point is 21.0" (0.53 m) between industrial and humanoid_stand. | 2010 ADA Standards for Accessible Design §403.5.1 | Move Humanoid service stand (hoist) 16" (0.41 m) to widen the aisle to 36". |
| minor | low vision | Sign contrast: "Accessible restroom" #ffffff on #2da44e is 3.2:1. Hard to read with low contrast sensitivity. | WCAG 2.2 §1.4.3 (and ADA 703.5.1) | Reprint "Accessible restroom" as white on a darker zone color (>= 4.5:1). |
| minor | low vision | Sign contrast: "Kitchenette" #ffffff on #2da44e is 3.2:1. Hard to read with low contrast sensitivity. | WCAG 2.2 §1.4.3 (and ADA 703.5.1) | Reprint "Kitchenette" as white on a darker zone color (>= 4.5:1). |
A remediation agent applies 50 validated changes and the agents re-audit. One program decision is left to the designer: the industrial arm moves to its own fenced bay.
| Agent | Finding | Change |
|---|---|---|
| program | Industrial arm cell (fenced): gap between arm and wall | Dropped the fenced industrial arm cell ('could' priority): a 1.4 m reach needs a 3.8 m clear circle the room cannot give it. Recommended for a separate fenced bay. |
| low vision | Zone colors Kitchenette, dining and restroom vs Fabrication | Zone palette -> color-blind-safe, darkened for white lettering (#0057a8, #747406, #1b5e53, #0a0acb, #060674, #1b315e, #740606, #077a91, #22763e); every sign gets a zone pictogram and one template (50 mm letters at 63") |
| wheelchair | Route to E-stop ES1 on Cobot cell 1 (UR5e class) | Moved Teach-pendant bench by (+0.12, +0.00) m |
| wheelchair | Route to E-stop ES2 on Cobot cell 2 (UR10e class) | Moved Robot repair bench by (-0.61, +0.00) m |
| wheelchair | Route to Exit D4 | Moved Humanoid service stand (hoist) by (-0.34, +0.00) m |
| wheelchair | Route to Kitchenette (sink, dishwasher) | Moved Dining table (4 seats, accessible end) by (-0.49, +0.00) m |
| motion | Cobot cell 2 (UR10e class): gap between arm and wall | Cobot cell 2 (UR10e class): safety-rated reach limit 0.75 m (ISO 10218 soft axis limiting) |
| wheelchair | Reach to e-stop ES1 on Cobot cell 1 (UR5e class) | Remounted ES1 on Cobot cell 1 (UR5e class) at 42" |
| motion | Cobot cell 2 (UR10e class): arm sweep vs floor marking | Cobot cell 2 (UR10e class): tape line moved out to 1.25 m from the base |
| low vision | Tactile room sign: "Accessible restroom" | Accessible restroom: sign tactile -> True; Accessible restroom: sign mount_height -> 1.372 |
| low vision | Sign contrast: "Laser cutter" | Laser cutter: sign fg -> #ffffff; Laser cutter: sign bg -> #1b315e |
| low vision | Sign contrast: "3D printer bank" | 3D printer bank (HEPA + carbon): sign fg -> #ffffff; 3D printer bank (HEPA + carbon): sign bg -> #1b315e |
| low vision | Sign contrast: "Benchtop CNC mill" | Benchtop CNC mill: sign fg -> #ffffff; Benchtop CNC mill: sign bg -> #1b315e |
| low vision | Sign contrast: "Mechanical assembly bench" | Mechanical assembly bench: sign fg -> #ffffff; Mechanical assembly bench: sign bg -> #1b315e |
| low vision | Sign contrast: "Emergency eyewash" | Emergency eyewash: sign fg -> #ffffff; Emergency eyewash: sign bg -> #1b315e |
| low vision | Sign contrast: "Cobot cell 1" | Cobot cell 1 (UR5e class): sign fg -> #ffffff; Cobot cell 1 (UR5e class): sign bg -> #1b5e53 |
| low vision | Sign contrast: "Teach-pendant bench" | Teach-pendant bench: sign fg -> #ffffff; Teach-pendant bench: sign bg -> #1b5e53 |
| low vision | Sign contrast: "Test arena" | Test arena (netted, motion capture): sign fg -> #ffffff; Test arena (netted, motion capture): sign bg -> #0a0acb |
| low vision | Sign contrast: "Mocap operator station" | Mocap operator station: sign fg -> #ffffff; Mocap operator station: sign bg -> #0a0acb |
| low vision | Sign contrast: "Cobot cell 2" | Cobot cell 2 (UR10e class): sign fg -> #ffffff; Cobot cell 2 (UR10e class): sign bg -> #1b5e53 |
| neurodivergent | Noise at ESD bench 4 | HIL test bench (motor dyno): attenuation_db -> 15.0 |
| low vision | Sign contrast: "Accessible restroom" | Accessible restroom: sign fg -> #ffffff; Accessible restroom: sign bg -> #747406 |
| low vision | Sign contrast: "Kitchenette" | Kitchenette (sink, dishwasher): sign fg -> #ffffff; Kitchenette (sink, dishwasher): sign bg -> #747406 |
| low vision | Sign contrast: "Refrigerator" | Refrigerator: sign fg -> #ffffff; Refrigerator: sign bg -> #747406 |
| low vision | Sign contrast: "Microwave" | Microwave: sign fg -> #ffffff; Microwave: sign bg -> #747406 |
| low vision | Sign contrast: "Dining table" | Dining table (6 seats): sign fg -> #ffffff; Dining table (6 seats): sign bg -> #747406 |
| low vision | Sign contrast: "Dining table" | Dining table (4 seats, accessible end): sign fg -> #ffffff; Dining table (4 seats, accessible end): sign bg -> #747406 |
| low vision | Sign contrast: "Robot repair bench" | Robot repair bench: sign fg -> #ffffff; Robot repair bench: sign bg -> #740606 |
| low vision | Sign contrast: "Humanoid service stand" | Humanoid service stand (hoist): sign fg -> #ffffff; Humanoid service stand (hoist): sign bg -> #740606 |
| low vision | Sign contrast: "Quadruped service stand" | Quadruped service stand: sign fg -> #ffffff; Quadruped service stand: sign bg -> #740606 |
| low vision | Sign contrast: "Spare actuators and sensors" | Spare actuators and sensors: sign fg -> #ffffff; Spare actuators and sensors: sign bg -> #740606 |
| low vision | Sign contrast: "Robot parking" | Robot parking: sign fg -> #ffffff; Robot parking: sign bg -> #740606 |
| neurodivergent | Noise at Dining table (6 seats) | Test arena (netted, motion capture): attenuation_db -> 15.0 |
| neurodivergent | Robot motion in view at Dining table (4 seats, accessible end) | Dining table (4 seats, accessible end): screen_height -> 1.5 |
| neurodivergent | Robot motion in view at ESD bench 1 | ESD bench 1: screen_height -> 1.5 |
| neurodivergent | Robot motion in view at ESD bench 2 | ESD bench 2: screen_height -> 1.5 |
| neurodivergent | Robot motion in view at Software desks (3 seats) | Software desks (3 seats): screen_height -> 1.5 |
| wheelchair | Route to Exit D4 | Moved Robot repair bench by (+0.00, -0.24) m |
| wheelchair | Route to Kitchenette (sink, dishwasher) | Moved Dining table (6 seats) by (-0.09, +0.00) m |
| wheelchair | Route to Parts shelving | Moved Test arena (netted, motion capture) by (+0.00, -0.39) m |
| wheelchair | Route to Quadruped service stand | Moved Humanoid service stand (hoist) by (+0.26, +0.00) m |
| neurodivergent | Noise at Soldering station (fume extraction) | Mechanical assembly bench: attenuation_db -> 15.0 |
| wheelchair | Route to Exit D4 | Moved Spare actuators and sensors by (+0.26, +0.00) m |
| wheelchair | Route to Kitchenette (sink, dishwasher) | Moved Dining table (6 seats) by (+0.00, -0.09) m |
| wheelchair | Route to Raw stock rack | Moved Test arena (netted, motion capture) by (+0.00, -0.10) m |
| neurodivergent | Noise at ESD bench 3 (height-adjustable) | Benchtop CNC mill: attenuation_db -> 15.0 |
| neurodivergent | Noise at Soldering station (fume extraction) | Laser cutter: attenuation_db -> 15.0 |
| neurodivergent | Noise at Software desks (3 seats) | Cobot cell 1 (UR5e class): attenuation_db -> 15.0 |
| neurodivergent | Quiet retreat room | Added a 2.2 x 2.0 m quiet room at (16.2, 10.2), 48 dBA |
| wheelchair | Route to Robot parking | Moved Quadruped service stand by (-0.29, +0.00) m |
Design A versus Design B: same room, same agents.
| Agent | Checks | A failed | A blocking | A score | B failed | B blocking | B score |
|---|---|---|---|---|---|---|---|
| Wheelchair user | 66 | 14 | 5 | 77% | 0 | 0 | 100% |
| Low vision / color-blind | 110 | 29 | 0 | 74% | 0 | 0 | 100% |
| Neurodivergent worker | 49 | 20 | 0 | 56% | 3 | 0 | 94% |
| Motion clearance | 9 | 5 | 5 | 36% | 0 | 0 | 100% |
Explore Design A in 3DDesign B
The real venue, emptied (people and furniture removed from the LiDAR scan)
Design A, from twin renders
Finding: Reach to e-stop ES1 on Cobot cell 1 (UR5e class)
Finding: Route to E-stop ES2 on Cobot cell 2 (UR10e class)
Finding: Letter height: "ESD bench 1"
Finding: Zones identified by color alone
Finding: Quiet retreat room
Finding: Noise at ESD bench 4
Finding: Cobot cell 2 (UR10e class): gap between arm and wall
Finding: Industrial arm cell (fenced): arm sweep vs fence