  The luminosity and structure of neutron star magnetospheres are crucial to
our understanding of pulsar and plerion emission. A solution found using the
force-free approximation would be an interesting standard with which any model
with more physics could be compared. Prior quasi-analytic force-free solutions
may not be stable, while prior time-dependent magnetohydrodynamic models used
unphysical model parameters. We use a time-dependent relativistic force-free
electrodynamics code with no free parameters to find a unique stationary
solution for the axisymmetric rotating pulsar magnetosphere in a Minkowski
space-time in the case of no surface currents on the star. The solution is
similar to the force-free quasi-analytic solution of \citet{cont99} and the
numerical magnetohydrodynamic solution of \citet{kom05}. The magnetosphere
structure and the usefulness of the classical y-point in the general
dissipative regime are discussed. The pulsar luminosity is found to be $L
\approx 0.99\pm 0.01 \mu^2\Omega_\star^4/c^3$ for a dipole moment $\mu$ and
stellar angular frequency $\Omega_\star$.
