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Effector Lab

Benchmark

One good grasp and three planted failures

Before any search runs, the judge has to tell a grasp from a miss. The same straight fingers are set up to fail in three different ways, and each failure has to get its own label.

  • PhysicsLocal run on a developer laptop, not a Nebius jobMuJoCo 3.15.0CPU executor1.03 s sim wall time11,435 steps
  • DesignHand-designed baseline, no model callHand-designed baseline entrant

t 00.00 / 00.00 s

Phase Settle

  1. Settle
  2. Descend
Baseline grasp

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Baseline grasp: held for 2.0 s. Peak lift 149.2 mm.

The straight entrant lifts and holds the box straight finger
Closes too high

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Closes too high: missed grasp. Peak lift 0.0 mm.

The tips close 30 mm above the box top straight finger
Slippery box

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Slippery box: slipped during lift. Peak lift 0.0 mm.

Mu = 0.05: friction capacity 2.5 N < weight 2.97 N straight finger
Box turned wide

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Box turned wide: missed grasp. Peak lift 0.0 mm.

The box's 90 mm side spans the jaw, wider than its opening straight finger

All lanes share one clock and one camera. The dashed square is the success height (object centre 100 mm above its resting height); the bar under each lane fills while the object stays above it and turns green at 2.0 s. The verdict appears when the scorer decides.

Scorer numbers

From the simulator's scorer, sampled every 10 ms.

LaneFingersOutcomePeak liftLongest holdSim stepsWall time
Baseline graspthe straight entrant lifts and holds the boxStraightHeld 2.0 s149.2 mm2.01 s3,0200.26 s
Closes too highThe fingers never pinched the object before the lift started.StraightMissed grasp0.0 mm0.00 s2,8050.24 s
Slippery boxThe object was pinched but slid out before reaching the target height.StraightSlipped during lift0.0 mm0.00 s2,8050.26 s
Box turned wideThe fingers never pinched the object before the lift started.StraightMissed grasp0.0 mm0.00 s2,8050.27 s

Task task_v1

Success
Centre rises 100 mm and stays 2.0 s, before 12 s
Grip force
50 N
Max opening
84 mm
Controller
Open loop, grasp-height setting k = 0.5

Phases

  1. Settle0.0 s to 0.3 s
  2. Descend0.3 s to 1.3 s
  3. Close1.3 s to 2.6 s
  4. Lift2.6 s to 4.1 s
  5. Hold4.1 s to the end