Product mode: not part of the pre-registered experiment. Simulated in MuJoCo and untested on hardware. A recommendation is a simulation ranking under the stated conditions, not a hardware guarantee.
Build certificate: Warehouse returns tote packing
Open the hinged lid on a tote, place a small carton and a shrink-wrapped pack inside the tote, then close the lid.
single Industrial servo parallel gripper, 110 mm stroke · the Studio's recommendation
Result
| Full-task completion | Runs | Weakest step | Median cycle (with changes) | Fidelity |
|---|---|---|---|---|
| 100% | 8 | close_lid (100%) | 78.2 s | rigid |
Why: Ties on completion (100%) and the weakest step, with the shorter cycle (78.2 s against 84.6 s), and is simpler: 1 tool against 2.
Setup
| Tool | Effector | Family | Fidelity | Steps |
|---|---|---|---|---|
| 0 | Industrial servo parallel gripper, 110 mm stroke | catalog gripper | rigid | close_lid, open_lid, pick_carton, pick_pack |
| Tools | Actuators | Carried (heaviest segment) | Built in total | Changes per run |
|---|---|---|---|---|
| 1 | 1 | 1.089 kg | 1.089 kg | 0 |
Per step
| Step | Primitive | Object | Tool | Success | Failures | Fidelity | Caveats |
|---|---|---|---|---|---|---|---|
| open_lid | hook_pull | tote_lid | 0: Industrial servo parallel gripper, 110 mm stroke | 100% | none | rigid | |
| pick_carton | grasp | carton | 0: Industrial servo parallel gripper, 110 mm stroke | 100% | none | rigid | |
| pick_pack | grasp | pack | 0: Industrial servo parallel gripper, 110 mm stroke | 100% | none | rigid | |
| close_lid | push | tote_lid | 0: Industrial servo parallel gripper, 110 mm stroke | 100% | none | rigid |
Conditions
Every compared setup ran the same conditions and seeds in the same order. A seed draws the friction jitter (+-10%) and a +-0.5 mm aim jitter; the placement errors below are hidden from the controllers.
| Condition | Seed | Placement error x/y (mm) | Run | Cycle | Trajectory |
|---|---|---|---|---|---|
| nominal | 0 | none | completed | 78.2 s | 0e8c1e2f0580dfcf |
| place01 | 1 | carton +1.73/+0.13; pack -0.98/-0.17; tote_bin +0.31/-0.19; tote_lid +0.54/+1.44 | completed | 78.2 s | 096b8cfb55cd62ea |
| place02 | 2 | carton +1.04/-0.23; pack +0.77/-1.92; tote_bin +0.09/+0.24; tote_lid +0.41/-0.25 | completed | 78.2 s | 169e2fdca649ea78 |
| place03 | 3 | carton +1.81/-0.55; pack +0.48/-1.97; tote_bin -1.50/-1.83; tote_lid +0.90/+1.98 | completed | 78.2 s | ff9913a9312403a9 |
| place04 | 4 | carton +0.18/+0.81; pack +1.77/-1.51; tote_bin -0.00/+1.47; tote_lid -0.79/-1.13 | completed | 78.2 s | 3885c6fb9593dca4 |
| place05 | 5 | carton -1.07/+0.45; pack -0.75/+1.15; tote_bin -1.63/-1.20; tote_lid +1.41/-1.59 | completed | 78.2 s | c5b72371e84a53ae |
| place06 | 6 | carton -0.53/+0.32; pack -1.48/-1.31; tote_bin -0.23/+0.27; tote_lid +0.66/-0.03 | completed | 78.2 s | f5219fa8373c3396 |
| place07 | 7 | carton -0.89/+1.97; pack +0.24/+1.08; tote_bin -1.50/+1.48; tote_lid -0.58/+1.72 | completed | 78.2 s | 96eb609ac2ee53cb |
Compared setups
| Setup | Kind | Completion | Weakest step | Cycle | Tools | Eligible |
|---|---|---|---|---|---|---|
| Industrial servo parallel gripper, 110 mm stroke (best single off-the-shelf) | single | 100% | close_lid 100% | 78.2 s | 1 | yes |
| Tool change: Button-pusher tool > Suction cup | tool change | 100% | close_lid 100% | 84.6 s | 2 | yes |
| Tool change: Button-pusher tool > Suction cup | tool change | 100% | close_lid 100% | 84.6 s | 2 | yes |
| Tool change: Button-pusher tool > Suction cup | tool change | 100% | close_lid 100% | 84.6 s | 2 | yes |
Against the best single off-the-shelf effector: completion +0 points, cycle +0.0 s, +0 tools.
Sensitivity to change times
Re-ranked with tool changes of 3, 6 and 12 s and head switches of 0.75, 1.5 and 3 s: the recommendation is the same for every pair; the order changes in 0 of 15 pairs.
Assumed constants
Equal for every candidate; none is sourced from a target arm or changer.
| Constant | Value | Note |
|---|---|---|
| roll_torque_nm | 15 N m | wrist roll torque limit |
| roll_speed_max_deg_s | 180 deg/s | wrist roll speed cap |
| pitch_range_deg | 90 deg | wrist pitch limit, +- from straight down |
| pitch_speed_dps | 180 deg/s | wrist pitch speed cap |
| pitch_torque_nm | 15 N m | wrist pitch torque limit |
| tool_change_s | 7.5 s | automatic tool change time (a fixed clock advance) |
| present_s | 1.5 s | multi-tool head switch time (a fixed tilt, not simulated) |
| changer_master_kg | 0.25 kg | tool changer master plate (stays on the wrist) |
| changer_tool_plate_kg | 0.1 kg | tool changer plate on every tool |
| changer_stack_mm | 52 mm | tool changer stack height |
| arm_payload_kg | 3 kg | largest tool stack the arm may carry; heavier setups are refused |
| bracket_density_kg_m3 | 1300 kg/m^3 | printed carbon-filled polymer bracket |
| placement_error_mm | 2 mm | per-object placement error of the condition grid (uniform) |
| simplicity_per_extra_effector | 0.05 rate | integrator rule R01: completion a setup must add per added effector or changer |
| simplicity_step_floor | 0.5 rate | integrator rule R01: a weakest step under this fails outright |
| tie_margin | 0.05 rate | completion-rate tie among setups of the same complexity |
| cycle_margin | 0.1 fraction | among setups of the same complexity, a simpler one may be this much slower |
| soft_arm_max_part_kg | 2.5 kg | integrator rule R09: the heaviest part a soft arm may carry |
| hook_min_mm | 5 mm | a rigid tool hooks if its tip reaches this far sideways past the tool and flange |
| hook_throat_mm | 6 mm | room a lip needs between a hook and the flange, else the flange blocks it |
| process_torque_nm | 4 N m | integrator rule R05: tightening a threaded member to this torque or more needs a nut runner (1 N m above hand-tight) |
| socket_fit_mm | 0.5 mm | a nut runner's socket drives a hex at most this much under its own size |
| sweep_clearance_mm | 5 mm | multi-tool head swept-volume clearance |
Caveats
- The floating wrist abstracts the arm: there is no arm reach or arm collision model.
- Presenting a multi-tool head is a fixed tilt per segment plus a fixed time, not a simulated motion.
- A tool change is a fixed time, not a simulated docking.
- Controllers are scripted and open-loop on the placement error.
- A recommendation is a simulation ranking under the stated conditions, not a hardware guarantee.
Provenance
| Item | Value |
|---|---|
| Contract | rtt-effectors/2 |
| Task id | 351218d6c47d46bba1e14ecb4cf230c592618cbe28e9bf1d8be29cb88085e4f8 |
| Setup id | d136ab4824c1bad26b5ac84b7a481c14bedee5790c495f0eb8c1c9369bb11a57 |
| Fairness hash | 82b5bcdac3b461e77bc17444036a535a9acb32f29bafd804947228e68090636d |
| Controllers | default |
| Screen | 249 runs on 3 conditions |
Product mode: not part of the pre-registered experiment. Simulated in MuJoCo and untested on hardware. A recommendation is a simulation ranking under the stated conditions, not a hardware guarantee.