A single industrial servo parallel gripper, 110 mm stroke, finishes the task in 8 of 8 runs; it is also the best single off-the-shelf tool.
RigidRigid fidelityA rigid multibody model with a scripted controller.Simulated, verify on hardwareProduct mode: not part of the pre-registered experimentProduct modeThe Studio's answers are simulation rankings under stated conditions. The pre-registered finger experiment is a separate result, on the Evidence page.
The task, in plain words
Warehouse returns: a plastic tote (300 x 200 mm, 120 mm tall) stands on the packing bench with its hinged lid shut; the lid overhangs the tote by a 15 mm lip all round. Open the lid, put a small rigid carton (about 120 x 80 x 60 mm, 300 g) and a flat shrink-wrapped pack (about 150 x 100 x 20 mm, 150 g) from the bench into the tote, then close the lid.
Planned into 4 steps; 56 tools tested on 3 conditions each, 249 screen runs.
Watch the run
Recorded physics, not animation: each replay re-ran a scored run with recording on, on the same condition (nominal placement, seed 0), and plays on one clock.
t 00.00 / 00.00 s
RecommendedIndustrial servo parallel gripper, 110 mm stroke
Recommended: Industrial servo parallel gripper, 110 mm stroke, nominal placement, seed 0. Completed in 78.2 s.
nominal placement, seed 0Rigidtrajectory 0e8c1e2f0580Models: Simulation model of an open-source industrial gripper, BSD-3-Clause, modified (full credit)
Recommendeddone at 78.2 s
0 s10203040506070
Click a step to jump both replays to it. Hatched gaps are a head switch or tool change: a fixed time, not simulated.
In words: the recommended setup (Industrial servo parallel gripper, 110 mm stroke) does all 4 steps and finishes at 78.2 s.
Step by step
Every tool the Studio can simulate tried every step it could do, on 3 conditionsScreen conditionsThe first 3 conditions of the grid: nominal placement, then objects shifted by up to 2 mm, each with its own seed. Tools that cannot do a step at all are ruled out first, with a reason. each. Here is who could do each step, which tool the recommended setup uses, and why.
Why this setup over the other finalists
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.
The rule: finish the task most often, then the strongest weakest step, then the shortest cycle, then the simplest setup.
1
Step 1 of 4
Open the lid
Hook the lid's lip and pull it open past vertical.
Skill
Hook pull
Object
Tote lid, by its lip
Limit
at most 20 N
Done when
angle 95 to 110 deg
7 of 17tools tried in physics could open the lid
39 more of the 56 were ruled out before physics; 51 screen runs in all.
7passed
2passed some runs
7slipped off the lip
1pushed over the 20 N limit
39ruled out before physics
Best single tool: Passes in 8 of 8 runs.
The tool
Industrial servo parallel gripper, 110 mm stroke
100% of full-task runs passed this stepRigidRigid fidelityA rigid multibody model with a scripted controller.
Why this tool
Only industrial grippers could open the lid: 7 of 17 tools tried, all industrial grippers.
This tool does steps 1 to 4, so it has to pass all four: 1 of the 56 tools did (an industrial gripper).
See which tools (56)
Passed every screen run (7)
Industrial servo parallel gripper, 110 mm strokeIndustrial gripper, the recommendation's pick
Two-finger adaptive gripper, pinchIndustrial gripper, 3 of 3 runs
Two-finger adaptive gripper, power graspIndustrial gripper, 3 of 3 runs
Air-actuated mini parallel gripperIndustrial gripper, 3 of 3 runs
Angular-jaw gripper of an open hobby armIndustrial gripper, 3 of 3 runs
Designed four-finger swinging hook gripper 052cDesigned morphology, 3 of 3 runs
Designed three-finger sliding hook gripper da49Designed morphology, 3 of 3 runs
Drawer-pull hook toolIndustrial gripper, 3 of 3 runs
Rack-and-pinion parallel gripper for an open hobby armIndustrial gripper, 3 of 3 runs
Spring-loaded marker holder toolIndustrial gripper, 3 of 3 runs
Tamper pad, 200 mmProcess tool, 3 of 3 runsrated 40 N (the stage slips at 60 N)
Three-finger adaptive gripper, pinchIndustrial gripper, 3 of 3 runs
Three-finger adaptive gripper, power graspIndustrial gripper, 3 of 3 runs
Two-finger parallel gripper, fin-ray padsIndustrial gripper, 3 of 3 runs
Two-finger parallel gripper, teleop-arm fingersIndustrial gripper, 3 of 3 runs
Vacuum area frame, 2 x 2 cups, 300 mmVacuum area frame, 3 of 3 runsrated 4.15 kg on a smooth face (holding force over a 1.5 safety factor)
Tried and failed (1)
Vacuum area frame, 2 x 3 cups, 600 mmVacuum area frame, 0 of 3 runs, was out of the arm's reachrated 8.47 kg on a smooth face (holding force over a 1.5 safety factor)
Ruled out before physics (29)
integrator rule R03: "Tote lid" is a mechanism to open or... (10)
Five-finger 18-actuator hand, pinchMulti-finger hand
Five-finger 18-actuator hand, power graspMulti-finger hand
Five-finger 22-joint hand, pinchMulti-finger hand
Five-finger 22-joint hand, power graspMulti-finger hand
Four-finger 16-joint hand, pinchMulti-finger hand
Four-finger 16-joint hand, power graspMulti-finger hand
Servo-driven four-finger hand, 13 actuators, pinchMulti-finger hand
Servo-driven four-finger hand, 13 actuators, power graspMulti-finger hand
Tendon-driven five-finger hand, 16 joints, pinchMulti-finger hand
Tendon-driven five-finger hand, 16 joints, power graspMulti-finger hand
digits stand too close for the part (7)
Designed three-finger hand, 2 joints per finger d55eDesigned morphology
Designed four-finger hand, 3 joints per finger b56aDesigned morphology
Designed three-digit segmented tentacle f293Designed morphology
Designed three-finger hand, 2 joints per finger 3e58Designed morphology
Designed four-finger hand, 1 joint per finger e352Designed morphology
Designed three-finger hand, 1 joint per finger ca8bDesigned morphology
Designed three-digit segmented tentacle 90e8Designed morphology
can't be built for this task (5)
Parallel jaw, configurator imprint: Small cartonParallel jaw
a nut runner turns a fastener; it is not a hook, so it ca... (1)
Nut runner, 13 mm hex socketProcess toolrated 6.7 N m (clutch cap 10 N m); members at least 12 mm tall
heavier than the arm can carry (1)
Three-finger 12-joint industrial handMulti-finger hand
jaws shaped for a different object (1)
Parallel jaw, stock blade: Small cartonParallel jaw
measured: its tip reaches 0 mm sideways past the rest of ... (1)
Servo screwdriver attachment for a hobby armIndustrial gripper
Against the best single tool
One tool is the default; a second tool or a tool change has to earn its place. The recommendation against the best single tool, on the same conditions and seeds.
The baseline: the best single tool
Industrial servo parallel gripper, 110 mm stroke
8 of 8 runsRigidalso the best single off-the-shelf tool
It finishes 8 of 8 runs.
It is the recommendation: no second tool or tool change earned its place (rule R01, one tool by default).
Build pack
Everything to build and check the recommended setup, in one download.
For the recommended setup
Industrial servo parallel gripper, 110 mm stroke
7 files in one zip, every one under an open licence. Print the parts, buy the tools on the bill of materials, and check the result on your hardware before you rely on it.
The lid overhangs the tote by a 15 mm lip on all sides.
The tote dimensions are 300 x 200 x 120 mm.
The carton is approximately 120 x 80 x 60 mm and 300 g.
The shrink-wrapped pack is approximately 150 x 100 x 20 mm and 150 g.
Moved carton from (200, 130) to (250, 130) mm to clear the footprint of tote_bin
Moved pack from (-200, -130) to (-260, -130) mm to clear the footprint of tote_bin
Layout fix
Moved carton from (200, 130) to (250, 130) mm to clear the footprint of tote_bin
Moved pack from (-200, -130) to (-260, -130) mm to clear the footprint of tote_bin
Objects
Tote Bin or tote
fixed yes · height 120 mm · length 300 mm · wall 4 mm · width 200 mm
at (0, 0) mm
Tote lid Hinged lid or door
damping 0.05 N m s · depth 230 mm · feature lip · feature 15 mm · max angle 110 deg · open torque 0.3 N m · orientation lid · thickness 6 mm · width 330 mm
at (0, 0) mm
Small carton Rigid part
mass 300 g · shape box · size x 120 mm · size y 80 mm · size z 60 mm
at (250, 130) mm
Shrink-wrapped pack Rigid part
mass 150 g · shape box · size x 150 mm · size y 100 mm · size z 20 mm
at (-260, -130) mm
Steps
1
Step 1: Open lid
Hook pullRigid
Hook the lid's lip and pull it open past vertical.
Object
Tote lid by its handle
Parameters
approach top · speed 50 mm/s
Limits
force at most 20 N
Success
angle 95 to 110 deg
2
Step 2: Pick carton
GraspRigid
Pick the carton and place it in the tote.
Object
Small carton by its part
Target
Tote
Parameters
hold 1 s · lift 150 mm
Limits
none stated
Success
ends inside the target
tilt at most 30 deg
After
Open lid
3
Step 3: Pick pack
GraspRigid
Pick the pack and place it in the tote.
Object
Shrink-wrapped pack by its part
Target
Tote
Parameters
hold 1 s · lift 150 mm
Limits
none stated
Success
ends inside the target
tilt at most 30 deg
After
Pick carton
4
Step 4: Close lid
PushRigid
Push the lid down until it closes.
Object
Tote lid by its lid
Parameters
speed 30 mm/s
Limits
force at most 20 N
Success
angle 0 to 5 deg
After
Pick pack
Every candidate
Every tool the Studio can simulate, screened step by step on the same conditions and seeds.
Candidates
56
Screened on a step
38
Pruned from every step
18
Pruned from some steps
34
Screen conditions
3
Screen runs
249
Wall time
9 min 45 s
Why candidates were pruned
A capability or fit check, before any physics. Counted per candidate and step, most common first.
30integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
20Opens narrower than the part
18Its open digits stand too close for the part
12It cannot pick or hold a part
7integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a soft arm or tentacle is used only if every rigid option fails
6A suction cup has no hook or fingers to engage a handle or lip
6The part is wider than the soft arm reaches around
5Cannot be built for this object (the family's own checks)
3A slack soft arm has no stiff face to push with
3Part-shaped jaws serve only the object they are shaped for
3measured: its tip reaches 0 mm sideways past the rest of the tool and the flange; hooking a lip or handle needs 5 mm [assumed]
1Heavier than the arm payload limit [assumed]
1Its capability tags do not include the step's primitive
1Opens too little to pre-shape around the feature
1a nut runner turns a fastener; it cannot push
1a nut runner turns a fastener; it is not a hook, so it cannot pull a lip or handle
1a tamper pad presses a face; it is not a hook, so it cannot pull a lip or handle
1the 120 x 80 mm top face of carton covers 0 of the frame's 4 cups; the frame holds a part only with at least 3 of them sealed [assumed]
1the 120 x 80 mm top face of carton covers 0 of the frame's 6 cups; the frame holds a part only with at least 3 of them sealed [assumed]
1the 150 x 100 mm top face of pack covers 0 of the frame's 4 cups; the frame holds a part only with at least 3 of them sealed [assumed]
1the 150 x 100 mm top face of pack covers 0 of the frame's 6 cups; the frame holds a part only with at least 3 of them sealed [assumed]
Every candidate (56)
Candidate
From
Fidelity
Screen
Parallel jaw, configurator imprint: Small cartonParallel jaw, shaped for the carton
designed
Rigid
Pruned: cannot be built: Parallel jaw, configurator imprint for carton: open clearance: part Small carton: at full open a jaw clears the part plus a 3.00 mm error envelope by -0.60 mm (minimum 3.00 mm)
Parallel jaw, flat pad: Small cartonParallel jaw, shaped for the carton
family preset, off the shelf
Rigid
Pruned: cannot be built: Parallel jaw, flat pad for carton: open clearance: part Small carton: at full open a jaw clears the part plus a 3.00 mm error envelope by -0.60 mm (minimum 3.00 mm)
Parallel jaw, stock blade: Small cartonParallel jaw, shaped for the carton
family preset, off the shelf
Rigid
Screened
1. Open lid: its jaws are shaped and sized for carton; Tote lid gets part-shaped jaws of its own
3. Pick pack: its jaws are shaped and sized for carton; pack gets part-shaped jaws of its own
4. Close lid: its jaws are shaped and sized for carton; Tote lid gets part-shaped jaws of its own
Parallel jaw, configurator imprint: Shrink-wrapped packParallel jaw, shaped for the pack
designed
Rigid
Pruned: cannot be built: Parallel jaw, configurator imprint for pack: seat range: part Shrink-wrapped pack: seat closure -7.60 mm is outside [2.00 mm, 40.00 mm]: the part is too wide for the opening
Parallel jaw, flat pad: Shrink-wrapped packParallel jaw, shaped for the pack
family preset, off the shelf
Rigid
Pruned: cannot be built: Parallel jaw, flat pad for pack: seat range: part Shrink-wrapped pack: seat closure -7.60 mm is outside [2.00 mm, 40.00 mm]: the part is too wide for the opening
Parallel jaw, stock blade: Shrink-wrapped packParallel jaw, shaped for the pack
family preset, off the shelf
Rigid
Pruned: cannot be built: Parallel jaw, stock blade for pack: seat range: part Shrink-wrapped pack: seat closure -7.60 mm is outside [2.00 mm, 40.00 mm]: the part is too wide for the opening
Four-finger 16-joint hand, power graspMulti-finger hand
family preset, off the shelf
Rigid
Screened
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Four-finger 16-joint hand, pinchMulti-finger hand
family preset, off the shelf
Rigid
Screened
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Five-finger 18-actuator hand, power graspMulti-finger hand
family preset, off the shelf
Rigid
Screened
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Five-finger 18-actuator hand, pinchMulti-finger hand
family preset, off the shelf
Rigid
Screened
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Five-finger 22-joint hand, power graspMulti-finger hand
family preset, off the shelf
Rigid
Screened
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Five-finger 22-joint hand, pinchMulti-finger hand
family preset, off the shelf
Rigid
Screened
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
2. Pick carton: Small carton: the part is 80.0 mm across the closing axis; the gripper opens 52.0 mm
3. Pick pack: Shrink-wrapped pack: the part is 100.0 mm across the closing axis; the gripper opens 52.0 mm
Soft arm, 12 segments, 140 mmSoft arm
family preset, off the shelf
Approximation
Pruned from every step
2. Pick carton: Small carton: the part is 80 mm wide; the arm hangs only 25 mm from the wrist axis
3. Pick pack: Shrink-wrapped pack: the part is 100 mm wide; the arm hangs only 25 mm from the wrist axis
4. Close lid: a slack soft arm has no stiff face to push with
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a soft arm or tentacle is used only if every rigid option fails
Soft arm, 16 segments, 160 mmSoft arm
family preset, off the shelf
Approximation
Pruned from every step
2. Pick carton: Small carton: the part is 80 mm wide; the arm hangs only 25 mm from the wrist axis
3. Pick pack: Shrink-wrapped pack: the part is 100 mm wide; the arm hangs only 25 mm from the wrist axis
4. Close lid: a slack soft arm has no stiff face to push with
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a soft arm or tentacle is used only if every rigid option fails
Soft arm, 20 soft segments, 180 mmSoft arm
family preset, off the shelf
Approximation
Pruned from every step
2. Pick carton: Small carton: the part is 80 mm wide; the arm hangs only 25 mm from the wrist axis
3. Pick pack: Shrink-wrapped pack: the part is 100 mm wide; the arm hangs only 25 mm from the wrist axis
4. Close lid: a slack soft arm has no stiff face to push with
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a soft arm or tentacle is used only if every rigid option fails
Suction cup, 10 mm bellowsSuction cup
family preset, off the shelf
Approximation
Screened
1. Open lid: a suction cup has no hook or fingers to engage a handle or lip
Suction cup, 16 mm bellowsSuction cup
family preset, off the shelf
Approximation
Screened
1. Open lid: a suction cup has no hook or fingers to engage a handle or lip
Suction cup, 25 mm bellowsSuction cup
family preset, off the shelf
Approximation
Screened
1. Open lid: a suction cup has no hook or fingers to engage a handle or lip
Vacuum area frame, 2 x 2 cups, 300 mmVacuum area frame, Studio onlyrated 4.15 kg on a smooth face (holding force over a 1.5 safety factor)Caveat
Vacuum area frame (approximation): the cups of the suction cup model on a rigid frame, each with its own seal test and its own vacuum valve (a cup that does not seal stays off). The holding force is the sum of the sealed cups' caps; the payload is that force over a safety factor (1.5 smooth, 2.0 porous, 2.5 swivelling, all [assumed]) at 1 g. Only the smooth rating is a simulated claim: the porous and swivelling ratings are arithmetic on the same force, because no leak, porosity or swivel is simulated. Not modelled: a shared vacuum source and its flow, the leak of an unsealed cup into the others, the frame's flex, peel across a long face, foam or needle area grippers. Treat frame results as a screen, then verify on hardware.
family preset, off the shelf
Approximation
Screened
1. Open lid: a suction cup has no hook or fingers to engage a handle or lip
2. Pick carton: the 120 x 80 mm top face of carton covers 0 of the frame's 4 cups; the frame holds a part only with at least 3 of them sealed [assumed]
3. Pick pack: the 150 x 100 mm top face of pack covers 0 of the frame's 4 cups; the frame holds a part only with at least 3 of them sealed [assumed]
Vacuum area frame, 2 x 3 cups, 600 mmVacuum area frame, Studio onlyrated 8.47 kg on a smooth face (holding force over a 1.5 safety factor)Caveat
Vacuum area frame (approximation): the cups of the suction cup model on a rigid frame, each with its own seal test and its own vacuum valve (a cup that does not seal stays off). The holding force is the sum of the sealed cups' caps; the payload is that force over a safety factor (1.5 smooth, 2.0 porous, 2.5 swivelling, all [assumed]) at 1 g. Only the smooth rating is a simulated claim: the porous and swivelling ratings are arithmetic on the same force, because no leak, porosity or swivel is simulated. Not modelled: a shared vacuum source and its flow, the leak of an unsealed cup into the others, the frame's flex, peel across a long face, foam or needle area grippers. Treat frame results as a screen, then verify on hardware.
family preset, off the shelf
Approximation
Screened
1. Open lid: a suction cup has no hook or fingers to engage a handle or lip
2. Pick carton: the 120 x 80 mm top face of carton covers 0 of the frame's 6 cups; the frame holds a part only with at least 3 of them sealed [assumed]
3. Pick pack: the 150 x 100 mm top face of pack covers 0 of the frame's 6 cups; the frame holds a part only with at least 3 of them sealed [assumed]
Nut runner, 13 mm hex socketProcess tool, Studio onlyrated 6.7 N m (clutch cap 10 N m); members at least 12 mm tallCaveat
Nut runner (approximation): a rigid hex socket with a guide funnel on a lateral float; it engages a hex member by shape. The Studio wrist's roll is its spindle [assumed], at the wrist's speed: a clutch limits the torque to its cap (10 N m, under the wrist's 15 N m) and lets go at the release. The socket's walls are stacked slices so the simulator's contacts are as stiff as steel (a solver artifact). Supported in the Studio: members at least 12 mm tall. Not modelled: a motor, a torque transducer, cross-threading, socket wear, a reaction arm. Simulated, verify on hardware.
family preset, off the shelf
Approximation
Pruned from every step
1. Open lid: a nut runner turns a fastener; it is not a hook, so it cannot pull a lip or handle
2. Pick carton: a nut runner turns a fastener; it cannot pick or hold a part
3. Pick pack: a nut runner turns a fastener; it cannot pick or hold a part
4. Close lid: a nut runner turns a fastener; it cannot push
Tamper pad, 200 mmProcess tool, Studio onlyrated 40 N (the stage slips at 60 N)Caveat
Tamper pad (approximation): a rigid, level 200 mm square pad on a spring stage that slips at 60 N, so the pad never presses harder than that within the stage's 60 mm of travel. Not modelled: pad deformation, vibration or impact compaction, mortar flow, the pad's edge catching a joint. Simulated, verify on hardware.
family preset, off the shelf
Approximation
Screened
1. Open lid: a tamper pad presses a face; it is not a hook, so it cannot pull a lip or handle
2. Pick carton: a tamper pad presses a face; it cannot pick or hold a part
3. Pick pack: a tamper pad presses a face; it cannot pick or hold a part
Angular-jaw gripper of an open hobby armIndustrial gripper
library, off the shelf
Rigid
Screened
Three-finger 12-joint industrial handMulti-finger hand
library, off the shelf
Rigid
Pruned: it weighs 4.14 kg; the arm carries at most 3 kg [assumed]
Servo-driven four-finger hand, 13 actuators, power graspMulti-finger hand
library, off the shelf
Rigid
Screened
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Servo-driven four-finger hand, 13 actuators, pinchMulti-finger hand
library, off the shelf
Rigid
Screened
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Tendon-driven five-finger hand, 16 joints, power graspMulti-finger hand
library, off the shelf
Rigid
Screened
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Tendon-driven five-finger hand, 16 joints, pinchMulti-finger hand
library, off the shelf
Rigid
Screened
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Suction cup, 40 mm bellowsSuction cup
library, off the shelf
Approximation
Screened
1. Open lid: a suction cup has no hook or fingers to engage a handle or lip
Button-pusher toolIndustrial gripper
library, off the shelf
Rigid
Screened
2. Pick carton: it cannot pick or hold a part (grasp step)
3. Pick pack: it cannot pick or hold a part (grasp step)
Drawer-pull hook toolIndustrial gripper
library, off the shelf
Rigid
Screened
1. Open lid: measured: its tip reaches 0 mm sideways past the rest of the tool and the flange; hooking a lip or handle needs 5 mm [assumed]
2. Pick carton: it cannot pick or hold a part (grasp step)
3. Pick pack: it cannot pick or hold a part (grasp step)
1. Open lid: measured: its tip reaches 0 mm sideways past the rest of the tool and the flange; hooking a lip or handle needs 5 mm [assumed]
2. Pick carton: it cannot pick or hold a part (grasp step)
3. Pick pack: it cannot pick or hold a part (grasp step)
Servo screwdriver attachment for a hobby armIndustrial gripper
library, off the shelf
Rigid
Pruned from every step
1. Open lid: measured: its tip reaches 0 mm sideways past the rest of the tool and the flange; hooking a lip or handle needs 5 mm [assumed]
2. Pick carton: it cannot pick or hold a part (grasp step)
3. Pick pack: it cannot pick or hold a part (grasp step)
4. Close lid: its capability tags do not include push
Designed three-finger hand, 2 joints per finger d55eDesigned morphology
designed
Rigid
Pruned from every step
2. Pick carton: Small carton: too narrow: open, digit 1 (at 90 deg on the part) has its inner face 35.0 mm from the centre; the part reaches 47.0 mm that way, so it needs 52.0 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -150 deg on the part) has its inner face 35.0 mm from the centre; the part reaches 72.1 mm that way, so it needs 77.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -30 deg on the part) has its inner face 35.0 mm from the centre; the part reaches 72.1 mm that way, so it needs 77.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
3. Pick pack: Shrink-wrapped pack: too narrow: open, digit 1 (at 90 deg on the part) has its inner face 35.0 mm from the centre; the part reaches 58.8 mm that way, so it needs 63.8 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -150 deg on the part) has its inner face 35.0 mm from the centre; the part reaches 90.1 mm that way, so it needs 95.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -30 deg on the part) has its inner face 35.0 mm from the centre; the part reaches 90.1 mm that way, so it needs 95.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Designed four-finger hand, 3 joints per finger b56aDesigned morphology
designed
Rigid
Pruned from every step
2. Pick carton: Small carton: too narrow: open, digit 1 (at -90 deg on the part) has its inner face 38.0 mm from the centre; the part reaches 47.0 mm that way, so it needs 52.0 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at 55 deg on the part) has its inner face 38.0 mm from the centre; the part reaches 69.9 mm that way, so it needs 74.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at 90 deg on the part) has its inner face 38.0 mm from the centre; the part reaches 47.0 mm that way, so it needs 52.0 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 4 (at 125 deg on the part) has its inner face 38.0 mm from the centre; the part reaches 69.9 mm that way, so it needs 74.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
3. Pick pack: Shrink-wrapped pack: too narrow: open, digit 1 (at -90 deg on the part) has its inner face 38.0 mm from the centre; the part reaches 58.8 mm that way, so it needs 63.8 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at 55 deg on the part) has its inner face 38.0 mm from the centre; the part reaches 87.3 mm that way, so it needs 92.3 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at 90 deg on the part) has its inner face 38.0 mm from the centre; the part reaches 58.8 mm that way, so it needs 63.8 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 4 (at 125 deg on the part) has its inner face 38.0 mm from the centre; the part reaches 87.3 mm that way, so it needs 92.3 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Designed three-finger sliding hook gripper da49Designed morphology
designed
Rigid
Screened
2. Pick carton: Small carton: too narrow: open, digit 1 (at 90 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 47.0 mm that way, so it needs 52.0 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -150 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 72.1 mm that way, so it needs 77.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -30 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 72.1 mm that way, so it needs 77.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too short: the digits reach 60.0 mm below the palm; gripping the probe part (60.0 mm tall) with the lowest point at 9.0 mm needs 61.0 mm to keep the palm 10 mm above the part (longer digits or a higher grip)
3. Pick pack: Shrink-wrapped pack: too narrow: open, digit 1 (at 90 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 58.8 mm that way, so it needs 63.8 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -150 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 90.1 mm that way, so it needs 95.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -30 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 90.1 mm that way, so it needs 95.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
Designed three-digit segmented tentacle f293Designed morphology
designed
Rigid
Pruned from every step
2. Pick carton: Small carton: too narrow: open, digit 1 (at 90 deg on the part) has its inner face 34.0 mm from the centre; the part reaches 47.0 mm that way, so it needs 52.0 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -150 deg on the part) has its inner face 34.0 mm from the centre; the part reaches 72.1 mm that way, so it needs 77.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -30 deg on the part) has its inner face 34.0 mm from the centre; the part reaches 72.1 mm that way, so it needs 77.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
3. Pick pack: Shrink-wrapped pack: too narrow: open, digit 1 (at 90 deg on the part) has its inner face 34.0 mm from the centre; the part reaches 58.8 mm that way, so it needs 63.8 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -150 deg on the part) has its inner face 34.0 mm from the centre; the part reaches 90.1 mm that way, so it needs 95.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -30 deg on the part) has its inner face 34.0 mm from the centre; the part reaches 90.1 mm that way, so it needs 95.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a soft arm or tentacle is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a soft arm or tentacle is used only if every rigid option fails
Designed three-finger hand, 2 joints per finger 3e58Designed morphology
designed
Rigid
Pruned from every step
2. Pick carton: Small carton: too narrow: open, digit 1 (at -75 deg on the part) has its inner face 34.0 mm from the centre; the part reaches 59.6 mm that way, so it needs 64.6 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at 55 deg on the part) has its inner face 34.0 mm from the centre; the part reaches 69.9 mm that way, so it needs 74.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at 155 deg on the part) has its inner face 34.0 mm from the centre; the part reaches 72.1 mm that way, so it needs 77.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
3. Pick pack: Shrink-wrapped pack: too narrow: open, digit 1 (at -75 deg on the part) has its inner face 34.0 mm from the centre; the part reaches 74.5 mm that way, so it needs 79.5 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at 55 deg on the part) has its inner face 34.0 mm from the centre; the part reaches 87.3 mm that way, so it needs 92.3 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at 155 deg on the part) has its inner face 34.0 mm from the centre; the part reaches 90.1 mm that way, so it needs 95.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Designed four-finger hand, 1 joint per finger e352Designed morphology
designed
Rigid
Pruned from every step
2. Pick carton: Small carton: too narrow: open, digit 1 (at 135 deg on the part) has its inner face 33.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -135 deg on the part) has its inner face 33.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -45 deg on the part) has its inner face 33.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 4 (at 45 deg on the part) has its inner face 33.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
3. Pick pack: Shrink-wrapped pack: too narrow: open, digit 1 (at 135 deg on the part) has its inner face 33.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -135 deg on the part) has its inner face 33.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -45 deg on the part) has its inner face 33.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 4 (at 45 deg on the part) has its inner face 33.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Designed three-finger hand, 1 joint per finger ca8bDesigned morphology
designed
Rigid
Pruned from every step
2. Pick carton: Small carton: too narrow: open, digit 1 (at -60 deg on the part) has its inner face 30.5 mm from the centre; the part reaches 68.1 mm that way, so it needs 73.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at 60 deg on the part) has its inner face 30.5 mm from the centre; the part reaches 68.1 mm that way, so it needs 73.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at 180 deg on the part) has its inner face 30.5 mm from the centre; the part reaches 64.4 mm that way, so it needs 69.4 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
3. Pick pack: Shrink-wrapped pack: too narrow: open, digit 1 (at -60 deg on the part) has its inner face 30.5 mm from the centre; the part reaches 85.1 mm that way, so it needs 90.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at 60 deg on the part) has its inner face 30.5 mm from the centre; the part reaches 85.1 mm that way, so it needs 90.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at 180 deg on the part) has its inner face 30.5 mm from the centre; the part reaches 80.5 mm that way, so it needs 85.5 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Designed four-finger swinging hook gripper 052cDesigned morphology
designed
Rigid
Screened
2. Pick carton: Small carton: too narrow: open, digit 1 (at 135 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -135 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -45 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 4 (at 45 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
3. Pick pack: Shrink-wrapped pack: too narrow: open, digit 1 (at 135 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -135 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -45 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 4 (at 45 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
Designed three-digit segmented tentacle 90e8Designed morphology
designed
Rigid
Pruned from every step
2. Pick carton: Small carton: too narrow: open, digit 1 (at -75 deg on the part) has its inner face 35.0 mm from the centre; the part reaches 59.6 mm that way, so it needs 64.6 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at 60 deg on the part) has its inner face 35.0 mm from the centre; the part reaches 68.1 mm that way, so it needs 73.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at 150 deg on the part) has its inner face 35.0 mm from the centre; the part reaches 72.1 mm that way, so it needs 77.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
3. Pick pack: Shrink-wrapped pack: too narrow: open, digit 1 (at -75 deg on the part) has its inner face 35.0 mm from the centre; the part reaches 74.5 mm that way, so it needs 79.5 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at 60 deg on the part) has its inner face 35.0 mm from the centre; the part reaches 85.1 mm that way, so it needs 90.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at 150 deg on the part) has its inner face 35.0 mm from the centre; the part reaches 90.1 mm that way, so it needs 95.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
1. Open lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a soft arm or tentacle is used only if every rigid option fails
4. Close lid: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a soft arm or tentacle is used only if every rigid option fails
Success matrix
Each screened tool against every step. Tools ruled out of every step are only in the list above.
Hover or focus a pruned cell to read why the candidate was not screened on that step.
Screen success rate of each candidate on each step, most passing steps first. Pruned cells give their reason.
Candidate
1. Open lidHook pull
2. Pick cartonGrasp
3. Pick packGrasp
4. Close lidPush
Industrial servo parallel gripper, 110 mm strokeIndustrial gripperRigid
100%3/33 of 3 screen runs passed
100%3/3carried3 of 3 screen runs passed; screened from the carried state
100%3/3carried3 of 3 screen runs passed; screened from the carried state
100%3/3carried3 of 3 screen runs passed; screened from the carried state
Suction cup, 16 mm bellowsSuction cupApproximation
pruned1: a suction cup has no hook or fingers to engage a handle or lip
100%3/3carried3 of 3 screen runs passed; screened from the carried state
100%3/3carried3 of 3 screen runs passed; screened from the carried state
100%3/3carried3 of 3 screen runs passed; screened from the carried state
Suction cup, 25 mm bellowsSuction cupApproximation
pruned1: a suction cup has no hook or fingers to engage a handle or lip
100%3/3carried3 of 3 screen runs passed; screened from the carried state
100%3/3carried3 of 3 screen runs passed; screened from the carried state
100%3/3carried3 of 3 screen runs passed; screened from the carried state
Suction cup, 40 mm bellowsSuction cupApproximation
pruned1: a suction cup has no hook or fingers to engage a handle or lip
100%3/3carried3 of 3 screen runs passed; screened from the carried state
100%3/3carried3 of 3 screen runs passed; screened from the carried state
100%3/3carried3 of 3 screen runs passed; screened from the carried state
67%2/3over the step's limit 12 of 3 screen runs passed; failures: over the step's limit 1
pruned11: Small carton: the part is 80.0 mm across the closing axis; the gripper opens 52.0 mm
pruned12: Shrink-wrapped pack: the part is 100.0 mm across the closing axis; the gripper opens 52.0 mm
100%3/3carried3 of 3 screen runs passed; screened from the carried state
Two-finger adaptive gripper, power graspIndustrial gripperRigid
67%2/3over the step's limit 12 of 3 screen runs passed; failures: over the step's limit 1
pruned11: Small carton: the part is 80.0 mm across the closing axis; the gripper opens 52.0 mm
pruned12: Shrink-wrapped pack: the part is 100.0 mm across the closing axis; the gripper opens 52.0 mm
100%3/3carried3 of 3 screen runs passed; screened from the carried state
Air-actuated mini parallel gripperIndustrial gripperRigid
pruned13: it opens 18 mm; pre-shaping around the 6 mm feature needs 18 mm
pruned14: Small carton: the part is 80.0 mm across the closing axis; the gripper opens 18.0 mm
pruned15: Shrink-wrapped pack: the part is 100.0 mm across the closing axis; the gripper opens 18.0 mm
100%3/3carried3 of 3 screen runs passed; screened from the carried state
Angular-jaw gripper of an open hobby armIndustrial gripperRigid
0%0/3slipped 30 of 3 screen runs passed; failures: slipped 3
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
100%3/3carried3 of 3 screen runs passed; screened from the carried state
Designed four-finger swinging hook gripper 052cDesigned morphologyRigiddesigned
0%0/3slipped 30 of 3 screen runs passed; failures: slipped 3
pruned16: Small carton: too narrow: open, digit 1 (at 135 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -135 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -45 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 4 (at 45 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
pruned17: Shrink-wrapped pack: too narrow: open, digit 1 (at 135 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -135 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -45 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 4 (at 45 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
100%3/3carried3 of 3 screen runs passed; screened from the carried state
Designed three-finger sliding hook gripper da49Designed morphologyRigiddesigned
0%0/3slipped 30 of 3 screen runs passed; failures: slipped 3
pruned18: Small carton: too narrow: open, digit 1 (at 90 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 47.0 mm that way, so it needs 52.0 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -150 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 72.1 mm that way, so it needs 77.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -30 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 72.1 mm that way, so it needs 77.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too short: the digits reach 60.0 mm below the palm; gripping the probe part (60.0 mm tall) with the lowest point at 9.0 mm needs 61.0 mm to keep the palm 10 mm above the part (longer digits or a higher grip)
pruned19: Shrink-wrapped pack: too narrow: open, digit 1 (at 90 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 58.8 mm that way, so it needs 63.8 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -150 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 90.1 mm that way, so it needs 95.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -30 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 90.1 mm that way, so it needs 95.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
100%3/3carried3 of 3 screen runs passed; screened from the carried state
Drawer-pull hook toolIndustrial gripperRigid
pruned20: measured: its tip reaches 0 mm sideways past the rest of the tool and the flange; hooking a lip or handle needs 5 mm [assumed]
pruned4: it cannot pick or hold a part (grasp step)
pruned4: it cannot pick or hold a part (grasp step)
100%3/3carried3 of 3 screen runs passed; screened from the carried state
Parallel jaw, stock blade: Small cartonParallel jawRigid
pruned21: its jaws are shaped and sized for carton; Tote lid gets part-shaped jaws of its own
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned22: its jaws are shaped and sized for carton; pack gets part-shaped jaws of its own
pruned21: its jaws are shaped and sized for carton; Tote lid gets part-shaped jaws of its own
Rack-and-pinion parallel gripper for an open hobby armIndustrial gripperRigid
0%0/3slipped 30 of 3 screen runs passed; failures: slipped 3
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Five-finger 18-actuator hand, power graspMulti-finger handRigid
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Five-finger 22-joint hand, power graspMulti-finger handRigid
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
0%0/3carriedphysics unreliable: overlap over 1 mm 30 of 3 screen runs passed; failures: physics unreliable: overlap over 1 mm 3; screened from the carried state
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Four-finger 16-joint hand, power graspMulti-finger handRigid
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Servo-driven four-finger hand, 13 actuators, power graspMulti-finger handRigid
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
0%0/3carriedphysics unreliable: overlap over 1 mm 30 of 3 screen runs passed; failures: physics unreliable: overlap over 1 mm 3; screened from the carried state
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
0%0/3carriedphysics unreliable: overlap over 1 mm 30 of 3 screen runs passed; failures: physics unreliable: overlap over 1 mm 3; screened from the carried state
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Tendon-driven five-finger hand, 16 joints, power graspMulti-finger handRigid
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
pruned29: integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
Vacuum area frame, 2 x 3 cups, 600 mmVacuum area frameApproximation
pruned1: a suction cup has no hook or fingers to engage a handle or lip
pruned30: the 120 x 80 mm top face of carton covers 0 of the frame's 6 cups; the frame holds a part only with at least 3 of them sealed [assumed]
pruned31: the 150 x 100 mm top face of pack covers 0 of the frame's 6 cups; the frame holds a part only with at least 3 of them sealed [assumed]
0%0/3carriedout of reach 30 of 3 screen runs passed; failures: out of reach 3; screened from the carried state
Rate of screen runs passed, with the count and the failure modes. "Carried": screened from the state the earlier steps leave. Pruned: a capability or fit check ruled the candidate out before any physics.
Pruned reasons (31)
1a suction cup has no hook or fingers to engage a handle or lip
2Shrink-wrapped pack: the part is 100.0 mm across the closing axis; the gripper opens 86.6 mm
3Shrink-wrapped pack: the part is 100.0 mm across the closing axis; the gripper opens 88.9 mm
4it cannot pick or hold a part (grasp step)
5Small carton: the part is 80.0 mm across the closing axis; the gripper opens 47.0 mm
6Shrink-wrapped pack: the part is 100.0 mm across the closing axis; the gripper opens 47.0 mm
7Small carton: the part is 80.0 mm across the closing axis; the gripper opens 79.8 mm
8Shrink-wrapped pack: the part is 100.0 mm across the closing axis; the gripper opens 79.8 mm
9Small carton: the part is 80.0 mm across the closing axis; the gripper opens 74.7 mm
10Shrink-wrapped pack: the part is 100.0 mm across the closing axis; the gripper opens 74.7 mm
11Small carton: the part is 80.0 mm across the closing axis; the gripper opens 52.0 mm
12Shrink-wrapped pack: the part is 100.0 mm across the closing axis; the gripper opens 52.0 mm
13it opens 18 mm; pre-shaping around the 6 mm feature needs 18 mm
14Small carton: the part is 80.0 mm across the closing axis; the gripper opens 18.0 mm
15Shrink-wrapped pack: the part is 100.0 mm across the closing axis; the gripper opens 18.0 mm
16Small carton: too narrow: open, digit 1 (at 135 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -135 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -45 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 4 (at 45 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 71.9 mm that way, so it needs 76.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
17Shrink-wrapped pack: too narrow: open, digit 1 (at 135 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -135 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -45 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 4 (at 45 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 89.9 mm that way, so it needs 94.9 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
18Small carton: too narrow: open, digit 1 (at 90 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 47.0 mm that way, so it needs 52.0 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -150 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 72.1 mm that way, so it needs 77.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -30 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 72.1 mm that way, so it needs 77.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too short: the digits reach 60.0 mm below the palm; gripping the probe part (60.0 mm tall) with the lowest point at 9.0 mm needs 61.0 mm to keep the palm 10 mm above the part (longer digits or a higher grip)
19Shrink-wrapped pack: too narrow: open, digit 1 (at 90 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 58.8 mm that way, so it needs 63.8 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 2 (at -150 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 90.1 mm that way, so it needs 95.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it); too narrow: open, digit 3 (at -30 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 90.1 mm that way, so it needs 95.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
20measured: its tip reaches 0 mm sideways past the rest of the tool and the flange; hooking a lip or handle needs 5 mm [assumed]
21its jaws are shaped and sized for carton; Tote lid gets part-shaped jaws of its own
22its jaws are shaped and sized for carton; pack gets part-shaped jaws of its own
23a tamper pad presses a face; it is not a hook, so it cannot pull a lip or handle
24a tamper pad presses a face; it cannot pick or hold a part
25Small carton: the part is 80.0 mm across the closing axis; the gripper opens 83.4 mm
26Shrink-wrapped pack: the part is 100.0 mm across the closing axis; the gripper opens 83.4 mm
27the 120 x 80 mm top face of carton covers 0 of the frame's 4 cups; the frame holds a part only with at least 3 of them sealed [assumed]
28the 150 x 100 mm top face of pack covers 0 of the frame's 4 cups; the frame holds a part only with at least 3 of them sealed [assumed]
29integrator rule R03: "Tote lid" is a mechanism to open or press, which the rigid gripper or tool does by moving along it; a dexterous hand is used only if every rigid option fails
30the 120 x 80 mm top face of carton covers 0 of the frame's 6 cups; the frame holds a part only with at least 3 of them sealed [assumed]
31the 150 x 100 mm top face of pack covers 0 of the frame's 6 cups; the frame holds a part only with at least 3 of them sealed [assumed]
Combinations searched
Single tools
4
Tool-change sequences
81
Two-tool heads scored
0
Two-tool head layouts searched
6
Finalists
Every finalist ran the whole task on the 8 conditions, in ranking order.
Setup
Completion
Weakest step
Cycle time
Tools
Actuators
Mass
Fidelity
Where runs stop
Recommended · Best single off-the-shelf · Best single tool (baseline)Industrial servo parallel gripper, 110 mm strokeSingle tool
Every finalist ran every condition, in the same order with the same seeds.
nominal, seed 0: nominal placement
place01, seed 1: small carton (1.7, 0.1) mm; shrink-wrapped pack (-1.0, -0.2) mm; tote (0.3, -0.2) mm; tote lid (0.5, 1.4) mm
place02, seed 2: small carton (1.0, -0.2) mm; shrink-wrapped pack (0.8, -1.9) mm; tote (0.1, 0.2) mm; tote lid (0.4, -0.3) mm
place03, seed 3: small carton (1.8, -0.6) mm; shrink-wrapped pack (0.5, -2.0) mm; tote (-1.5, -1.8) mm; tote lid (0.9, 2.0) mm
place04, seed 4: small carton (0.2, 0.8) mm; shrink-wrapped pack (1.8, -1.5) mm; tote (-0.0, 1.5) mm; tote lid (-0.8, -1.1) mm
place05, seed 5: small carton (-1.1, 0.5) mm; shrink-wrapped pack (-0.8, 1.2) mm; tote (-1.6, -1.2) mm; tote lid (1.4, -1.6) mm
place06, seed 6: small carton (-0.5, 0.3) mm; shrink-wrapped pack (-1.5, -1.3) mm; tote (-0.2, 0.3) mm; tote lid (0.7, -0.0) mm
place07, seed 7: small carton (-0.9, 2.0) mm; shrink-wrapped pack (0.2, 1.1) mm; tote (-1.5, 1.5) mm; tote lid (-0.6, 1.7) mm
Sensitivity to the change times
Re-ranked with tool changes of 3, 6, 7.5, 10, 12 s and head switches of 0.75, 1.5, 3 s (15 pairs): the recommendation does not change, and the order changes in 0 of 15. Change times are a fixed clock advance, so cycle times are recomputed exactly from the same runs.
Assumed constants
Equal for every candidate; none is sourced from a target arm or tool changer.
Wrist roll torque limit
15 N m
assumed
Wrist roll speed cap
180 deg/s
assumed
Wrist pitch limit, +- from straight down
90 deg
assumed
Wrist pitch speed cap
180 deg/s
assumed
Wrist pitch torque limit
15 N m
assumed
Automatic tool change time (a fixed clock advance)
7.5 s
assumed
Multi-tool head switch time (a fixed tilt, not simulated)
1.5 s
assumed
Tool changer master plate (stays on the wrist)
0.25 kg
assumed
Tool changer plate on every tool
0.1 kg
assumed
Tool changer stack height
52 mm
assumed
Largest tool stack the arm may carry; heavier setups are refused
3 kg
assumed
Printed carbon-filled polymer bracket
1300 kg/m^3
assumed
Per-object placement error of the condition grid (uniform)
2 mm
assumed
Integrator rule R01: completion a setup must add per added effector or changer
0.05
assumed
Integrator rule R01: a weakest step under this fails outright
0.5
assumed
Completion-rate tie among setups of the same complexity
0.05
assumed
Among setups of the same complexity, a simpler one may be this much slower
10%
assumed
Integrator rule R09: the heaviest part a soft arm may carry
2.5 kg
assumed
A rigid tool hooks if its tip reaches this far sideways past the tool and flange
5 mm
assumed
Room a lip needs between a hook and the flange, else the flange blocks it
6 mm
assumed
Integrator rule R05: tightening a threaded member to this torque or more needs a nut runner (1 N m above hand-tight)
4 N m
assumed
A nut runner's socket drives a hex at most this much under its own size
0.5 mm
assumed
Multi-tool head swept-volume clearance
5 mm
assumed
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.