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Effector Lab

Floor tile setting

A two-tool head (a vacuum area frame plus a tamper pad) finishes the task in 8 of 8 runs.

ApproximationSimulated, verify on hardwareProduct mode: not part of the pre-registered experiment
The task, in plain words
Floor tiling: a 300 x 300 mm porcelain floor tile (10 mm thick, 2.2 kg) goes on the fresh adhesive bed, where it sits about 2 mm proud of its finished height until it is pressed. Lay it on the bed, then tamp it down level: within 1 mm of its finished height and no more than 0.5 degrees out of level, pressing no harder than 60 N.

Planned into 2 steps; 50 tools tested on 3 conditions each, 132 screen runs.

Caveat: 2 of 2 steps of this setup run on approximation models. A labelled approximation (suction seal, soft arm, latches, threads, valves): verify on hardware. Each tool's full modelling note is under “Show all data”.

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

RecommendedTwo-tool head: Vacuum area frame + Tamper pad

Loading replay

Step 1 of 2
Lay tile
Grasp · tool 1, Vacuum area frame, 2 x 2 cups, 300 mm

Recommended: Two-tool head: Vacuum area frame + Tamper pad, nominal placement, seed 0. Completed in 19.2 s.

nominal placement, seed 0Approximationtrajectory 1a71f3c75037

Recommendeddone at 19.2 s

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 (Two-tool head: Vacuum area frame + Tamper pad) does all 2 steps and finishes at 19.2 s.

Step by step

Every tool the Studio can simulate tried every step it could do, on 3 conditions each. Here is who could do each step, which tool the recommended setup uses, and why.

Why it takes 2 tools

  • No single tool passed every step in the screen (50 tools, 3 conditions each).
  • Step 2 is the bottleneck: only the “Tamper pad, 200 mm” could tamp the tile, and it fails every other step (step 1: can't pick or hold a part).

Why this setup over the other finalists

Ties on completion (100%) and the weakest step, with the shorter cycle (19.2 s against 25.2 s).

The rule: finish the task most often, then the strongest weakest step, then the shortest cycle, then the simplest setup. A head switch is a fixed 1.5 s tilt of the wrist, not a simulated motion.

Step 1 of 2

Lay the tile

Lift the tile and set it back on the adhesive bed.

Skill
Grasp
Object
Floor tile
Done when
lift at least 5 mm; hold at least 0.5 s

4 of 43tools tried in physics could lay the tile

7 more of the 50 were ruled out before physics; 129 screen runs in all.

  • 4passed
  • 39fell short of the goal
  • 7ruled out before physics

Head tool 1

Vacuum area frame, 2 x 2 cups, 300 mm

rated 4.15 kg on a smooth face (holding force over a 1.5 safety factor)

100% of full-task runs passed this stepApproximation

  • Caveat: The mortar bed is an approximation(more)

    The mortar bed is an approximation: nine plastic cells that yield and harden linearly and keep their set; no flow, suction or curing. A screen, not a promise.

  • Caveat: Suction cup (approximation)(more)

    Suction cup (approximation): a compliant lip of rigid segments on a bellows spring with a limited tilt; the seal is a geometric test (every lip segment touching the face, part material under 13 rays inside the lip) gating a MuJoCo adhesion actuator capped at vacuum x lip area (at most 60 kPa). The lip must touch the face: no pull across a gap. Not modelled: air flow, leak rate, porosity, vacuum build-up time (the vacuum follows the shared close ramp and is cut the control tick the seal is lost), lip material hysteresis, peel dynamics beyond the contact distribution. The lip's friction is the part's. Treat suction results as a screen, then verify on hardware.

Why this tool

  • With the “Suction cup, 25 mm bellows” in its place the setup also finished 8 of 8 runs; this one is faster (19.2 s against 25.2 s).
  • A finalist with the “Suction cup, 25 mm bellows” in its place finished 0 of 8 runs, against 8 of 8 with this one.
  • A finalist with the “Suction cup, 40 mm bellows” in its place finished 0 of 8 runs, against 8 of 8 with this one.
See which tools (50)

Passed every screen run (4)

  • Suction cup, 25 mm bellowsSuction cup, 3 of 3 runs
  • Suction cup, 40 mm bellowsSuction cup, 3 of 3 runs
  • Vacuum area frame, 2 x 2 cups, 300 mmVacuum area frame, the recommendation's pickrated 4.15 kg on a smooth face (holding force over a 1.5 safety factor)
  • Vacuum area frame, 2 x 3 cups, 600 mmVacuum area frame, 3 of 3 runsrated 8.47 kg on a smooth face (holding force over a 1.5 safety factor)

Tried and failed (39)

  • Air-actuated mini parallel gripperIndustrial gripper, 0 of 3 runs, fell short of the goal
  • Angular-jaw gripper of an open hobby armIndustrial gripper, 0 of 3 runs, fell short of the goal
  • Designed four-finger hand, 1 joint per finger e352Designed morphology, 0 of 3 runs, fell short of the goal
  • Designed four-finger hand, 3 joints per finger b56aDesigned morphology, 0 of 3 runs, fell short of the goal
  • Designed four-finger swinging hook gripper 052cDesigned morphology, 0 of 3 runs, fell short of the goal
  • Designed three-digit segmented tentacle 90e8Designed morphology, 0 of 3 runs, fell short of the goal
  • Designed three-digit segmented tentacle f293Designed morphology, 0 of 3 runs, fell short of the goal
  • Designed three-finger hand, 1 joint per finger ca8bDesigned morphology, 0 of 3 runs, fell short of the goal
  • Designed three-finger hand, 2 joints per finger 3e58Designed morphology, 0 of 3 runs, fell short of the goal
  • Designed three-finger hand, 2 joints per finger d55eDesigned morphology, 0 of 3 runs, fell short of the goal
  • Designed three-finger sliding hook gripper da49Designed morphology, 0 of 3 runs, fell short of the goal
  • Five-finger 18-actuator hand, pinchMulti-finger hand, 0 of 3 runs, fell short of the goal
  • Five-finger 18-actuator hand, power graspMulti-finger hand, 0 of 3 runs, fell short of the goal
  • Five-finger 22-joint hand, pinchMulti-finger hand, 0 of 3 runs, fell short of the goal
  • Five-finger 22-joint hand, power graspMulti-finger hand, 0 of 3 runs, fell short of the goal
  • Force-controlled parallel gripper, 48 mm strokeIndustrial gripper, 0 of 3 runs, fell short of the goal
  • Four-finger 16-joint hand, pinchMulti-finger hand, 0 of 3 runs, fell short of the goal
  • Four-finger 16-joint hand, power graspMulti-finger hand, 0 of 3 runs, fell short of the goal
  • Industrial servo parallel gripper, 110 mm strokeIndustrial gripper, 0 of 3 runs, fell short of the goal
  • Rack-and-pinion parallel gripper for an open hobby armIndustrial gripper, 0 of 3 runs, fell short of the goal
  • Servo-driven four-finger hand, 13 actuators, pinchMulti-finger hand, 0 of 3 runs, fell short of the goal
  • Servo-driven four-finger hand, 13 actuators, power graspMulti-finger hand, 0 of 3 runs, fell short of the goal
  • Soft arm, 12 segments, 140 mmSoft arm, 0 of 3 runs, fell short of the goal
  • Soft arm, 16 segments, 160 mmSoft arm, 0 of 3 runs, fell short of the goal
  • Soft arm, 20 soft segments, 180 mmSoft arm, 0 of 3 runs, fell short of the goal
  • Suction cup, 10 mm bellowsSuction cup, 0 of 3 runs, fell short of the goal
  • Suction cup, 16 mm bellowsSuction cup, 0 of 3 runs, fell short of the goal
  • Tendon-driven five-finger hand, 16 joints, pinchMulti-finger hand, 0 of 3 runs, fell short of the goal
  • Tendon-driven five-finger hand, 16 joints, power graspMulti-finger hand, 0 of 3 runs, fell short of the goal
  • Three-finger adaptive gripper, pinchIndustrial gripper, 0 of 3 runs, fell short of the goal
  • Three-finger adaptive gripper, power graspIndustrial gripper, 0 of 3 runs, fell short of the goal
  • Two-finger adaptive gripper, pinchIndustrial gripper, 0 of 3 runs, fell short of the goal
  • Two-finger adaptive gripper, power graspIndustrial gripper, 0 of 3 runs, fell short of the goal
  • Two-finger adaptive linkage gripper, 85 mmIndustrial gripper, 0 of 3 runs, fell short of the goal
  • Two-finger linkage gripper of a cobot armIndustrial gripper, 0 of 3 runs, fell short of the goal
  • Two-finger parallel cobot hand, 80 mmIndustrial gripper, 0 of 3 runs, fell short of the goal
  • Two-finger parallel gripper, fin-ray padsIndustrial gripper, 0 of 3 runs, fell short of the goal
  • Two-finger parallel gripper, rigid pads AIndustrial gripper, 0 of 3 runs, fell short of the goal
  • Two-finger parallel gripper, teleop-arm fingersIndustrial gripper, 0 of 3 runs, fell short of the goal

Ruled out before physics (7)

can't pick or hold a part (6)

  • Tamper pad, 200 mmProcess toolrated 40 N (the stage slips at 60 N)
  • Nut runner, 13 mm hex socketProcess toolrated 6.7 N m (clutch cap 10 N m); members at least 12 mm tall
  • Button-pusher toolIndustrial gripper
  • Drawer-pull hook toolIndustrial gripper
  • Spring-loaded marker holder toolIndustrial gripper
  • Servo screwdriver attachment for a hobby armIndustrial gripper

heavier than the arm can carry (1)

  • Three-finger 12-joint industrial handMulti-finger hand

Step 2 of 2

Tamp the tile

Press the tile down to within 1 mm of its finished level.

Skill
Push
Object
Floor tile
Limit
at most 60 N
Done when
height err mm at most 1 mm; tilt at most 0.5 deg; force at least 28 N

1 of 1tools tried in physics could tamp the tile

49 more of the 50 were ruled out before physics; 3 screen runs in all.

  • 1passed
  • 49ruled out before physics

Head tool 2

Tamper pad, 200 mm

rated 40 N (the stage slips at 60 N)

100% of full-task runs passed this stepApproximation

  • Caveat: The mortar bed is an approximation(more)

    The mortar bed is an approximation: nine plastic cells that yield and harden linearly and keep their set; no flow, suction or curing. A screen, not a promise.

  • Caveat: Process tool (approximation)(more)

    Process tool (approximation): a rigid tool used by the Studio's own twist or push primitive. The nut runner's spindle is the wrist's roll through a torque-limiting clutch [assumed]; the tamper's stage is a spring that slips at its overload force. The torque, the force and the contact are simulated; the process (thread cross-threading, bed compaction) is not modelled beyond them. Verify on hardware.

Why this tool

  • It is the only tool that could tamp the tile: 1 of 1 tried in physics.
See which tools (50)

Passed every screen run (1)

  • Tamper pad, 200 mmProcess tool, the recommendation's pickrated 40 N (the stage slips at 60 N)

Tried and failed (0)

  • None.

Ruled out before physics (49)

integrator rule R05: pressing "Floor tile" into its bed i... (43)

  • Suction cup, 25 mm bellowsSuction cup
  • Suction cup, 40 mm bellowsSuction cup
  • Vacuum area frame, 2 x 2 cups, 300 mmVacuum area framerated 4.15 kg on a smooth face (holding force over a 1.5 safety factor)
  • Vacuum area frame, 2 x 3 cups, 600 mmVacuum area framerated 8.47 kg on a smooth face (holding force over a 1.5 safety factor)
  • Air-actuated mini parallel gripperIndustrial gripper
  • Angular-jaw gripper of an open hobby armIndustrial gripper
  • Designed four-finger hand, 1 joint per finger e352Designed morphology
  • Designed four-finger hand, 3 joints per finger b56aDesigned morphology
  • Designed four-finger swinging hook gripper 052cDesigned morphology
  • Designed three-digit segmented tentacle 90e8Designed morphology
  • Designed three-digit segmented tentacle f293Designed morphology
  • Designed three-finger hand, 1 joint per finger ca8bDesigned morphology
  • Designed three-finger hand, 2 joints per finger 3e58Designed morphology
  • Designed three-finger hand, 2 joints per finger d55eDesigned morphology
  • Designed three-finger sliding hook gripper da49Designed morphology
  • 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
  • Force-controlled parallel gripper, 48 mm strokeIndustrial gripper
  • Four-finger 16-joint hand, pinchMulti-finger hand
  • Four-finger 16-joint hand, power graspMulti-finger hand
  • Industrial servo parallel gripper, 110 mm strokeIndustrial gripper
  • Rack-and-pinion parallel gripper for an open hobby armIndustrial gripper
  • Servo-driven four-finger hand, 13 actuators, pinchMulti-finger hand
  • Servo-driven four-finger hand, 13 actuators, power graspMulti-finger hand
  • Soft arm, 12 segments, 140 mmSoft arm
  • Soft arm, 16 segments, 160 mmSoft arm
  • Soft arm, 20 soft segments, 180 mmSoft arm
  • Suction cup, 10 mm bellowsSuction cup
  • Suction cup, 16 mm bellowsSuction cup
  • Tendon-driven five-finger hand, 16 joints, pinchMulti-finger hand
  • Tendon-driven five-finger hand, 16 joints, power graspMulti-finger hand
  • Three-finger adaptive gripper, pinchIndustrial gripper
  • Three-finger adaptive gripper, power graspIndustrial gripper
  • Two-finger adaptive gripper, pinchIndustrial gripper
  • Two-finger adaptive gripper, power graspIndustrial gripper
  • Two-finger adaptive linkage gripper, 85 mmIndustrial gripper
  • Two-finger linkage gripper of a cobot armIndustrial gripper
  • Two-finger parallel cobot hand, 80 mmIndustrial gripper
  • Two-finger parallel gripper, fin-ray padsIndustrial gripper
  • Two-finger parallel gripper, rigid pads AIndustrial gripper
  • Two-finger parallel gripper, teleop-arm fingersIndustrial gripper

can't pick or hold a part (5)

  • Nut runner, 13 mm hex socketProcess toolrated 6.7 N m (clutch cap 10 N m); members at least 12 mm tall
  • Button-pusher toolIndustrial gripper
  • Drawer-pull hook toolIndustrial gripper
  • Spring-loaded marker holder toolIndustrial gripper
  • Servo screwdriver attachment for a hobby armIndustrial gripper

heavier than the arm can carry (1)

  • Three-finger 12-joint industrial handMulti-finger hand

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

No single tool is eligible

  • No single tool reached the finalists.

Build pack

Everything to build and check the recommended setup, in one download.

For the recommended setup

Two-tool head: Vacuum area frame + Tamper pad

10 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.

Download the build pack

zip, 294.4 kB, sha256 9b75536d1b5a

  • Printed bracket

    Holds the tools at the tested angles; print it.

    bracket.stl

  • Tool reference geometry

    The tools as simulated, for fit checks.

    cad/tool0_reference.stl, cad/tool1_reference.stl

  • Bill of materials

    What to buy or print, with quantities.

    bom.csv

  • Assembly notes

    How it goes together, and a read-me.

    ASSEMBLY.md, README.txt

  • Simulation scenes

    The tested scenes, to re-run or extend.

    mjcf/setup_tool0.xml, mjcf/setup_tool1.xml

  • Certificate

    The runs behind the recommendation.

    certificate.html

  • Credits

    Licences of everything inside.

    CREDITS.txt

Show all dataThe plan, every candidate, the success matrix, the finalists, the conditions and the provenance.

The plan

The frozen plan the search ran on. Every step is checked against the simulator's skills and object templates.

Floor tiling

Lift a 300x300 mm porcelain tile and set it on the fresh adhesive bed, then press it down until it is within 1 mm of its finished height and no more than 0.5 degrees out of level, using no more than 60 N of pressing force.

a nemotron plan · model nvidia/nemotron-3-super-120b-a12b · valid after one repair call · 2 calls

Plan your own task

The planner assumed

  • Tile mass is 2.2 kg (2200 g).
  • Adhesive bed yields at 30 N and hardens 15 N/mm; pressing ~28 N sinks the tile ~1.3 mm to meet height tolerance after spring‑back.

Objects

  • Floor tile Tile on a mortar bed

    bed hardening n 15 mm · bed yield 30 N · mass 2200 g · proud 2 mm · thickness 10 mm · tile 300 mm

    at (0, 0) mm

Steps

  1. Step 1: Lay tile

    GraspApproximationVerify on hardware

    Lift the tile and set it back on the adhesive bed.

    Object
    Floor tile by its part
    Parameters
    hold 1 s · lift 20 mm
    Limits
    none stated
    Success
    • lift at least 5 mm
    • hold at least 0.5 s
    • The mortar bed is an approximation: nine plastic cells that yield and harden linearly and keep their set; no flow, suction or curing. A screen, not a promise.

  2. Step 2: Tamp tile

    PushApproximationVerify on hardware

    Press the tile down to within 1 mm of its finished level.

    Object
    Floor tile by its part
    Parameters
    speed 20 mm/s
    Limits
    force at most 60 N
    Success
    • height err mm at most 1 mm
    • tilt at most 0.5 deg
    • force at least 28 N
    After
    Lay tile
    • The mortar bed is an approximation: nine plastic cells that yield and harden linearly and keep their set; no flow, suction or curing. A screen, not a promise.

Every candidate

Every tool the Studio can simulate, screened step by step on the same conditions and seeds.

Candidates
50
Screened on a step
44
Pruned from every step
6
Pruned from some steps
44
Screen conditions
3
Screen runs
132
Wall time
2 min 51 s

Why candidates were pruned

A capability or fit check, before any physics. Counted per candidate and step, most common first.

  • 47integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
  • 6It cannot pick or hold a part
  • 1Heavier than the arm payload limit [assumed]
  • 1integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; a nut runner is a different process tool
Every candidate (50)
CandidateFromFidelityScreen
Four-finger 16-joint hand, power graspMulti-finger handfamily preset, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Four-finger 16-joint hand, pinchMulti-finger handfamily preset, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Five-finger 18-actuator hand, power graspMulti-finger handfamily preset, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Five-finger 18-actuator hand, pinchMulti-finger handfamily preset, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Five-finger 22-joint hand, power graspMulti-finger handfamily preset, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Five-finger 22-joint hand, pinchMulti-finger handfamily preset, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Two-finger parallel gripper, fin-ray padsIndustrial gripperfamily preset, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Two-finger parallel gripper, rigid pads AIndustrial gripperfamily preset, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Two-finger adaptive gripper, power graspIndustrial gripperfamily preset, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Two-finger adaptive gripper, pinchIndustrial gripperfamily preset, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Three-finger adaptive gripper, power graspIndustrial gripperfamily preset, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Three-finger adaptive gripper, pinchIndustrial gripperfamily preset, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Soft arm, 12 segments, 140 mmSoft armfamily preset, off the shelfApproximationScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Soft arm, 16 segments, 160 mmSoft armfamily preset, off the shelfApproximationScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Soft arm, 20 soft segments, 180 mmSoft armfamily preset, off the shelfApproximationScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Suction cup, 10 mm bellowsSuction cupfamily preset, off the shelfApproximationScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Suction cup, 16 mm bellowsSuction cupfamily preset, off the shelfApproximationScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Suction cup, 25 mm bellowsSuction cupfamily preset, off the shelfApproximationScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
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 shelfApproximationScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
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 shelfApproximationScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Nut runner, 13 mm hex socketProcess tool, Studio onlyrated 6.7 N m (clutch cap 10 N m); members at least 12 mm tall
Caveat

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 shelfApproximationPruned from every step
  • 1. Lay tile: a nut runner turns a fastener; it cannot pick or hold a part
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; a nut runner is a different process tool
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 shelfApproximationScreened
  • 1. Lay tile: a tamper pad presses a face; it cannot pick or hold a part
Two-finger adaptive linkage gripper, 85 mmIndustrial gripperlibrary, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Air-actuated mini parallel gripperIndustrial gripperlibrary, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Two-finger parallel cobot hand, 80 mmIndustrial gripperlibrary, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Force-controlled parallel gripper, 48 mm strokeIndustrial gripperlibrary, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Rack-and-pinion parallel gripper for an open hobby armIndustrial gripperlibrary, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Two-finger linkage gripper of a cobot armIndustrial gripperlibrary, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Industrial servo parallel gripper, 110 mm strokeIndustrial gripperlibrary, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Two-finger parallel gripper, teleop-arm fingersIndustrial gripperlibrary, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Angular-jaw gripper of an open hobby armIndustrial gripperlibrary, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Three-finger 12-joint industrial handMulti-finger handlibrary, off the shelfRigidPruned: it weighs 4.14 kg; the arm carries at most 3 kg [assumed]
Servo-driven four-finger hand, 13 actuators, power graspMulti-finger handlibrary, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Servo-driven four-finger hand, 13 actuators, pinchMulti-finger handlibrary, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Tendon-driven five-finger hand, 16 joints, power graspMulti-finger handlibrary, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Tendon-driven five-finger hand, 16 joints, pinchMulti-finger handlibrary, off the shelfRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Suction cup, 40 mm bellowsSuction cuplibrary, off the shelfApproximationScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Button-pusher toolIndustrial gripperlibrary, off the shelfRigidPruned from every step
  • 1. Lay tile: it cannot pick or hold a part (grasp step)
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Drawer-pull hook toolIndustrial gripperlibrary, off the shelfRigidPruned from every step
  • 1. Lay tile: it cannot pick or hold a part (grasp step)
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Spring-loaded marker holder toolIndustrial gripperlibrary, off the shelfRigidPruned from every step
  • 1. Lay tile: it cannot pick or hold a part (grasp step)
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Servo screwdriver attachment for a hobby armIndustrial gripperlibrary, off the shelfRigidPruned from every step
  • 1. Lay tile: it cannot pick or hold a part (grasp step)
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed three-finger hand, 2 joints per finger d55eDesigned morphologydesignedRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed four-finger hand, 3 joints per finger b56aDesigned morphologydesignedRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed three-finger sliding hook gripper da49Designed morphologydesignedRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed three-digit segmented tentacle f293Designed morphologydesignedRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed three-finger hand, 2 joints per finger 3e58Designed morphologydesignedRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed four-finger hand, 1 joint per finger e352Designed morphologydesignedRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed three-finger hand, 1 joint per finger ca8bDesigned morphologydesignedRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed four-finger swinging hook gripper 052cDesigned morphologydesignedRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed three-digit segmented tentacle 90e8Designed morphologydesignedRigidScreened
  • 2. Tamp tile: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed

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.
Candidate1. Lay tileGrasp2. Tamp tilePush
Suction cup, 25 mm bellowsSuction cupApproximation100%3/33 of 3 screen runs passedpruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Suction cup, 40 mm bellowsSuction cupApproximation100%3/33 of 3 screen runs passedpruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Tamper pad, 200 mmProcess toolApproximationpruned2: a tamper pad presses a face; it cannot pick or hold a part100%3/3carried3 of 3 screen runs passed; screened from the carried state
Vacuum area frame, 2 x 2 cups, 300 mmVacuum area frameApproximation100%3/33 of 3 screen runs passedpruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Vacuum area frame, 2 x 3 cups, 600 mmVacuum area frameApproximation100%3/33 of 3 screen runs passedpruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Air-actuated mini parallel gripperIndustrial gripperRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Angular-jaw gripper of an open hobby armIndustrial gripperRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed four-finger hand, 1 joint per finger e352Designed morphologyRigiddesigned0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed four-finger hand, 3 joints per finger b56aDesigned morphologyRigiddesigned0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed four-finger swinging hook gripper 052cDesigned morphologyRigiddesigned0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed three-digit segmented tentacle 90e8Designed morphologyRigiddesigned0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed three-digit segmented tentacle f293Designed morphologyRigiddesigned0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed three-finger hand, 1 joint per finger ca8bDesigned morphologyRigiddesigned0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed three-finger hand, 2 joints per finger 3e58Designed morphologyRigiddesigned0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed three-finger hand, 2 joints per finger d55eDesigned morphologyRigiddesigned0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Designed three-finger sliding hook gripper da49Designed morphologyRigiddesigned0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Five-finger 18-actuator hand, pinchMulti-finger handRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Five-finger 18-actuator hand, power graspMulti-finger handRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Five-finger 22-joint hand, pinchMulti-finger handRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Five-finger 22-joint hand, power graspMulti-finger handRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Force-controlled parallel gripper, 48 mm strokeIndustrial gripperRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Four-finger 16-joint hand, pinchMulti-finger handRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Four-finger 16-joint hand, power graspMulti-finger handRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Industrial servo parallel gripper, 110 mm strokeIndustrial gripperRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Rack-and-pinion parallel gripper for an open hobby armIndustrial gripperRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Servo-driven four-finger hand, 13 actuators, pinchMulti-finger handRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Servo-driven four-finger hand, 13 actuators, power graspMulti-finger handRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Soft arm, 12 segments, 140 mmSoft armApproximation0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Soft arm, 16 segments, 160 mmSoft armApproximation0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Soft arm, 20 soft segments, 180 mmSoft armApproximation0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Suction cup, 10 mm bellowsSuction cupApproximation0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Suction cup, 16 mm bellowsSuction cupApproximation0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Tendon-driven five-finger hand, 16 joints, pinchMulti-finger handRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Tendon-driven five-finger hand, 16 joints, power graspMulti-finger handRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Three-finger adaptive gripper, pinchIndustrial gripperRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Three-finger adaptive gripper, power graspIndustrial gripperRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Two-finger adaptive gripper, pinchIndustrial gripperRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Two-finger adaptive gripper, power graspIndustrial gripperRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Two-finger adaptive linkage gripper, 85 mmIndustrial gripperRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Two-finger linkage gripper of a cobot armIndustrial gripperRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Two-finger parallel cobot hand, 80 mmIndustrial gripperRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Two-finger parallel gripper, fin-ray padsIndustrial gripperRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Two-finger parallel gripper, rigid pads AIndustrial gripperRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
Two-finger parallel gripper, teleop-arm fingersIndustrial gripperRigid0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3pruned1: integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed

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 (2)
  1. 1integrator rule R05: pressing "Floor tile" into its bed is a process step for a tamper pad; other tools do not press a tile level into its bed
  2. 2a tamper pad presses a face; it cannot pick or hold a part

Combinations searched

Single tools
0
Tool-change sequences
3
Two-tool heads scored
3
Two-tool head layouts searched
3

Finalists

Every finalist ran the whole task on the 8 conditions, in ranking order.

SetupCompletionWeakest stepCycle timeToolsActuatorsMassFidelityWhere runs stop
RecommendedTwo-tool head: Vacuum area frame + Tamper padTwo-tool head8 of 8 runs100%1. Lay tile100%19.2 s2
  • Vacuum area frame, 2 x 2 cups, 300 mm
  • Tamper pad, 200 mm
1 change · printed bracket		51.41 kgApproximationcompletes every run
FinalistTool change: Suction cup > Tamper padTool change8 of 8 runs100%1. Lay tile100%25.2 s2
  • Suction cup, 25 mm bellows
  • Tamper pad, 200 mm
1 change		21.25 kgApproximationcompletes every run
FinalistTwo-tool head: Suction cup + Tamper padTwo-tool head0 of 8 runs0%1. Lay tile0%n/a2
  • Suction cup, 25 mm bellows
  • Tamper pad, 200 mm
1 change · printed bracket		2971 gApproximation
  • 1. Lay tile: 8 runs (goal not met 8)
FinalistTwo-tool head: Suction cup + Tamper padTwo-tool head0 of 8 runs0%1. Lay tile0%n/a2
  • Suction cup, 40 mm bellows
  • Tamper pad, 200 mm
1 change · printed bracket		21.01 kgApproximation
  • 1. Lay tile: 8 runs (goal not met 8)

Conditions, provenance and caveats

  • ReplayRecommended: trajectory 1a71f3c75037nominal placement, seed 075 keyframes from a 100 Hz recording, within 1.0 mm of it97.1 kB
  • PhysicsDefault controllers, evidence accepted8 conditions4 workers4 min 39 s in all
  • Codecode d4755dfc699areport c0a14724fc5afairness 82b5bcdac3b4task f9553b22ce12

Conditions

Every finalist ran every condition, in the same order with the same seeds.

  • nominal, seed 0: nominal placement
  • place01, seed 1: floor tile (0.3, -0.2) mm
  • place02, seed 2: floor tile (0.1, 0.2) mm
  • place03, seed 3: floor tile (-1.5, -1.8) mm
  • place04, seed 4: floor tile (-0.0, 1.5) mm
  • place05, seed 5: floor tile (-1.6, -1.2) mm
  • place06, seed 6: floor tile (-0.2, 0.3) mm
  • place07, seed 7: floor tile (-1.5, 1.5) 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 limit15 N massumed
Wrist roll speed cap180 deg/sassumed
Wrist pitch limit, +- from straight down90 degassumed
Wrist pitch speed cap180 deg/sassumed
Wrist pitch torque limit15 N massumed
Automatic tool change time (a fixed clock advance)7.5 sassumed
Multi-tool head switch time (a fixed tilt, not simulated)1.5 sassumed
Tool changer master plate (stays on the wrist)0.25 kgassumed
Tool changer plate on every tool0.1 kgassumed
Tool changer stack height52 mmassumed
Largest tool stack the arm may carry; heavier setups are refused3 kgassumed
Printed carbon-filled polymer bracket1300 kg/m^3assumed
Per-object placement error of the condition grid (uniform)2 mmassumed
Integrator rule R01: completion a setup must add per added effector or changer0.05assumed
Integrator rule R01: a weakest step under this fails outright0.5assumed
Completion-rate tie among setups of the same complexity0.05assumed
Among setups of the same complexity, a simpler one may be this much slower10%assumed
Integrator rule R09: the heaviest part a soft arm may carry2.5 kgassumed
A rigid tool hooks if its tip reaches this far sideways past the tool and flange5 mmassumed
Room a lip needs between a hook and the flange, else the flange blocks it6 mmassumed
Integrator rule R05: tightening a threaded member to this torque or more needs a nut runner (1 N m above hand-tight)4 N massumed
A nut runner's socket drives a hex at most this much under its own size0.5 mmassumed
Multi-tool head swept-volume clearance5 mmassumed

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.