A tool change (a drawer-pull hook tool, then a force-controlled parallel gripper, then a suction cup) finishes the task in 8 of 8 runs; the best single off-the-shelf tool finishes 0 of 8: it can't press the button.
ApproximationApproximation fidelityA labelled approximation (suction seal, soft arm, latches, threads, valves): verify on hardware.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
Hotel delivery, on a bench mock-up: press the elevator call button on the wall (a 40 mm round button, about 5 N to press, its centre 150 mm up the wall, nothing standing in front of it), then open the room door beside it (a hinged door 300 mm wide and 400 mm tall with a pull handle, hinged on its left) and put the parcel (a 160 x 120 x 80 mm box, 500 g) from the bench into the delivery tray behind the door.
Planned into 3 steps; 53 tools tested on 3 conditions each, 183 screen runs.
Caveat: 1 of 3 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 both runs
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.
Recommended: Tool change: Drawer-pull > Force-controlled > Suction, nominal placement, seed 0. Completed in 63.8 s.
nominal placement, seed 0Approximationtrajectory 84c8e608c583Models: Simulation model of an open-source industrial gripper, Apache-2.0, modified (full credit)
Best single off-the-shelfAngular-jaw gripper of an open hobby arm
Loading replay
Step 1 of 3
Press button
Push · tool 1, Angular-jaw gripper of an open hobby arm
Best single off-the-shelf: Angular-jaw gripper of an open hobby arm, nominal placement, seed 0. Stopped at 1. Press button: goal not met.
nominal placement, seed 0Rigidtrajectory 81d2aae2eae5Models: Simulation model of an open-source industrial gripper, Apache-2.0, modified (full credit)
Recommendeddone at 63.8 s
Best single toolstops at 10.6 s
Stops here: fell short of the goal
0 s102030405060
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 (Tool change: Drawer-pull > Force-controlled > Suction) does all 3 steps and finishes at 63.8 s; the best single tool (Angular-jaw gripper of an open hobby arm) stops at step 1 after 10.6 s: it fell short of the goal.
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 it takes 3 tools
No single tool passed every step in the screen (53 tools, 3 conditions each).
Step 3 is the bottleneck: only two suction cups could place the parcel, and none of them passes the rest (step 2: a cup has nothing to hook with).
Why this setup over the other finalists
The only setup that completed the task: 100% of the runs, 63.8 s cycle.
The rule: finish the task most often, then the strongest weakest step, then the shortest cycle, then the simplest setup.
1
Step 1 of 3
Press the button
Press the elevator call button on the wall.
Skill
Push
Object
Elevator call button
Done when
pressed at least 1
15 of 27tools tried in physics could press the button
26 more of the 53 were ruled out before physics; 81 screen runs in all.
15passed
2passed some runs
9fell short of the goal
1made the physics unreliable (parts overlapped by over 1 mm)
26ruled out before physics
Best single tool: Stops here in 8 of 8 runs: fell short of the goal in 8.
Tool 1 of the change
Drawer-pull hook tool
100% of full-task runs passed this stepRigidRigid fidelityA rigid multibody model with a scripted controller.
What the data cannot say: This step has 15 tools that pass: the Studio's ranking chose between them (screen success, then fewer actuators, less mass, a shorter step), and the page data does not record those values per tool.
See which tools (53)
Passed every screen run (15)
Force-controlled parallel gripper, 48 mm strokeIndustrial gripper, 3 of 3 runs
Industrial servo parallel gripper, 110 mm strokeIndustrial gripper, 3 of 3 runs
Suction cup, 25 mm bellowsSuction cup, 3 of 3 runs
Three-finger adaptive gripper, pinchIndustrial gripper, 1 of 3 runs, made the physics unreliable (parts overlapped by over 1 mm)
Three-finger adaptive gripper, power graspIndustrial gripper, 1 of 3 runs, made the physics unreliable (parts overlapped by over 1 mm)
Suction cup, 40 mm bellowsSuction cup, 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
Button-pusher toolIndustrial 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
Spring-loaded marker holder toolIndustrial gripper, 0 of 3 runs, fell short of the goal
Tamper pad, 200 mmProcess tool, 0 of 3 runs, fell short of the goalrated 40 N (the stage slips at 60 N)
Two-finger parallel gripper, fin-ray padsIndustrial gripper, 0 of 3 runs, made the physics unreliable (parts overlapped by over 1 mm)
Two-finger parallel gripper, teleop-arm fingersIndustrial gripper, 0 of 3 runs, fell short of the goal
Vacuum area frame, 2 x 2 cups, 300 mmVacuum area frame, 0 of 3 runs, fell short of the goalrated 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, 0 of 3 runs, fell short of the goalrated 8.47 kg on a smooth face (holding force over a 1.5 safety factor)
Ruled out before physics (26)
integrator rule R03: "Elevator call button" is a mechanis... (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
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
not built for this kind of step (1)
Servo screwdriver attachment for a hobby armIndustrial gripper
2
Step 2 of 3
Open the door
Hook the door's pull handle and pull the door open.
Skill
Hook pull
Object
Room door, by its handle
Done when
angle at least 80 deg
4 of 17tools tried in physics could open the door
36 more of the 53 were ruled out before physics; 51 screen runs in all.
4passed
3passed some runs
8fell short of the goal
1slipped off the handle
1was out of the arm's reach
36ruled out before physics
Best single tool: Never gets here: every run stopped at an earlier step.
Tool 2 of the change
Force-controlled parallel gripper, 48 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 door: 4 of 17 tools tried, all industrial grippers.
What the data cannot say: That leaves four industrial grippers that pass: the Studio's ranking chose between them (screen success, then fewer actuators, less mass, a shorter step), and the page data does not record those values per tool.
See which tools (53)
Passed every screen run (4)
Force-controlled parallel gripper, 48 mm strokeIndustrial gripper, the recommendation's pick
Industrial servo parallel gripper, 110 mm strokeIndustrial gripper, 3 of 3 runs
Nut runner, 13 mm hex socketProcess toolrated 6.7 N m (clutch cap 10 N m); members at least 12 mm tall
a tamper pad presses a face; it is not a hook, so it cann... (1)
Tamper pad, 200 mmProcess toolrated 40 N (the stage slips at 60 N)
heavier than the arm can carry (1)
Three-finger 12-joint industrial handMulti-finger hand
not built for this kind of step (1)
Servo screwdriver attachment for a hobby armIndustrial gripper
opens too little for the feature (1)
Air-actuated mini parallel gripperIndustrial gripper
3
Step 3 of 3
Place the parcel
Pick the parcel from the bench and place it into the delivery tray.
Skill
Grasp
Object
Parcel
Into
Delivery tray
Done when
ends inside the target; tilt at most 10 deg
2 of 17tools tried in physics could place the parcel
36 more of the 53 were ruled out before physics; 51 screen runs in all.
2passed
13fell short of the goal
1dropped the part
1made the physics unreliable (parts overlapped by over 1 mm)
36ruled out before physics
Best single tool: Never gets here: every run stopped at an earlier step.
Tool 3 of the change
Suction cup, 25 mm bellows
100% of full-task runs passed this stepApproximationApproximation fidelityA labelled approximation (suction seal, soft arm, latches, threads, valves): verify on hardware.
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
Only suction cups could place the parcel: 2 of 17 tools tried, all suction cups.
What the data cannot say: That leaves two suction cups that pass: the Studio's ranking chose between them (screen success, then fewer actuators, less mass, a shorter step), and the page data does not record those values per tool.
See which tools (53)
Passed every screen run (2)
Suction cup, 25 mm bellowsSuction cup, the recommendation's pick
Suction cup, 40 mm bellowsSuction cup, 3 of 3 runs
Tried and failed (15)
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, dropped the part
Angular-jaw gripper of an open hobby armIndustrial gripper, 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
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, made the physics unreliable (parts overlapped by over 1 mm)
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
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
Two-finger parallel gripper, teleop-arm fingersIndustrial gripper, 0 of 3 runs, fell short of the goal
Ruled out before physics (36)
opens narrower than the part (12)
Force-controlled parallel gripper, 48 mm strokeIndustrial gripper
Industrial servo parallel gripper, 110 mm strokeIndustrial gripper
the 160 x 120 mm top face of parcel covers 0 of the frame... (2)
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)
a nut runner turns a fastener; it cannot push (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
not built for this kind of step (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
No single tool is eligible
Angular-jaw gripper of an open hobby arm finishes 0 of 8 runs: it can't press the button.
Finishes the taskDevelopment conditionsThe 8 conditions the search ranked setups on: nominal placement plus 7 with each object shifted by up to 2 mm, each with its own seed. Both setups ran the same ones.
8 of 8
0 of 8
Cycle time
63.8 s
Never finishesits replay stops at 10.6 s
Tools
3tool change, 2 tool changees per run
1single tool
Tool mass
1.03 kgat most 764 g on the wrist at once
113 g
FidelityFidelityHow each step was simulated. Rigid: a rigid multibody model with a scripted controller. Approximation: a labelled approximation (suction seals, soft arms, latches, threads, valves); verify on hardware.
Approximation
Rigid
Build pack
Everything to build and check the recommended setup, in one download.
32 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.
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.
Hotel delivery mock-up
Press the wall-mounted elevator call button, open the hinged room door with a pull handle, then pick the parcel from the bench and place it into the delivery tray behind the door.
a nemotron plan · model nvidia/nemotron-3-super-120b-a12b · valid after the layout fix · 2 calls
The door hinge provides negligible resistance (0.2 Nm) and the button requires 5 N to actuate.
The parcel is a rigid box 160×120×80 mm, 500 g, initially resting on the bench.
The delivery tray is a fixed bin positioned behind the door when the door is open.
Moved call_button from (0, -200) to (280, 70) mm to bring it within the wrist's reach
Moved room_door from (-200, 0) to (-140, 290) mm to bring it within the wrist's reach
Moved parcel from (100, -100) to (100, -160) mm to clear the footprint of tray
Moved room_door from (-140, 290) to (90, 290) mm along x so the 110 mm servo gripper on a tool changer grips its bar handle from the front through the whole pull
Moved tray from (50, 0) to (-100, -110) mm to clear the swing of room_door
Layout fix
Moved call_button from (0, -200) to (280, 70) mm to bring it within the wrist's reach
Moved room_door from (-200, 0) to (-140, 290) mm to bring it within the wrist's reach
Moved parcel from (100, -100) to (100, -160) mm to clear the footprint of tray
Moved room_door from (-140, 290) to (90, 290) mm along x so the 110 mm servo gripper on a tool changer grips its bar handle from the front through the whole pull
Moved tray from (50, 0) to (-100, -110) mm to clear the swing of room_door
Open questions, answered by assumption
Does the door open toward the user (positive y) or away? Assumed: The door hinges on its left edge and opens toward the front (positive y).
Objects
Elevator call button Push button
actuation force 5 N · diameter 40 mm · height 150 mm · mount wall · proud 1 mm · travel 3 mm
at (280, 70) mm
Room door Hinged lid or door
damping 0.05 N m s · depth 300 mm · feature handle · feature 20 mm · max angle 90 deg · open torque 0.2 N m · orientation door · thickness 20 mm · width 400 mm
at (90, 290) mm
Parcel Rigid part
mass 500 g · shape box · size x 160 mm · size y 120 mm · size z 80 mm
at (100, -160) mm
Delivery tray Bin or tote
fixed yes · height 100 mm · length 200 mm · wall 5 mm · width 150 mm
at (-100, -110) mm
Steps
1
Step 1: Press button
PushRigid
Press the elevator call button on the wall.
Object
Elevator call button by its button
Parameters
approach front · speed 20 mm/s
Limits
none stated
Success
pressed at least 1
2
Step 2: Open door
Hook pullRigid
Hook the door's pull handle and pull the door open.
Object
Room door by its handle
Parameters
approach front · speed 50 mm/s
Limits
none stated
Success
angle at least 80 deg
After
Press button
3
Step 3: Place parcel
GraspRigid
Pick the parcel from the bench and place it into the delivery tray.
Object
Parcel by its part
Target
Delivery tray
Parameters
hold 1 s · lift 150 mm
Limits
none stated
Success
ends inside the target
tilt at most 10 deg
After
Open door
Every candidate
Every tool the Studio can simulate, screened step by step on the same conditions and seeds.
Candidates
53
Screened on a step
37
Pruned from every step
16
Pruned from some steps
34
Screen conditions
3
Screen runs
183
Wall time
1 min 53 s
Why candidates were pruned
A capability or fit check, before any physics. Counted per candidate and step, most common first.
15integrator rule R03: "Elevator call button" 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
15integrator rule R03: "Room door" 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
12Opens narrower than the part
9Its open digits stand too close for the part
6A suction cup has no hook or fingers to engage a handle or lip
6It cannot pick or hold a part
5integrator rule R03: "Room door" 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
3A slack soft arm has no stiff face to push with
3Cannot be built for this object (the family's own checks)
3The part is wider than the soft arm reaches around
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]
2integrator rule R03: "Elevator call button" 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
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 160 x 120 mm top face of parcel covers 0 of the frame's 4 cups; the frame holds a part only with at least 3 of them sealed [assumed]
1the 160 x 120 mm top face of parcel covers 0 of the frame's 6 cups; the frame holds a part only with at least 3 of them sealed [assumed]
Every candidate (53)
Candidate
From
Fidelity
Screen
Parallel jaw, configurator imprint: ParcelParallel jaw, shaped for the parcel
designed
Rigid
Pruned: cannot be built: Parallel jaw, configurator imprint for parcel: seat range: part Parcel: seat closure -17.60 mm is outside [2.00 mm, 40.00 mm]: the part is too wide for the opening
Parallel jaw, flat pad: ParcelParallel jaw, shaped for the parcel
family preset, off the shelf
Rigid
Pruned: cannot be built: Parallel jaw, flat pad for parcel: seat range: part Parcel: seat closure -17.60 mm is outside [2.00 mm, 40.00 mm]: the part is too wide for the opening
Parallel jaw, stock blade: ParcelParallel jaw, shaped for the parcel
family preset, off the shelf
Rigid
Pruned: cannot be built: Parallel jaw, stock blade for parcel: seat range: part Parcel: seat closure -17.60 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. Press button: integrator rule R03: "Elevator call button" 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. Open door: integrator rule R03: "Room door" 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. Press button: integrator rule R03: "Elevator call button" 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. Open door: integrator rule R03: "Room door" 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. Press button: integrator rule R03: "Elevator call button" 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. Open door: integrator rule R03: "Room door" 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. Press button: integrator rule R03: "Elevator call button" 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. Open door: integrator rule R03: "Room door" 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. Press button: integrator rule R03: "Elevator call button" 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. Open door: integrator rule R03: "Room door" 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. Press button: integrator rule R03: "Elevator call button" 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. Open door: integrator rule R03: "Room door" 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
3. Place parcel: Parcel: the part is 120.0 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
1. Press button: a slack soft arm has no stiff face to push with
3. Place parcel: Parcel: the part is 120 mm wide; the arm hangs only 25 mm from the wrist axis
2. Open door: integrator rule R03: "Room door" 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
1. Press button: a slack soft arm has no stiff face to push with
3. Place parcel: Parcel: the part is 120 mm wide; the arm hangs only 25 mm from the wrist axis
2. Open door: integrator rule R03: "Room door" 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
1. Press button: a slack soft arm has no stiff face to push with
3. Place parcel: Parcel: the part is 120 mm wide; the arm hangs only 25 mm from the wrist axis
2. Open door: integrator rule R03: "Room door" 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
2. Open door: 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
2. Open door: 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
2. Open door: 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
2. Open door: a suction cup has no hook or fingers to engage a handle or lip
3. Place parcel: the 160 x 120 mm top face of parcel 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
2. Open door: a suction cup has no hook or fingers to engage a handle or lip
3. Place parcel: the 160 x 120 mm top face of parcel 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. Press button: a nut runner turns a fastener; it cannot push
2. Open door: a nut runner turns a fastener; it is not a hook, so it cannot pull a lip or handle
3. Place parcel: a nut runner turns a fastener; it cannot pick or hold a part
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
2. Open door: a tamper pad presses a face; it is not a hook, so it cannot pull a lip or handle
3. Place parcel: 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. Press button: integrator rule R03: "Elevator call button" 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. Open door: integrator rule R03: "Room door" 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. Press button: integrator rule R03: "Elevator call button" 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. Open door: integrator rule R03: "Room door" 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. Press button: integrator rule R03: "Elevator call button" 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. Open door: integrator rule R03: "Room door" 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. Press button: integrator rule R03: "Elevator call button" 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. Open door: integrator rule R03: "Room door" 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
2. Open door: a suction cup has no hook or fingers to engage a handle or lip
Button-pusher toolIndustrial gripper
library, off the shelf
Rigid
Screened
3. Place parcel: it cannot pick or hold a part (grasp step)
Drawer-pull hook toolIndustrial gripper
library, off the shelf
Rigid
Screened
2. Open door: 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]
3. Place parcel: it cannot pick or hold a part (grasp step)
2. Open door: 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]
3. Place parcel: 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. Press button: its capability tags do not include push
2. Open door: 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]
3. Place parcel: it cannot pick or hold a part (grasp step)
Designed three-finger hand, 2 joints per finger d55eDesigned morphology
designed
Rigid
Pruned from every step
3. Place parcel: Parcel: too narrow: open, digit 1 (at 90 deg on the part) has its inner face 35.0 mm from the centre; the part reaches 69.3 mm that way, so it needs 74.3 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 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
1. Press button: integrator rule R03: "Elevator call button" 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. Open door: integrator rule R03: "Room door" 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
3. Place parcel: Parcel: too narrow: open, digit 1 (at -90 deg on the part) has its inner face 38.0 mm from the centre; the part reaches 69.3 mm that way, so it needs 74.3 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 98.1 mm that way, so it needs 103.1 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 69.3 mm that way, so it needs 74.3 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 98.1 mm that way, so it needs 103.1 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
1. Press button: integrator rule R03: "Elevator call button" 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. Open door: integrator rule R03: "Room door" 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
3. Place parcel: Parcel: too narrow: open, digit 1 (at 90 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 69.3 mm that way, so it needs 74.3 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 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 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 (80.0 mm tall) with the lowest point at 12.0 mm needs 78.0 mm to keep the palm 10 mm above the part (longer digits or a higher grip)
Designed three-digit segmented tentacle f293Designed morphology
designed
Rigid
Pruned from every step
3. Place parcel: Parcel: too narrow: open, digit 1 (at 90 deg on the part) has its inner face 34.0 mm from the centre; the part reaches 69.3 mm that way, so it needs 74.3 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 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
1. Press button: integrator rule R03: "Elevator call button" 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
2. Open door: integrator rule R03: "Room door" 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
3. Place parcel: Parcel: too narrow: open, digit 1 (at -75 deg on the part) has its inner face 34.0 mm from the centre; the part reaches 85.6 mm that way, so it needs 90.6 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 98.1 mm that way, so it needs 103.1 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 99.6 mm that way, so it needs 104.6 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
1. Press button: integrator rule R03: "Elevator call button" 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. Open door: integrator rule R03: "Room door" 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
3. Place parcel: Parcel: too narrow: open, digit 1 (at 135 deg on the part) has its inner face 33.5 mm from the centre; the part reaches 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
1. Press button: integrator rule R03: "Elevator call button" 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. Open door: integrator rule R03: "Room door" 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
3. Place parcel: Parcel: too narrow: open, digit 1 (at -60 deg on the part) has its inner face 30.5 mm from the centre; the part reaches 96.1 mm that way, so it needs 101.1 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 96.1 mm that way, so it needs 101.1 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 86.7 mm that way, so it needs 91.7 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
1. Press button: integrator rule R03: "Elevator call button" 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. Open door: integrator rule R03: "Room door" 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
3. Place parcel: Parcel: too narrow: open, digit 1 (at 135 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 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
3. Place parcel: Parcel: too narrow: open, digit 1 (at -75 deg on the part) has its inner face 35.0 mm from the centre; the part reaches 85.6 mm that way, so it needs 90.6 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 96.1 mm that way, so it needs 101.1 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 100.0 mm that way, so it needs 105.0 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
1. Press button: integrator rule R03: "Elevator call button" 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
2. Open door: integrator rule R03: "Room door" 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. Press buttonPush
2. Open doorHook pull
3. Place parcelGrasp
Force-controlled parallel gripper, 48 mm strokeIndustrial gripperRigid
100%3/33 of 3 screen runs passed
100%3/3carried3 of 3 screen runs passed; screened from the carried state
pruned1: Parcel: the part is 120.0 mm across the closing axis; the gripper opens 47.0 mm
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
pruned2: Parcel: the part is 120.0 mm across the closing axis; the gripper opens 110.1 mm
Suction cup, 25 mm bellowsSuction cupApproximation
100%3/33 of 3 screen runs passed
pruned3: 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
33%1/3carriedslipped 21 of 3 screen runs passed; failures: slipped 2; screened from the carried state
pruned7: Parcel: the part is 120.0 mm across the closing axis; the gripper opens 79.8 mm
Air-actuated mini parallel gripperIndustrial gripperRigid
100%3/33 of 3 screen runs passed
pruned8: it opens 18 mm; pre-shaping around the 10 mm feature needs 22 mm
pruned9: Parcel: the part is 120.0 mm across the closing axis; the gripper opens 18.0 mm
Designed four-finger swinging hook gripper 052cDesigned morphologyRigiddesigned
100%3/33 of 3 screen runs passed
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
pruned10: Parcel: too narrow: open, digit 1 (at 135 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
Designed three-finger sliding hook gripper da49Designed morphologyRigiddesigned
100%3/33 of 3 screen runs passed
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
pruned11: Parcel: too narrow: open, digit 1 (at 90 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 69.3 mm that way, so it needs 74.3 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 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 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 (80.0 mm tall) with the lowest point at 12.0 mm needs 78.0 mm to keep the palm 10 mm above the part (longer digits or a higher grip)
Drawer-pull hook toolIndustrial gripperRigid
100%3/33 of 3 screen runs passed
pruned12: 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]
pruned13: it cannot pick or hold a part (grasp step)
Suction cup, 10 mm bellowsSuction cupApproximation
100%3/33 of 3 screen runs passed
pruned3: a suction cup has no hook or fingers to engage a handle or lip
0%0/3carriedgoal not met 30 of 3 screen runs passed; failures: goal not met 3; screened from the carried state
Suction cup, 16 mm bellowsSuction cupApproximation
100%3/33 of 3 screen runs passed
pruned3: a suction cup has no hook or fingers to engage a handle or lip
0%0/3carrieddropped 30 of 3 screen runs passed; failures: dropped 3; screened from the carried state
Suction cup, 40 mm bellowsSuction cupApproximation
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
pruned3: 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
pruned15: integrator rule R03: "Elevator call button" 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
pruned16: integrator rule R03: "Room door" 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
Five-finger 18-actuator hand, power graspMulti-finger handRigid
pruned15: integrator rule R03: "Elevator call button" 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
pruned16: integrator rule R03: "Room door" 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
pruned15: integrator rule R03: "Elevator call button" 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
pruned16: integrator rule R03: "Room door" 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
Five-finger 22-joint hand, power graspMulti-finger handRigid
pruned15: integrator rule R03: "Elevator call button" 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
pruned16: integrator rule R03: "Room door" 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
pruned15: integrator rule R03: "Elevator call button" 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
pruned16: integrator rule R03: "Room door" 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
Four-finger 16-joint hand, power graspMulti-finger handRigid
pruned15: integrator rule R03: "Elevator call button" 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
pruned16: integrator rule R03: "Room door" 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
Rack-and-pinion parallel gripper for an open hobby armIndustrial gripperRigid
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 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
pruned15: integrator rule R03: "Elevator call button" 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
pruned16: integrator rule R03: "Room door" 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
Servo-driven four-finger hand, 13 actuators, power graspMulti-finger handRigid
pruned15: integrator rule R03: "Elevator call button" 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
pruned16: integrator rule R03: "Room door" 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
pruned15: integrator rule R03: "Elevator call button" 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
pruned16: integrator rule R03: "Room door" 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
Tendon-driven five-finger hand, 16 joints, power graspMulti-finger handRigid
pruned15: integrator rule R03: "Elevator call button" 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
pruned16: integrator rule R03: "Room door" 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%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 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
Vacuum area frame, 2 x 2 cups, 300 mmVacuum area frameApproximation
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
pruned3: a suction cup has no hook or fingers to engage a handle or lip
pruned20: the 160 x 120 mm top face of parcel 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 frameApproximation
0%0/3goal not met 30 of 3 screen runs passed; failures: goal not met 3
pruned3: a suction cup has no hook or fingers to engage a handle or lip
pruned21: the 160 x 120 mm top face of parcel covers 0 of the frame's 6 cups; the frame holds a part only with at least 3 of them sealed [assumed]
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 (21)
1Parcel: the part is 120.0 mm across the closing axis; the gripper opens 47.0 mm
2Parcel: the part is 120.0 mm across the closing axis; the gripper opens 110.1 mm
3a suction cup has no hook or fingers to engage a handle or lip
4Parcel: the part is 120.0 mm across the closing axis; the gripper opens 86.6 mm
5Parcel: the part is 120.0 mm across the closing axis; the gripper opens 88.9 mm
6Parcel: the part is 120.0 mm across the closing axis; the gripper opens 52.0 mm
7Parcel: the part is 120.0 mm across the closing axis; the gripper opens 79.8 mm
8it opens 18 mm; pre-shaping around the 10 mm feature needs 22 mm
9Parcel: the part is 120.0 mm across the closing axis; the gripper opens 18.0 mm
10Parcel: too narrow: open, digit 1 (at 135 deg on the part) has its inner face 31.5 mm from the centre; the part reaches 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 mm (3.5 mm placement error + 1.5 mm clearance; the palm radius sets it)
11Parcel: too narrow: open, digit 1 (at 90 deg on the part) has its inner face 32.0 mm from the centre; the part reaches 69.3 mm that way, so it needs 74.3 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 100.0 mm that way, so it needs 105.0 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 100.0 mm that way, so it needs 105.0 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 (80.0 mm tall) with the lowest point at 12.0 mm needs 78.0 mm to keep the palm 10 mm above the part (longer digits or a higher grip)
12measured: its tip reaches 0 mm sideways past the rest of the tool and the flange; hooking a lip or handle needs 5 mm [assumed]
13it cannot pick or hold a part (grasp step)
14Parcel: the part is 120.0 mm across the closing axis; the gripper opens 74.7 mm
15integrator rule R03: "Elevator call button" 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
16integrator rule R03: "Room door" 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
17a tamper pad presses a face; it is not a hook, so it cannot pull a lip or handle
18a tamper pad presses a face; it cannot pick or hold a part
19Parcel: the part is 120.0 mm across the closing axis; the gripper opens 83.4 mm
20the 160 x 120 mm top face of parcel covers 0 of the frame's 4 cups; the frame holds a part only with at least 3 of them sealed [assumed]
21the 160 x 120 mm top face of parcel 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
3
Tool-change sequences
27
Two-tool heads scored
2
Two-tool head layouts searched
6
Finalists
Every finalist ran the whole task on the 8 conditions, in ranking order.
Every finalist ran every condition, in the same order with the same seeds.
nominal, seed 0: nominal placement
place01, seed 1: elevator call button (0.3, -0.2) mm; parcel (1.7, 0.1) mm; room door (0.5, 1.4) mm; delivery tray (-1.0, -0.2) mm
place02, seed 2: elevator call button (0.1, 0.2) mm; parcel (1.0, -0.2) mm; room door (0.4, -0.3) mm; delivery tray (0.8, -1.9) mm
place03, seed 3: elevator call button (-1.5, -1.8) mm; parcel (1.8, -0.6) mm; room door (0.9, 2.0) mm; delivery tray (0.5, -2.0) mm
place04, seed 4: elevator call button (-0.0, 1.5) mm; parcel (0.2, 0.8) mm; room door (-0.8, -1.1) mm; delivery tray (1.8, -1.5) mm
place05, seed 5: elevator call button (-1.6, -1.2) mm; parcel (-1.1, 0.5) mm; room door (1.4, -1.6) mm; delivery tray (-0.8, 1.2) mm
place06, seed 6: elevator call button (-0.2, 0.3) mm; parcel (-0.5, 0.3) mm; room door (0.7, -0.0) mm; delivery tray (-1.5, -1.3) mm
place07, seed 7: elevator call button (-1.5, 1.5) mm; parcel (-0.9, 2.0) mm; room door (-0.6, 1.7) mm; delivery tray (0.2, 1.1) 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.