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Medication Restocking

Pharmacy Shelf Restocking

Pick medicine bottles from a basket and place them on the pharmacy shelf, using an arm handoff when needed.

Available robots

Steps

  1. 01Move the mobile base toward the shopping basket
    • Move
  2. 02Adjust the height
    • Adjust Height
  3. Full step list available on request

Sample recordings

ExcellentNo blocking integrity failures
Checking for additional chart data…

Data integrity & timing

  • Completeness99.9% of expected messages — no dropped data
    99.9%pass
  • Timestamp Alignmentcameras & joints synced within ±2 ms
    1.98 mspass
  • Signal Validity0 out-of-limit joints, 0 invalid samples
    0% invalidpass
  • Longest stream stopno stream stop exceeded 3 s (longest 0.098 s)
    0.098 spass
  • Stalled channelsno channel stalled longer than 3 s
    0pass

Image quality

  • Image Qualityall sampled frames sharp, well-exposed
    100%pass
  • Frame decodingall camera frames decoded
    0pass
  • Image brightnessmean brightness 116.9 on a 0-255 scale
    116.93Measured
  • Image contrastRMS contrast 65.4
    65.38Measured
  • Backlit framesno backlit frames detected on the scene camera
    0%pass
  • Motion blurmotion blur affected 0 s of the 110 s episode
    0 sMeasured

Motion & control

  • Motion Smoothnesssmooth, human-grade trajectories
    -2.02 SPARCpass
  • Tracking Errorrobot followed intent within 0.002 rad (worst joint 0.032)
    0.002 radpass

Gripper behavior

  • Gripper Chatterdecisive grasps, 99% idle hands
    0 transitions/minpass