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Mixed Clutter Sorting

Coffee-Table Newspaper, Wrapper, and Cup Sorting

Sort newspapers, snack wrappers, and cups from the coffee table into storage, waste, or transfer destinations.

Available robots

Steps

  1. 01Move the chassis close to the edge of the coffee table
    • Move
  2. 02Grasp the first scattered newspaper with the left hand
    • Grasp
  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 Validity345 out-of-limit joints, 0 invalid samples
    0.071% invalidpass
  • Longest stream stopno stream stop exceeded 3 s (longest 2.172 s)
    2.172 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 130.7 on a 0-255 scale
    130.68Measured
  • Image contrastRMS contrast 53.6
    53.64Measured
  • Backlit framesno backlit frames detected on the scene camera
    0%pass
  • Motion blurmotion blur affected 0 s of the 98 s episode
    0 sMeasured

Motion & control

  • Motion Smoothnesssmooth, human-grade trajectories
    -2.61 SPARCpass
  • Tracking Errorrobot followed intent within 0.002 rad (worst joint 0.018)
    0.002 radpass

Gripper behavior

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