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Medication Picking

Pick Medicine into Basket

Episodes capture lowering to reach a basket, picking medicine from a shelf, and placing it into the basket.

Available robots

Steps

  1. 01Slowly crouch to pick up the basket on the left side of the floor, reach the shelf level, and adjust pose
    • Adjust Pose
    • Crouch
    • Pick Up
  2. 02Use the right arm to grasp medicine from the shelf and gently place it into the basket
    • Grasp
    • Place
  3. Full step list available on request

Sample recordings

ExcellentNo blocking integrity failures
Checking for additional chart data…

Data integrity & timing

  • Completeness99.5% of expected messages — no dropped data
    99.5%pass
  • Timestamp Alignmentcameras & joints synced within ±5 ms
    4.93 mspass
  • Signal Validity0 out-of-limit joints, 0 invalid samples
    0% invalidpass
  • Longest stream stopno stream stop exceeded 3 s (longest 0.529 s)
    0.529 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 89.8 on a 0-255 scale
    89.77Measured
  • Image contrastRMS contrast 43.8
    43.81Measured
  • Backlit framesno backlit frames detected on the scene camera
    0%pass

Motion & control

  • Motion Smoothnesssmooth, human-grade trajectories
    -1.96 SPARCpass
  • Tracking Errorrobot followed intent within 0.043 rad (worst joint 0.052)
    0.043 radpass
  • Left-arm trackingRMSE 0.153 rad, p95 0.364 rad
    0.153 radMeasured
  • Active motionarms in motion 92.9% of the episode
    92.9%Measured
  • Operator pausesno operator pauses ≥1 s
    0Measured

Gripper behavior

  • Gripper Chatterdecisive grasps, 98% idle hands
    15.46 transitions/minpass
  • Left gripperactuated — 4 open/close cycles
    yesMeasured