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Supermarket Shelf Handling

Beverage shelf clearing, wiping, and restocking

Clear, wipe, and restock a beverage shelf.

Available robots

Steps

  1. 01Move to the beverage shelf
    • Move
  2. 02Remove the beverages one by one and place them in the tote
    • Grasp
    • Place
  3. Full step list available on request

Sample recordings

PoorBlocking integrity issue found
Checking for additional chart data…

Data integrity & timing

  • Completeness99.3% of expected messages — no dropped data
    99.3%pass
  • Timestamp Alignmentcross-modal skew up to 214645 ms (p99)
    214,644.89 msfail
  • Signal Validity0 out-of-limit joints, 0 invalid samples
    0% invalidpass
  • Longest stream stopno stream stop exceeded 3 s (longest 0.997 s)
    0.997 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 111.7 on a 0-255 scale
    111.65Measured
  • Image contrastRMS contrast 77.6
    77.59Measured
  • Backlit frames7.2% of scene-camera frames backlit
    7.2%warn
  • Motion blurmotion blur affected 66.2 s of the 508 s episode
    66.2 sMeasured

Motion & control

  • Motion Smoothnesssmooth, human-grade trajectories
    -2.53 SPARCpass
  • Tracking Errorrobot followed intent within 0.052 rad (worst joint 0.507)
    0.052 radwarn
  • Left-arm trackingRMSE 0.122 rad, p95 0.266 rad
    0.122 radMeasured
  • Right-arm trackingRMSE 0.164 rad, p95 0.361 rad
    0.164 radMeasured
  • Active motionarms in motion 93.1% of the episode
    93.1%Measured
  • Operator pausesno operator pauses ≥1 s
    0Measured

Gripper behavior

  • Gripper Chatterdecisive grasps, 99% idle hands
    5.79 transitions/minpass
  • Left gripperactuated — 2 open/close cycles
    yesMeasured
  • Right gripperactuated — 25 open/close cycles
    yesMeasured