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Supermarket Shelf Handling

Shelf Restocking

Pick products, move them onto the shelf, and arrange them neatly.

Available robots

Steps

  1. 01Pick up the product, move it to the shelf, and arrange it neatly
    • Arrange
    • Grasp
    • Move

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 ±5 ms
    4.88 mspass
  • Signal Validity0 out-of-limit joints, 0 invalid samples
    0% invalidpass
  • Longest stream stopno stream stop exceeded 3 s (longest 0.76 s)
    0.76 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 117.5 on a 0-255 scale
    117.49Measured
  • Image contrastRMS contrast 68
    67.96Measured
  • Backlit frames7.3% of scene-camera frames backlit
    7.3%warn
  • Motion blurmotion blur affected 24.7 s of the 88 s episode
    24.7 sMeasured

Motion & control

  • Motion Smoothnesssmooth, human-grade trajectories
    -2.72 SPARCpass
  • Tracking Errorrobot followed intent within 0.048 rad (worst joint 0.473)
    0.048 radpass
  • Left-arm trackingRMSE 0.174 rad, p95 0.4 rad
    0.174 radMeasured
  • Right-arm trackingRMSE 0.085 rad, p95 0.184 rad
    0.085 radMeasured
  • Active motionarms in motion 95.5% of the episode
    95.5%Measured
  • Operator pausesno operator pauses ≥1 s
    0Measured

Gripper behavior

  • Gripper Chatterdecisive grasps, 100% idle hands
    7.47 transitions/minpass
  • Left gripperactuated — 6 open/close cycles
    yesMeasured
  • Right grippernever commanded to actuate
    noMeasured