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Bathroom Tidying and Laundry Prep

Sink-Area Item Return

Return toothbrushes, toothpaste, soap, rinse cups, and hand soap to their target positions on or inside the sink cabinet.

Available robots

Steps

  1. 01Move to the right side of the sink.
    • Move
  2. 02Pick up the soap and place it on the soap holder.
    • Grasp
    • Place
  3. Full step list available on request

Sample recordings

ExcellentNo blocking integrity failures
Checking for additional chart data…

Data integrity & timing

  • Completeness100.0% of expected messages — no dropped data
    100%pass
  • Timestamp Alignmentcameras & joints synced within ±5 ms
    4.78 mspass
  • Signal Validity0 out-of-limit joints, 0 invalid samples
    0% invalidpass
  • Longest stream stopno stream stop exceeded 3 s (longest 1.622 s)
    1.622 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 142.2 on a 0-255 scale
    142.22Measured
  • Image contrastRMS contrast 38.3
    38.3Measured
  • Backlit framesno backlit frames detected on the scene camera
    0%pass
  • Motion blurmotion blur affected 8.5 s of the 211 s episode
    8.5 sMeasured

Motion & control

  • Motion Smoothnesssmooth, human-grade trajectories
    -2.52 SPARCpass
  • Tracking Errorrobot followed intent within 0.043 rad (worst joint 0.494)
    0.043 radpass
  • Left-arm trackingRMSE 0.136 rad, p95 0.305 rad
    0.136 radMeasured
  • Right-arm trackingRMSE 0.144 rad, p95 0.313 rad
    0.144 radMeasured
  • Active motionarms in motion 88.1% of the episode
    88.1%Measured
  • Operator pauses2 operator pauses ≥1 s, totalling 2.3 s
    2Measured

Gripper behavior

  • Gripper Chatterdecisive grasps, 99% idle hands
    4.83 transitions/minpass
  • Left gripperactuated — 9 open/close cycles
    yesMeasured
  • Right gripperactuated — 8 open/close cycles
    yesMeasured