| { |
| "schema": "astrobench.workcell-demonstrations/v2", |
| "method": "Archived tabletop scripted mechanism trials with robot CAD pose and collision checks", |
| "cases": [ |
| { |
| "task": "fdv1", |
| "target": "RRM_TB1_FDV1_removable_cap", |
| "completed": true, |
| "completion_phase": "hold_stowed", |
| "video": "media/fdv1.mp4", |
| "record_sha256": "e60026cb42499e7d6d71dfcbaa4b075ace3bdbdb07aa9d753569ed9ff19d5d24", |
| "layout": "tabletop", |
| "evidence_type": "scripted_mechanism_trial" |
| }, |
| { |
| "task": "sma", |
| "target": "RRM_TB1_SMA_cap_2_2", |
| "completed": true, |
| "completion_phase": "hold_stowed", |
| "video": "media/sma.mp4", |
| "record_sha256": "5420875f431713f20cbe140e7114a11ff036e42187d88eeecf6d3c0ea2b5b783", |
| "layout": "tabletop", |
| "evidence_type": "scripted_mechanism_trial" |
| }, |
| { |
| "task": "captive", |
| "target": "RRM_TB1_TASK_captive_moving_screw", |
| "completed": true, |
| "completion_phase": "free_hold", |
| "video": "media/captive.mp4", |
| "record_sha256": "7b210d1775b1ecf9d2ccde31c4dbff4edb65f93c54d60de6c39e8852408e1c64", |
| "layout": "tabletop", |
| "evidence_type": "scripted_mechanism_trial" |
| } |
| ], |
| "validation_summary": { |
| "checks_passed": 8, |
| "normal_completed": 3, |
| "negative_controls": 5 |
| }, |
| "layout_review": { |
| "revision": "rrm_front_centered_r003", |
| "layout": { |
| "mount": "direct_floor_on_thin_plate", |
| "panel_origin_m": [ |
| 0, |
| -0.16, |
| 1.1 |
| ], |
| "arm_base_origin_m": [ |
| 0, |
| -0.85, |
| 0.14455 |
| ], |
| "cabin_floor_z_m": 0.11655, |
| "panel_center_above_floor_m": 0.98345, |
| "arm_mount_above_floor_m": 0.028, |
| "robot_forward_distance_from_panel_m": 0.69, |
| "ready_tip_panel_local_m": [ |
| 0, |
| 0, |
| 0.12 |
| ] |
| }, |
| "method": "Independent new centered ready pose CAD/IK check, and archived measured local task trajectories transformed into new cabin frame with newly solved robot inverse kinematics and sampled CAD clearance checks.", |
| "evidence_type": "sampled_CAD_IK_layout_checks", |
| "ready_poses": 1, |
| "transformed_mechanism_trajectory_poses": 226, |
| "approach_and_withdrawal_poses": 108, |
| "total_checked_poses": 335, |
| "operation_target_count": 12, |
| "noncontact_obstacle_count": 0, |
| "robot_self_collision_count": 0, |
| "tool_robot_collision_count": 0, |
| "all_pass": true, |
| "new_policy_rollout": false, |
| "new_physics_rollout": false, |
| "review_receipt_sha256": "0f0adf7ac4ede72d5916fbafb3d0c7190696c1dc7a95287f65d01231e0c9d618", |
| "images": { |
| "overview": "media/rrm.png", |
| "front": "media/rrm-front.png", |
| "side": "media/rrm-side.png" |
| } |
| } |
| } |
|
|
